A torque control method, device, apparatus and storage medium

Abstract

The application discloses a torque control method, device, equipment and storage medium, which is used for improving user experience when torque is zero. The application monitors the vehicle, if the vehicle is in the condition of stepping on the accelerator after sliding, determines that the torque zero-crossing process is triggered, obtains related parameter information such as vehicle speed, acceleration, opening and closing degree of the accelerator pedal, and obtains torque control related parameters by reading the pre-calibrated values in the storage; the size of the original demand torque and the filtered demand torque is judged to determine whether to enter the torque reduction control and further complete the torque increase zero-crossing fitting process; the size of the filtered demand torque after zero-crossing is judged to determine whether the anti-repeated zero-crossing knocking processing near zero torque is needed; the transition zone time parameter is obtained to complete the process of controlling the torque to coincide with the filtered demand torque. Through the series of torque control processes, the effect of fast zero-crossing and knocking abnormal sound suppression is achieved.

Description

Technical Field

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

[0002] In the power transmission chain from the engine / motor to the wheels, gear-connected structures (such as gearboxes, reducers, differentials, etc.) are unavoidable. To prevent gears from seizing due to friction, heat, and expansion, a certain clearance is required between gear pairs. When the vehicle decelerates and the accelerator is pressed, as the driving torque approaches zero, the driving and driven gears in the transmission system switch states. The driving gear may strike the driven gear, causing abnormal noise or a jerking sensation throughout the vehicle, affecting the driving experience. Summary of the Invention

[0003] In view of this, this application provides a torque control method, apparatus, device, and storage medium to help solve the above-mentioned technical problems.

[0004] In a first aspect, embodiments of this application provide a torque control method, the method comprising:

[0005] The vehicle speed and the accelerator pedal opening degree of the vehicle are obtained;

[0006] The initial torque required by the vehicle is determined based on the vehicle speed and the accelerator pedal opening degree;

[0007] The initial required torque is subjected to low-pass filtering to obtain the filtered required torque;

[0008] The output torque of the vehicle is controlled based on the initial required torque and the filtered required torque.

[0009] In some possible embodiments, before determining the output torque of the vehicle based on the initial required torque and the filtered required torque, the method further includes:

[0010] Obtain the preset upper limit value of torque; and obtain the acceleration of the vehicle;

[0011] The torque reduction threshold is determined based on the acceleration.

[0012] Determine whether the initial required torque is greater than the preset torque upper limit, and determine whether the filtered required torque is greater than the torque reduction threshold;

[0013] The control of the vehicle's output torque based on the initial required torque and the filtered required torque includes:

[0014] If it is determined that the initial required torque is greater than the preset torque upper limit, and it is determined that the filtered required torque is greater than the torque reduction threshold, then the output torque of the vehicle is controlled.

[0015] In some possible embodiments, controlling the output torque of the vehicle includes:

[0016] The torque reduction duration is determined based on the vehicle speed.

[0017] Obtain the acceleration of the vehicle;

[0018] The torque reduction of the vehicle is determined based on the acceleration and the accelerator pedal opening degree.

[0019] The torque reduction rate is determined based on the torque reduction duration and the torque reduction amplitude.

[0020] The output torque of the vehicle is reduced according to the torque reduction rate and the torque reduction duration.

[0021] In some possible embodiments, after controlling the reduction of the vehicle's output torque according to the torque reduction rate and the torque reduction duration, the method further includes:

[0022] The torque ramp-up time of the vehicle is determined based on the vehicle speed and the accelerator pedal opening degree;

[0023] The torque ramp-up rate is determined based on the torque ramp-up duration and the preset torque upper limit value;

[0024] The output torque is controlled to increase based on the torque ramp-up rate and the torque ramp-up duration.

[0025] In some possible embodiments, after determining and controlling the output torque of the vehicle based on the initial required torque and the filtered required torque, the method further includes:

[0026] Obtain the target torque after controlling the output torque of the vehicle;

[0027] 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;

[0028] If so, the target torque is adjusted to the preset upper limit value of torque.

[0029] In some possible embodiments, after determining whether the target torque is greater than the torque reduction threshold and less than the preset torque upper limit, the method further includes:

[0030] If the target torque is determined to be less than the torque reduction threshold or greater than the preset torque upper limit, then the torque transition time is determined based on the vehicle speed and the accelerator pedal opening degree.

[0031] The torque transition rate is determined based on the torque transition duration and the filter requirement torque corresponding to the current initial torque.

[0032] The target torque is controlled based on the torque transition rate and the torque transition duration.

[0033] Secondly, embodiments of this application provide a torque control device, the device comprising:

[0034] The acquisition module is used to acquire the vehicle speed and the accelerator pedal opening degree of the vehicle;

[0035] A torque determination module is used to determine the initial required torque of the vehicle based on the vehicle speed and the accelerator pedal opening degree.

[0036] The filtering module is used to perform low-pass filtering on the initial required torque to obtain the filtered required torque;

[0037] A torque control module is used to determine and control the output torque of the vehicle based on the initial required torque and the filtered required torque.

[0038] In some possible embodiments, the torque control module is further configured to:

[0039] Obtain the preset upper limit value of torque; and obtain the acceleration of the vehicle;

[0040] The torque reduction threshold is determined based on the acceleration.

[0041] Determine whether the initial required torque is greater than the preset torque upper limit, and determine whether the filtered required torque is greater than the torque reduction threshold;

[0042] 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 and the filtered required torque is greater than the torque reduction threshold.

[0043] In some possible embodiments, the torque control module is specifically used for:

[0044] The torque reduction duration is determined based on the vehicle speed.

[0045] Obtain the acceleration of the vehicle;

[0046] The torque reduction of the vehicle is determined based on the acceleration and the accelerator pedal opening degree.

[0047] The torque reduction rate is determined based on the torque reduction duration and the torque reduction amplitude.

[0048] The output torque of the vehicle is reduced according to the torque reduction rate and the torque reduction duration.

[0049] In some possible embodiments, the torque control module is further configured to:

[0050] The torque ramp-up time of the vehicle is determined based on the vehicle speed and the accelerator pedal opening degree;

[0051] The torque ramp-up rate is determined based on the torque ramp-up duration and the preset torque upper limit value;

[0052] The output torque is controlled to increase based on the torque ramp-up rate and the torque ramp-up duration.

[0053] In some possible embodiments, the torque control module is further configured to:

[0054] Obtain the target torque after controlling the output torque of the vehicle;

[0055] 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;

[0056] If so, the target torque is adjusted to the preset upper limit value of torque.

[0057] In some possible embodiments, the torque control module is further configured to:

[0058] If the target torque is determined to be less than the torque reduction threshold or greater than the preset torque upper limit, then the torque transition time is determined based on the vehicle speed and the accelerator pedal opening degree.

[0059] The torque transition rate is determined based on the torque transition duration and the filter requirement torque corresponding to the current initial torque.

[0060] The target torque is controlled based on the torque transition rate and the torque transition duration.

[0061] Thirdly, another embodiment of this application also provides an electronic device, including 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, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the methods provided in the first aspect embodiment of this application.

[0062] Fourthly, another embodiment of this application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for causing a computer to perform any of the methods provided in the first aspect of this application.

[0063] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0064] 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 This is a schematic diagram of the overall process of a torque control method provided in an embodiment of this application;

[0066] Figure 2 A schematic diagram illustrating the process of determining whether a vehicle needs torque control, as provided in an embodiment of this application.

[0067] Figure 3 A schematic flowchart illustrating a torque control method for controlling the output torque of a vehicle, provided in an embodiment of this application;

[0068] Figure 4 A schematic flowchart illustrating the positive zero-crossing torque of a torque control method provided in an embodiment of this application;

[0069] Figure 5 A schematic diagram illustrating the process of a torque control method provided in this application to avoid zero-crossing knocking caused by repeated zero crossings of a vehicle;

[0070] Figure 6 A schematic diagram of torque control for reducing the initial required torque, provided in an embodiment of this application;

[0071] Figure 7 This application provides a torque control method for initial torque rise, which is a torque control schematic diagram.

[0072] Figure 8 A schematic diagram illustrating the control torque increase of a torque control method provided in an embodiment of this application;

[0073] Figure 9A schematic diagram illustrating the control torque reduction method provided in this application embodiment;

[0074] Figure 10 A schematic diagram of an apparatus for a torque control method provided in an embodiment of this application;

[0075] Figure 11 This is a schematic diagram of an electronic device for a torque control method provided in an embodiment of this application. Detailed Implementation

[0076] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0077] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0078] 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 application. 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.

[0079] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0080] The inventors discovered that gear-operated structures (such as gearboxes, reducers, and differentials) are unavoidable in the power transmission chain from the engine / motor to the wheels. To prevent gears from seizing due to friction, heat, and expansion, a certain clearance is required between gear pairs. When the vehicle decelerates and the accelerator is pressed, as the driving torque approaches zero, the driving and driven gears in the transmission system switch states. The driving gear may strike the driven gear, causing abnormal noise or a jerking sensation throughout the vehicle, affecting the driving experience.

[0081] To address the aforementioned problems, this application provides a torque control method, apparatus, device, and storage medium to solve these issues. The inventive concept of this application can be summarized as follows: This application monitors a vehicle. If, after the vehicle has coasted and the accelerator is pressed, a torque zero-crossing process is triggered, relevant parameter information such as vehicle speed, acceleration, and accelerator pedal opening degree is acquired. Torque control-related parameters are obtained by reading pre-calibrated values ​​from a memory. By determining the magnitudes of the original required torque and the filtered required torque, a torque reduction control is initiated, and a torque increase zero-crossing engagement process is further completed. By determining the magnitude of the filtered required torque after zero-crossing, it is determined whether anti-repeated zero-crossing knocking processing near zero torque is required. By acquiring transition zone time parameters, the process of aligning the control torque with the filtered required torque is completed. Through this series of torque control processes, the effects of rapid zero-crossing and suppression of knocking noises are achieved.

[0082] For ease of understanding, the torque control method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings:

[0083] like Figure 1 The diagram shown is a schematic overall flow chart of a torque control method provided in an embodiment of this application, wherein:

[0084] In step 101: obtain the vehicle speed and the degree of accelerator pedal opening.

[0085] In this embodiment of the application, the vehicle speed can be obtained by a vehicle speed sensor and the accelerator pedal opening degree can be obtained by an accelerator pedal sensor.

[0086] In step 102: Determine the initial torque required by the vehicle based on the vehicle speed and the degree of accelerator pedal opening.

[0087] In this embodiment, the accelerator pedal opening degree affects the vehicle's required torque, and vehicle speed also affects the required torque; the higher the vehicle speed, the greater the required torque. Therefore, after obtaining the vehicle speed and accelerator pedal opening degree, the initial required torque of the vehicle can be determined based on these two parameters. The initial required torque can be denoted as... .

[0088] In step 103: the initial required torque is subjected to low-pass filtering to obtain the filtered required torque.

[0089] During vehicle operation, frequent braking and acceleration may occur within a short period, causing significant fluctuations in the initial torque demand. To prevent these frequent torque adjustments from negatively impacting the driving experience, a low-pass filter is applied to the initial torque after it is obtained. This results in a filtered torque demand, which exhibits smaller fluctuations over a short time, ensuring smooth vehicle operation. The filtered torque demand can be denoted as... .

[0090] In some possible embodiments, a first-order low-pass filter can be used when performing low-pass filtering on the initial demand torque. Low-pass filtering of the initial demand torque can also remove high-frequency components, resulting in a smoother and more stable filtered demand torque, reducing the impact of noise and interference on the vehicle.

[0091] In step 104: the output torque of the vehicle is controlled based on the initial required torque and the filtered required torque.

[0092] In some possible embodiments, before implementing step 104, it is necessary to determine whether the vehicle requires torque control; step 104 is then implemented only if it is determined that the vehicle requires torque control. This can be achieved by employing... Figure 2 The steps shown are for determining whether the vehicle requires torque control, wherein:

[0093] In step 201: obtain the preset upper limit value of torque; and obtain the acceleration of the determined vehicle.

[0094] In this embodiment, to prevent repeated zero-crossing knocks caused by the torque hovering near zero torque during the torque ramp-up phase after torque reduction when the driver's torque demand is low, a preset torque upper limit is set to ensure that the zero-crossing process can be completed and to avoid repeated zero-crossing knocks. In this embodiment, obtaining the vehicle's acceleration can be implemented by acquiring the vehicle's acceleration via the vehicle's electronic stability control system through the vehicle's local area network.

[0095] In step 202: Determine the torque reduction threshold based on the acceleration.

[0096] In this embodiment, a torque reduction threshold is set. This threshold characterizes the torque value at which the engine and / or motor, when the torque applied to the driving gear equals the inertial torque of the driven gear, begins to separate. The inertial torque of the driven gear is denoted as... , ,in Let $\frac{ ... This refers to the angular acceleration of the driven gear. Since the driven gear is connected to the vehicle end, its moment of inertia is related to the vehicle weight. Therefore, with a constant vehicle weight, the inertial torque of the driven gear can be set to a fixed value based on the vehicle weight. The angular acceleration of the driven gear is related to the vehicle acceleration; therefore, the torque reduction threshold is only related to the vehicle acceleration. To address the issue of different zero-crossing feel when pressing the accelerator pedal to the same depth at the same speed, calibration can be performed multiple times on different slopes to establish a curve relationship between acceleration and the torque reduction threshold.

[0097] In some possible embodiments, the torque reduction threshold is less than 0.

[0098] In practice, the curve relationship between acceleration and torque reduction threshold can be stored in the vehicle's memory. After determining the vehicle's acceleration, the torque reduction threshold can be determined based on the acceleration and the curve relationship stored in the vehicle's memory.

[0099] In step 203: determine whether the initial required torque is greater than the preset torque upper limit and whether the filtered required torque is greater than the torque reduction threshold; if the initial required torque is greater than the preset torque upper limit and the filtered required torque is greater than the torque reduction threshold, proceed to step 204; otherwise, proceed to step 205.

[0100] In this embodiment of the application, when the user presses the accelerator pedal, the initial torque demand of the vehicle will suddenly increase. Since the filtered torque demand will gradually increase, when the initial torque demand is greater than the preset torque upper limit, it indicates that the vehicle may have zero torque. When the filtered torque demand is greater than the torque reduction threshold, it indicates that torque control of the vehicle is required.

[0101] In step 204: the output torque of the vehicle is controlled.

[0102] In step 205: Determine that no torque control is required for the vehicle, and end the process.

[0103] In this embodiment, the specific implementation of step 104 is the same as that of step 204, and will be described together here:

[0104] In some possible embodiments, the output torque of the vehicle is controlled, specifically as follows: Figure 3 The steps shown are as follows:

[0105] In step 301: Determine the torque reduction duration based on vehicle speed.

[0106] In the embodiments of this application, the torque reduction duration represents the shortest time required for the driving gear and driven gear to separate and re-engage.

[0107] The torque reduction duration is related to the width of the clearance between the driving and driven gears and the gear rotational speed. Since the clearance width between the gears is fixed, and the gear rotational speed is proportional to the vehicle speed, a curve can be constructed showing the relationship between vehicle speed and torque reduction duration. In other words, the torque reduction duration is a one-dimensional calibration curve with vehicle speed as the variable. The overall trend of this curve is that the torque reduction duration decreases as vehicle speed increases.

[0108] In some possible embodiments, in order to ensure that the engagement process between the driving gear and the driven gear occurs within the torque reduction duration, the torque reduction duration can be appropriately increased when calibrating the curve of vehicle speed versus torque reduction duration.

[0109] In step 302: Obtain the vehicle's acceleration.

[0110] The specific implementation method of this step is the same as the process of obtaining vehicle acceleration in step 201, and will not be described again here.

[0111] In step 303: Determine the torque reduction range of the vehicle based on the acceleration and the accelerator pedal opening degree.

[0112] In this embodiment, considering that the driven gear is still decelerating when crossing zero, the driving gear also needs to decelerate by a certain amount of torque reduction after separation, so as to ensure that the driving gear and the driven gear remain synchronized, so that the engagement process between the driving gear and the driven gear is smoother.

[0113] Among them, the torque reduction amplitude is a parameter related to the accelerator pedal opening degree and the vehicle 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 this two-dimensional calibration curve is that it increases with the increase of the absolute value of the pedal opening degree and acceleration.

[0114] In step 304: Determine the torque reduction rate based on the torque reduction duration and torque reduction amplitude.

[0115] In this embodiment, the ratio of torque reduction duration to torque reduction amplitude can be used as the torque reduction rate. Controlling the vehicle's output torque based on the torque reduction rate can make the vehicle's torque decrease at a uniform speed, thereby ensuring the vehicle's stability.

[0116] In step 305: The output torque of the vehicle is reduced according to the torque reduction rate and torque reduction duration.

[0117] In this embodiment of the application, after obtaining the torque reduction rate, the output torque of the vehicle needs to be reduced according to the torque reduction rate within the torque reduction time, thereby completing the bonding process.

[0118] For example: the torque reduction time is recorded as... The torque reduction amplitude is recorded as Then it is necessary to The internal reduction of the vehicle's output torque .

[0119] In other possible embodiments, after the vehicle's output torque is reduced according to the torque reduction rate and the torque reduction duration, i.e., after the bonding process is completed, the following can be implemented: Figure 4 The steps shown are used to complete the positive zero crossing of the torque, where:

[0120] In step 401: Determine the torque ramp-up time of the vehicle based on the vehicle speed and the degree of accelerator pedal opening.

[0121] In this embodiment, to ensure smooth driving, a torque ramp-up time is set, during which the output torque is controlled to increase. The torque ramp-up time is related to the pedal opening degree and vehicle speed; that is, the pedal opening degree and vehicle speed can be used as variables to construct a two-dimensional calibration curve corresponding to the torque ramp-up time. Then, after obtaining the vehicle speed and accelerator pedal opening degree, the corresponding torque ramp-up time can be determined based on this two-dimensional calibration curve.

[0122] In step 402: Determine the torque ramp-up rate based on the torque ramp-up time and the preset torque upper limit value.

[0123] In this embodiment, the ratio of torque ramp-up time to a preset torque upper limit value can be used as the torque ramp-up rate.

[0124] In step 403: The output torque is controlled to increase based on the torque ramp-up rate and torque ramp-up duration.

[0125] In this embodiment of the application, after obtaining the torque ramp-up rate, it is necessary to increase the vehicle's output process within the torque ramp-up time, thereby achieving positive torque zero crossing.

[0126] For example: the torque ramp-up time is denoted as... The preset upper limit of torque is denoted as Then it is necessary to The internal torque will increase the vehicle's output torque to .

[0127] In some possible embodiments, after the zero crossing is completed, to avoid zero-crossing knocking caused by repeated zero crossings, the following can be used: Figure 5 The steps shown are as follows:

[0128] In step 501: Obtain the target torque after controlling the output torque of the vehicle.

[0129] In this embodiment of the application, the target torque is the torque after reducing the output torque of the vehicle during the process. Figure 4The torque after the process.

[0130] 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; if yes, proceed to step 503, otherwise proceed to step 504.

[0131] In this embodiment of the application, if the target torque is determined to be greater than or equal to the torque reduction threshold and less than or equal to the preset torque upper limit, it means that the required torque after the vehicle crosses zero is near zero torque. Therefore, the torque needs to be controlled to avoid repeated zero-crossing knocks.

[0132] In step 503: Adjust the target torque to the preset upper limit value of torque.

[0133] In this embodiment of the application, when the target torque is near zero torque, the target torque can be adjusted to a preset torque upper limit value, that is, to give the vehicle a small positive torque so that the vehicle's driving gear and driven gear maintain positive drive. Since the preset torque upper limit value is small, the adjusted torque will not deviate too much from the user's required torque, thus ensuring the user experience while avoiding repeated zero-crossing.

[0134] In some possible embodiments, if the driver's initial torque demand changes, causing the filtered torque demand corresponding to the initial torque demand to be less than the torque reduction threshold, then the torque transition time needs to be determined based on the vehicle speed and the accelerator pedal opening. Then, within this torque transition time, the vehicle's output torque is transitioned from the preset torque upper limit to the filtered torque demand corresponding to the current initial torque demand.

[0135] For example: Figure 6 As shown, the vehicle speed and accelerator pedal opening are acquired in real time, and the initial torque required by the vehicle at time t1 is determined to be... The required torque for filtering is determined to be Before time t1, the actual output torque equals the required filtering torque, and the preset upper limit of torque is determined to be... The torque reduction threshold is ,Sure Greater than And confirmed Greater than This indicates that the vehicle has entered the engagement zone, and it is necessary to control the vehicle's output torque. First, determine the torque reduction duration based on the vehicle speed. The torque reduction was determined to be... Then it is necessary to The internal reduction of the vehicle's output torque Then, in the zero-crossing zone, the torque ramp-up time is determined based on vehicle speed and accelerator pedal opening. Then in The internal torque will increase the vehicle's output torque to After the zero-crossing phase, it is necessary to determine whether the vehicle's output torque is within the acceptable range. and If it is determined that the output torque is between [a certain value], and In between, the vehicle's output torque is not controlled. At time t2, it is determined that the filter torque corresponding to the vehicle's current initial torque demand has changed. Then, the torque transition time is determined based on the vehicle speed and accelerator pedal opening. ,exist The output torque will be transitioned to the filter torque corresponding to the current initial required torque. Even if the actual output torque coincides with the torque required for filtering.

[0136] In some other possible embodiments, if the driver's initial torque demand changes, causing the filtered torque demand corresponding to the initial torque demand to be greater than the preset torque upper limit, then it is necessary to determine the torque transition time based on the vehicle speed and the accelerator pedal opening and closing degree. Then, within the torque transition time, the vehicle's output torque is transitioned from the preset torque upper limit to the filtered torque demand corresponding to the current initial torque demand.

[0137] For example: Figure 7 As shown, the vehicle speed and accelerator pedal opening are acquired in real time, and the initial torque required by the vehicle at time t1 is determined to be... The required torque for filtering is determined to be Before time t1, the actual output torque equals the required filtering torque, and the preset upper limit of torque is determined to be... The torque reduction threshold is ,Sure Greater than And confirmed Greater than This indicates that the vehicle has entered the engagement zone, and it is necessary to control the vehicle's output torque. First, determine the torque reduction duration based on the vehicle speed. The torque reduction was determined to be... Then it is necessary to The internal reduction of the vehicle's output torque Then, in the zero-crossing zone, the torque ramp-up time is determined based on vehicle speed and accelerator pedal opening. Then in The internal torque will increase the vehicle's output torque to After the zero-crossing phase, it is necessary to determine whether the vehicle's output torque is within the acceptable range. and If it is determined that the output torque is between [a certain value], and In between, the vehicle's output torque is not controlled. At time t2, it is determined that the filter torque corresponding to the vehicle's current initial torque demand has changed. Then, the torque transition time is determined based on the vehicle speed and accelerator pedal opening. ,exist The output torque will be transitioned to the filter torque corresponding to the current initial required torque. Even if the actual output torque coincides with the torque required for filtering.

[0138] In step 504: Determine the torque transition time based on vehicle speed and accelerator pedal opening / closing.

[0139] In this embodiment of the application, when the required torque after the vehicle crosses zero is not near zero torque, torque can be increased or decreased to make the torque transition smoothly.

[0140] In some possible embodiments, the torque transition duration characterizes the transition of the vehicle's output torque to the filtered torque requirement. To ensure smooth driving, the torque transition duration needs to be considered, taking into account the slope of torque change. Therefore, this torque transition duration is related to the accelerator pedal opening and vehicle speed. In other words, the accelerator pedal opening and vehicle speed can be used as variables to construct a two-dimensional calibration curve corresponding to the torque transition duration. Based on the obtained vehicle speed, accelerator pedal opening, and the constructed two-dimensional calibration curve, the torque transition duration can be obtained.

[0141] In step 505: Determine the torque transition rate based on the torque transition duration and the filtering requirement torque corresponding to the current initial torque.

[0142] In this embodiment, the ratio of the torque transition time to the filtering required torque corresponding to the current initial torque can be used as the torque transition rate.

[0143] In step 506: the target torque is controlled according to the torque transition rate and torque transition duration.

[0144] In this embodiment, the vehicle's output torque is adjusted to the required filtering torque according to the torque transition rate during the torque transition duration.

[0145] Taking the control of torque increase as an example, for instance: Figure 8 As shown, the vehicle speed and accelerator pedal opening are acquired in real time, and the initial torque required by the vehicle at time t1 is determined to be... The required torque for filtering is determined to be Determine the preset torque upper limit value. The torque reduction threshold is ,Sure Greater than And confirmed Greater than This indicates that the vehicle has entered the engagement zone, and it is necessary to control the vehicle's output torque. First, determine the torque reduction duration based on the vehicle speed. The torque reduction was determined to be... Then it is necessary to The internal reduction of the vehicle's output torque Then, in the zero-crossing zone, the torque ramp-up time is determined based on vehicle speed and accelerator pedal opening. Then in The internal torque will increase the vehicle's output torque to After the zero-crossing phase, it is necessary to determine whether the vehicle's output torque is within the acceptable range. and Between, if it is determined that the output torque is not and Between these parameters, the torque transition time is determined based on vehicle speed and the degree of accelerator pedal engagement. ,exist The internal torque transition value will be adjusted to the filtered torque corresponding to the current initial required torque. .

[0146] Taking the control of torque reduction as an example, or for example: Figure 9 As shown, the vehicle speed and accelerator pedal opening are acquired in real time, and the initial torque required by the vehicle at time t1 is determined to be... The required torque for filtering is determined to be Determine the preset torque upper limit value. The torque reduction threshold is ,Sure Greater than And confirmed Greater than This indicates that the vehicle has entered the engagement zone, and it is necessary to control the vehicle's output torque. First, determine the torque reduction duration based on the vehicle speed. The torque reduction was determined to be... Then it is necessary to The internal reduction of the vehicle's output torque Then, in the zero-crossing zone, the torque ramp-up time is determined based on vehicle speed and accelerator pedal opening. Then in The internal torque will increase the vehicle's output torque to After the zero-crossing phase, it is necessary to determine whether the vehicle's output torque is within the acceptable range. and Between, if it is determined that the output torque is not and Between these parameters, the torque transition time is determined based on vehicle speed and the degree of accelerator pedal engagement. ,exist The internal torque transition value will be adjusted to the filtered torque corresponding to the current initial required torque. .

[0147] Compared to traditional zero-crossing control that gradually increases torque, the torque control method provided in this application embodiment is more in line with the engagement process of the driving gear when the driven gear decelerates, which can effectively reduce zero-crossing knocking. Secondly, by judging the torque when the driving and driven gears separate through vehicle acceleration, the moment of entering torque zero-crossing control can be judged more accurately. By calibrating the torque slope in the transition zone, it can be kept consistent with the torque slope after zero-crossing, effectively reducing the driving feel of acceleration segments. When the driver's required torque is near zero torque after zero-crossing, applying positive torque can effectively prevent repeated zero-crossing knocking.

[0148] Based on the same inventive concept, after introducing a torque control method provided by the embodiments of this application, as follows... Figure 10 As shown, a torque control device 1000 provided in the embodiments of this application will be described below. The device includes:

[0149] The acquisition module 10001 is used to acquire the vehicle speed and the accelerator pedal opening degree of the vehicle.

[0150] 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 degree.

[0151] Filtering module 10003 is used to perform low-pass filtering on the initial required torque to obtain the filtered required torque;

[0152] The torque control module 10004 is used to control the output torque of the vehicle based on the initial required torque and the filtered required torque.

[0153] In some possible embodiments, the torque control module 10004 is further configured to:

[0154] Obtain the preset upper limit value of torque; and obtain the acceleration of the vehicle;

[0155] The torque reduction threshold is determined based on the acceleration.

[0156] Determine whether the initial required torque is greater than the preset torque upper limit, and determine whether the filtered required torque is greater than the torque reduction threshold;

[0157] The torque control module 10004 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 and the filtered required torque is greater than the torque reduction threshold.

[0158] In some possible embodiments, the torque control module 10004 is specifically used for:

[0159] The torque reduction duration is determined based on the vehicle speed.

[0160] Obtain the acceleration of the vehicle;

[0161] The torque reduction of the vehicle is determined based on the acceleration and the accelerator pedal opening degree.

[0162] The torque reduction rate is determined based on the torque reduction duration and the torque reduction amplitude.

[0163] The output torque of the vehicle is reduced according to the torque reduction rate and the torque reduction duration.

[0164] In some possible embodiments, the torque control module 10004 is further configured to:

[0165] The torque ramp-up time of the vehicle is determined based on the vehicle speed and the accelerator pedal opening degree;

[0166] The torque ramp-up rate is determined based on the torque ramp-up duration and the preset torque upper limit value;

[0167] The output torque is controlled to increase based on the torque ramp-up rate and the torque ramp-up duration.

[0168] In some possible embodiments, the torque control module 10004 is further configured to:

[0169] Obtain the target torque after controlling the output torque of the vehicle;

[0170] 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;

[0171] If so, the target torque is adjusted to the preset upper limit value of torque.

[0172] In some possible embodiments, the torque control module 10004 is further configured to:

[0173] If the target torque is determined to be less than the torque reduction threshold or greater than the preset torque upper limit, then the torque transition time is determined based on the vehicle speed and the accelerator pedal opening degree.

[0174] The torque transition rate is determined based on the torque transition duration and the filter requirement torque corresponding to the current initial torque.

[0175] The target torque is controlled based on the torque transition rate and the torque transition duration.

[0176] Corresponding to the above embodiments, this application also provides an electronic device. Figure 11 This is 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 will 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 may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0177] The communication unit 1103 is used to establish a communication channel, enabling the electronic device to communicate with other devices. It receives user data from other devices or sends user data to other devices.

[0178] The processor 1101 serves as the control center of the electronic device, connecting various parts of the device via interfaces and lines. It executes software programs and / or modules stored in the memory 1102, and calls data stored in the memory to perform various functions and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 1101 may consist only of a central processing unit (CPU). In this embodiment, the CPU may have a single processing core or include multiple processing cores.

[0179] 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), power-off erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0180] When the execution instructions in memory 1102 are executed by processor 1101, the electronic device 1100 is able to perform operations. Figure 1 Some or all of the steps in the illustrated embodiments.

[0181] In a specific implementation, the present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps of the torque control method provided by the present invention in various embodiments. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0182] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of the present invention.

[0183] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments and terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A torque control method characterized by, The method is applied to a vehicle and comprises the following steps: acquiring a vehicle speed and an opening degree of an accelerator pedal of the vehicle; determining an initial required torque of the vehicle based on the vehicle speed and the opening degree of the accelerator pedal; performing low-pass filtering on the initial required torque to obtain a filtered required torque; acquiring a preset torque upper limit value and an 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 whether the filtered required torque is greater than the torque reduction threshold value; if it is determined that the initial required torque is greater than the preset torque upper limit value and that the filtered required torque is greater than the torque reduction threshold value, controlling an output torque of the vehicle; the step of controlling the output torque of the vehicle comprises the following steps: determining a torque reduction duration according to the vehicle speed; acquiring an acceleration of the vehicle; determining a torque reduction amplitude of the vehicle according to the acceleration and the opening degree of the accelerator pedal; determining a torque reduction rate according to the torque reduction duration and the torque reduction amplitude; controlling the output torque of the vehicle to decrease according to the torque reduction rate and the torque reduction duration.

2. The method of claim 1, wherein, after the step of controlling the output torque of the vehicle to decrease according to the torque reduction rate and the torque reduction duration, the method further comprises the following steps: determining a torque climb duration of the vehicle according to the vehicle speed and the opening degree of the accelerator pedal; determining a torque climb rate according to the torque climb duration and the preset torque upper limit value; controlling the output torque to increase according to the torque climb rate and the torque climb duration.

3. The method of claim 1, wherein, after the step of controlling the output torque of the vehicle, the method further comprises the following steps: acquiring a target torque after the output torque of the vehicle is controlled; determining whether the target torque is greater than or equal to the torque reduction threshold value and less than or equal to the preset torque upper limit value; if yes, adjusting the target torque to the preset torque upper limit value.

4. The method of claim 3, wherein, after the step of determining whether the target torque is greater than or equal to the torque reduction threshold value and less than or equal to the preset torque upper limit value, the method further comprises the following steps: if it is determined that the target torque is less than the torque reduction threshold value or greater than the preset torque upper limit value, determining a torque transition duration according to the vehicle speed and the opening degree of the accelerator pedal; determining a torque transition rate according to the torque transition duration and a filtered required torque corresponding to a current initial torque; controlling the target torque according to the torque transition rate and the torque transition duration.

5. A torque control device characterized by comprising: The device is applied to a vehicle and comprises the following components: an acquiring module, configured to acquire a vehicle speed and an opening degree of an accelerator pedal of the vehicle; a torque determining module, configured to determine an initial required torque of the vehicle based on the vehicle speed and the opening degree of the accelerator pedal; a filtering module, configured to perform low-pass filtering on the initial required torque to obtain a filtered required torque; The torque control module is specifically configured to: acquire a preset torque upper limit value; acquire an acceleration of the vehicle; determine a torque reduction threshold according to the acceleration; determine whether the initial demand torque is greater than the preset torque upper limit value, and determine whether the filtered demand torque is greater than the torque reduction threshold; if it is determined that the initial demand torque is greater than the preset torque upper limit value and it is determined that the filtered demand torque is greater than the torque reduction threshold, control the output torque of the vehicle. The torque control module is specifically configured to: determine a torque reduction duration according to the vehicle speed; acquire an acceleration of the vehicle; determine a torque reduction amplitude of the vehicle according to the acceleration and the opening degree of the accelerator pedal; determine a torque reduction rate according to the torque reduction duration and the torque reduction amplitude; and control the output torque of the vehicle to decrease according to the torque reduction rate and the torque reduction duration.

6. An electronic device, comprising: The computer readable storage medium comprises a stored program, wherein the program, when executed, controls the device in which the computer readable storage medium is located to perform the method of any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the program, when executed, controls the device in which the computer readable storage medium is located to perform the method of any one of claims 1-4.

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