Vehicle torque control method and device, storage medium and vehicle

Abstract

The invention discloses a vehicle torque control method and device, a storage medium and a vehicle. The method comprises the steps that torque demand information and vehicle state information of a target vehicle are obtained, the torque demand information comprises a target torque condition and current period demand torque, the current period demand torque is used for controlling a motor to conduct torque output in the current period, and the vehicle state information at least comprises a load signal and a slope signal; determining a torque gradient model of the target vehicle based on the vehicle state information; and performing torque adjustment of at least one period on the demand torque of the current period by using the torque gradient model until the demand torque of the current period meets the target torque condition. By means of the technical scheme, it is ensured that the vehicle torque is adjusted to the target torque within a limited period, negative influences on vehicle stability and energy efficiency caused by sudden torque changes when the torque is adjusted at a time are avoided, and the running stability and comfort of the torque vehicle are ensured.

Description

Technical Field

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

[0002] With the demand for energy iteration and the introduction of national policies, new energy vehicles are increasingly widely used in the field of commercial vehicles. As the main power source of new energy vehicles, motors currently have the following problems: the motor can exert peak torque in the low speed range, and the torque is prone to sudden changes when starting, causing the vehicle to jerk and affecting the driver's driving experience; as the throttle opening changes, the motor torque responds faster and has a higher adhesion than traditional diesel engines. If the driver has a rough driving style, it will cause frequent torque fluctuations and generate additional energy loss.

[0003] However, the existing vehicle torque control method algorithm system is complex, the torque processing is relatively simple and cannot meet the needs of all working conditions.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a vehicle torque control method, device, storage medium, and vehicle to at least solve the technical problems of the motor torque control method algorithm system being complex and the torque control being relatively simple in the related art.

[0006] According to one aspect of an embodiment of the present invention, a vehicle torque control method is provided, comprising: obtaining torque demand information and vehicle status information of a target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle status information includes at least a load signal and a slope signal; based on the vehicle status information, determining a torque gradient model of the target vehicle; and utilizing the torque gradient model to perform torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

[0007] Optionally, based on the vehicle state information, determining the torque gradient model of the target vehicle includes the following steps: obtaining a basic torque gradient model; determining a gradient correction coefficient based on the vehicle state information; and correcting the basic torque gradient model using the gradient correction coefficient to obtain the torque gradient model of the target vehicle.

[0008] Optionally, the torque gradient model is used to perform torque regulation for one cycle on the current cycle demand torque, including the following steps: based on the current cycle demand torque, determining a torque regulation gradient that matches the current cycle demand torque from the torque gradient model; based on the torque regulation gradient, performing torque regulation on the current cycle demand torque to obtain the current cycle demand torque for the next cycle.

[0009] Optionally, the torque demand information also includes the final required torque, the target torque condition includes the first torque condition and the second torque condition, and the current cycle required torque meets the target torque condition, including the following steps: when the current cycle required torque meets any one of the first torque condition and the second torque condition, determine that the current cycle required torque meets the target torque condition; wherein the first torque condition is that the current cycle required torque is less than the final required torque, and the final required torque is less than the current cycle required torque of the next cycle; the second torque condition is that the current cycle required torque is greater than the final required torque, and the final required torque is greater than the current cycle required torque of the next cycle.

[0010] Optionally, before obtaining the torque demand information of the target vehicle, the method also includes the following steps: obtaining a pedal target torque; determining whether the pedal target torque is greater than or equal to a preset torque threshold; when it is determined that the pedal target torque is greater than or equal to the preset torque threshold, determining the final required torque to be the preset torque threshold; when it is determined that the pedal target torque is less than the preset torque threshold, determining the final required torque to be the pedal target torque.

[0011] Optionally, after the current cycle demand torque meets the target torque condition, the method further includes the following steps: when it is determined that the current cycle demand torque meets the target torque condition, determining the current cycle demand torque of the next cycle as the final demand torque, and exiting torque regulation.

[0012] Optionally, the vehicle status information also includes one of the following: a gear position signal, a throttle opening signal, a throttle change rate signal, a vehicle speed signal, and a vehicle acceleration signal.

[0013] According to another aspect of an embodiment of the present invention, a vehicle torque control device is also provided, including: an acquisition module, the acquisition module is used to acquire torque demand information and vehicle status information of a target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle status information includes at least a load signal and a slope signal; a determination module, the determination module is used to determine a torque gradient model of the target vehicle based on the vehicle status information; and an adjustment module, the adjustment module is used to use the torque gradient model to perform torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

[0014] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned method for processing data requests when running.

[0015] According to another aspect of an embodiment of the present invention, a vehicle is provided. The vehicle is controlled by using the above-mentioned vehicle torque control method.

[0016] In an embodiment of the present invention, the torque demand information and vehicle state information of the target vehicle are obtained, wherein the torque demand information includes the target torque condition and the current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information includes at least a load signal and a slope signal; based on the vehicle state information, the torque gradient model of the target vehicle is determined; using the torque gradient model, the torque demand torque of the current cycle is adjusted for at least one cycle until the current cycle demand torque meets the target torque condition. The torque output is dynamically adjusted according to the actual load, slope and other vehicle states of the target vehicle to ensure that the vehicle torque is adjusted to the target torque within a limited number of cycles, to avoid the sudden torque change when the torque is adjusted once, which has a negative impact on the vehicle stability and energy efficiency, and to ensure the stability and comfort of the torque vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a hardware structure block diagram of an electronic device of a vehicle according to a vehicle torque control method according to one embodiment of the present invention;

[0019] Figure 2 is a flow chart of a vehicle torque control method according to one optional embodiment of the present invention;

[0020] Figure 3 is a structural block diagram of a vehicle torque control device according to one embodiment of the present invention;

[0021] Figure 4 It is a flowchart of a vehicle torque control method according to one optional embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to one embodiment of the present invention, an embodiment of a vehicle torque control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] The method embodiment can be executed in an electronic device [or computer terminal] or similar computing device in a vehicle that includes a memory and a processor. For example, Figure 1 As shown, the electronic device of the vehicle may include one or more processors 102 (the processor may include but is not limited to a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microprocessor (MCU), a programmable logic device (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, etc.) and a memory 104 for storing data. Optionally, the electronic device of the vehicle may also include a transmission device 106 for communication functions, an input and output device 108, and a display 110. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the electronic device of the vehicle. For example, the electronic device of the vehicle may include more or fewer components than those described in the above structure, or may have a configuration different from that described in the above structure.

[0026] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle torque control method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above-mentioned vehicle torque control method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0027] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0028] The display 110 may be, for example, a touch screen liquid crystal display (LCD). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0029] In this embodiment, a vehicle torque control method of an electronic device running on the above vehicle is provided. Figure 2 is a flow chart of a vehicle torque control method according to one embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0030] Step S21, obtaining torque demand information and vehicle state information of the target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information includes at least a load signal and a slope signal;

[0031] Specifically, the torque demand information is the target torque information to which the vehicle is pre-adjusted, that is, the condition of the target torque. The current cycle demand torque is the target torque set for the motor in the current cycle by the motor control system. The vehicle status information is the various current states of the vehicle. In addition to the load signal and slope signal, the vehicle status information may also include more vehicle status information, such as vehicle speed, acceleration, pedal and other status information.

[0032] Step S22, determining a torque gradient model of the target vehicle based on the vehicle state information;

[0033] Specifically, the torque gradient model is the target vehicle torque change rate. According to different vehicle state information or different vehicle operations by the driver, the corresponding change rate is selected for the target torque of the target vehicle and is precisely controlled.

[0034] Step S23, using the torque gradient model, performing torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

[0035] Specifically, the target vehicle makes an overall adjustment plan for the current torque and adjusts the real-time torque once within a cycle. If the torque still does not reach the target torque condition at this time, the control system plans a second cycle adjustment with the adjusted torque again, in order to adjust the torque to meet the target torque condition within a limited number of cycles.

[0036] Through the above steps, the torque demand information and vehicle state information of the target vehicle are obtained, wherein the torque demand information includes the target torque condition and the current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information at least includes a load signal and a slope signal; based on the vehicle state information, the torque gradient model of the target vehicle is determined; using the torque gradient model, the torque demand torque of the current cycle is adjusted for at least one cycle until the current cycle demand torque meets the target torque condition. The torque output is dynamically adjusted according to the actual load, slope and other vehicle states of the target vehicle to ensure that the vehicle torque is adjusted to the target torque within a limited number of cycles, to avoid the sudden torque change when the torque is adjusted once, which has a negative impact on the vehicle stability and energy efficiency, and to ensure the stability and comfort of the torque vehicle.

[0037] It should be noted that using the load signal and slope signal in the vehicle status information as important torque gradient model selection information means that the torque gradient model takes into account the vehicle load and the road conditions and vehicles with frequently changing complexity, and plans a suitable torque gradient model to avoid situations such as jerking and shaking caused by large torque changes, frequent torque changes, and fast speeds.

[0038] Optionally, in step S22, based on the vehicle state information, determining the torque gradient model of the target vehicle includes the following steps:

[0039] Step S221, obtaining a basic torque gradient model;

[0040] Specifically, the basic torque gradient model preliminarily defines the torque change rate and change time according to the torque demand information of the target vehicle, such as setting the torque output range into multiple segments according to different working conditions, and setting the basic torque change for each torque segment.

[0041] Among them, the number of torque gradient segments can be set according to the specific vehicle model and working conditions, and the basic torque gradient model is a torque gradient model preset for different torque output segments through road testing and simulation analysis. The gradient value of each torque segment is calibrated and optimized, and the model is stored, so as to quickly establish the corresponding basic torque gradient model for the target torque segment.

[0042] Preferably, the number of torque gradient segments is set to 12, and the basic torque gradient is divided into an ascending gradient and a descending gradient. The ascending gradient is such as vehicle starting, and the descending torque is such as vehicle braking.

[0043] Step S222, determining a gradient correction coefficient based on vehicle state information;

[0044] Specifically, the gradient correction coefficient is used to adjust the basic torque gradient model. By real-time monitoring of the driver's operation and the target vehicle status, the gradient correction coefficient is dynamically calculated based on multiple factors to adjust the rate of torque increase or decrease.

[0045] In one embodiment of the present application, a second-order gradient correction coefficient is combined with a basic coefficient to correct the basic gradient model. The second-order gradient correction coefficient is independent of the basic coefficient and is a coefficient determined by the vehicle load signal and the slope signal, forming different combinations with the basic coefficient.

[0046] Step S223, using the gradient correction coefficient to correct the basic torque gradient model to obtain the torque gradient model of the target vehicle.

[0047] Specifically, after adjusting the basic torque gradient model through the gradient correction coefficient, a torque gradient model of the target vehicle that is applicable in real time can be obtained, which can more accurately match the current driving state of the vehicle, reduce torque adjustment errors, improve the vehicle's response speed and control accuracy, and can be applied to various driving modes and road conditions.

[0048] Optionally, in step S23, a torque gradient model is used to perform a torque adjustment for the current cycle required torque for one cycle, including the following steps:

[0049] Step S231, based on the current cycle required torque, determining a torque adjustment gradient matching the current cycle required torque from a torque gradient model;

[0050] Specifically, the current cycle demand torque is monitored in real time, and based on the current cycle demand torque, the calibrated and stored basic torque gradient model is screened and the basic torque gradient model that best matches the current cycle demand torque is selected. Combined with the target vehicle state information, the basic torque gradient model is corrected and the torque adjustment gradient of the current cycle is calculated. The torque gradient can be obtained by multiplying the basic torque gradient by the correction coefficient.

[0051] Step S232: Based on the torque adjustment gradient, the torque required in the current cycle is adjusted to obtain the torque required in the current cycle for the next cycle.

[0052] Specifically, if the calculated torque demand for this cycle does not exceed the final target torque, the torque demand for this cycle is used as the target torque for the motor in the next cycle. Through multiple periodic adjustments to the target torque, this process is continuously iterated as the vehicle state changes. The controller updates the current cycle demand torque in each cycle and recalculates the torque gradient to achieve a smooth transition of the torque, avoiding sudden changes in the torque adjustment process, reducing the impact on the motor, and extending the motor life.

[0053] Optionally, in step S21, the torque demand information also includes the final demand torque, the target torque condition includes the first torque condition and the second torque condition, and the current cycle demand torque meets the target torque condition, including the following steps:

[0054] Step S211, when the current cycle required torque meets any one of the first torque condition and the second torque condition, determining that the current cycle required torque meets the target torque condition;

[0055] Specifically, the target torque condition is used to guide and limit the adjustment of the torque. The first torque condition is the torque upper limit condition, and the second torque condition is the torque lower limit condition or the special operating condition. When the torque demand changes, the control system determines whether the current cycle demand torque meets the first torque condition or the second torque condition.

[0056] Among them, the first torque condition is that the current cycle demand torque is less than the final demand torque, and the final demand torque is less than the current cycle demand torque of the next cycle; the second torque condition is that the current cycle demand torque is greater than the final demand torque, and the final demand torque is greater than the current cycle demand torque of the next cycle. The control system determines whether the current cycle demand torque meets the first torque condition or the second torque condition. If it does, the control system takes corresponding measures to adjust the motor torque output to ensure the safety, stability and economy of vehicle operation; if the current cycle demand torque exceeds the first torque condition, the control system sets the final target torque to the upper limit value to avoid excessive torque output, protect the motor, and maintain vehicle stability and safety. If the current cycle demand torque exceeds the limit of the second torque condition, the control system sets the final target torque to the lower limit value to ensure that the vehicle can effectively recover energy or safely decelerate.

[0057] Optionally, in step S21, before obtaining the torque demand information of the target vehicle, the method further includes the following steps:

[0058] Step S201, obtaining pedal target torque;

[0059] Specifically, the pedal target torque is the degree of selection of the target torque by the driver during the vehicle driving operation, that is, the driver operates the pedal opening, and different pedal openings correspond to different pedal target torques.

[0060] Step S202, determining whether the pedal target torque is greater than or equal to a preset torque threshold;

[0061] Specifically, according to the degree of operation of the pedal opening by the driver, the relationship between the pedal target torque and the preset torque threshold is determined, that is, whether the pedal target torque exceeds the preset torque limit value is determined.

[0062] Step S203, when it is determined that the pedal target torque is greater than or equal to the preset torque threshold, determining the final required torque to be the preset torque threshold;

[0063] Specifically, when it is determined that the pedal target torque exceeds or reaches the preset torque threshold, the final required torque is set to the preset torque threshold, that is, when the driver operates the pedal opening to be maximum or exceeds the maximum pedal opening, the preset torque threshold of the maximum pedal opening is used as the final required torque.

[0064] Step S204: When it is determined that the pedal target torque is less than the preset torque threshold, the final required torque is determined to be the pedal target torque.

[0065] Specifically, when it is determined that the pedal target torque is within the preset torque threshold, the target torque determined by the actual pedal opening can be used as the final required torque. Setting the final required torque in this way can prevent the driver from misoperating and causing excessive torque, that is, the setting of the preset torque threshold can protect the safety of the motor and the vehicle, avoid vehicle instability caused by torque mutation, ensure the motor responds quickly and smoothly, and optimize the vehicle's power performance and economy.

[0066] Optionally, in step S211, after the current cycle required torque meets the target torque condition, the method further includes the following steps:

[0067] Step S212, when it is determined that the current cycle required torque meets the target torque condition, the current cycle required torque of the next cycle is determined as the final required torque, and the torque adjustment is exited.

[0068] Specifically, the current cycle demand torque is monitored in real time and compared with the target torque condition. When it is monitored that the current cycle demand torque is close to the final demand torque or meets the target torque condition, the current cycle demand torque of the next cycle is set as the final demand torque. After the torque adjustment is completed, the control system stops and exits the torque adjustment. This ensures the efficiency of torque adjustment and the response speed.

[0069] Optionally, the vehicle status information also includes one of the following: gear position signal, throttle opening signal, throttle change rate signal, vehicle speed signal, and vehicle acceleration signal. The vehicle status information can provide a more comprehensive vehicle driving status by detecting the above additional statuses. At the same time, the torque adjustment based on the above additional vehicle status information can be more accurate, not only simulating vehicle load and road conditions, but also through vehicle gear position, throttle opening, throttle change rate, vehicle speed, acceleration and other signals, when the vehicle switches between the above states, it can ensure smoother torque adjustment and provide stability and safety for the vehicle.

[0070] Combination Figure 4 As shown, the present application also provides a preferred embodiment of a vehicle torque control method, such as Figure 4 As shown, the vehicle torque control method includes the following steps:

[0071] Step 1: Based on the change of the pedal target torque, determine whether the pedal target torque exceeds the preset torque threshold; if it exceeds, set the final target torque to the preset torque and jump to step 2; if it does not exceed, directly jump to step 2;

[0072] Step 2: Determine that the current cycle demand torque is An·m (n·m is the torque unit: Newton·meter), and the torque gradient corresponding to the current cycle demand torque is K n·m / cycle, then the next cycle demand torque = (A+K)n·m, jump to step 3;

[0073] Step 3: Determine whether (A+K)n·m is greater than the final required torque; if not, reset the current cycle required torque to (A+K)n·m and jump to step 2; if satisfied, determine the current cycle required torque as the final required torque and jump to step 4;

[0074] Step 4: End torque adjustment.

[0075] The number of torque gradient segments is 12. In the torque rising process, assuming that the final output torque is A (A n <A<A n+1 ,6<N≤12), the required 0 torque is A 6 , the corresponding torque gradient value is K 6 , the rate of increase of the motor torque changes with the change of the current target torque, starting with K 6 The rate increases and the current target torque reaches A 7 When K 7 The rate increases... the cycle repeats until the required torque reaches A n , with K n The rate rises to the final target torque, completing the torque rise filtering process.

[0076] In the torque reduction process, assuming that the final output torque is B (B n <B<B n+1 ), the current torque is C(B 6 <C<B 7 ), the corresponding torque drop gradient value is M 6 , initially with M 6 The rate decreases, and the current target torque is lower than M 6 When M 5 The rate decreases... the cycle repeats until the required torque is lower than B n+1 , with M n The rate decreases to the final target torque B, completing the torque drop filtering process.

[0077] The gradient management of the above torque increase process is shown as follows:

[0078]

[0079] Among them, A is the current motor required torque, K is the current torque change rate, and n is the number of torque gradient segments.

[0080] The gradient management of the above torque reduction process is shown as follows:

[0081]

[0082] Among them, B is the current motor required torque, M is the current torque change rate, and n is the number of torque gradient segments.

[0083] When calculating the basic torque change gradient K n At this time, it is necessary to calculate the second-order gradient correction coefficient L and multiply KL as the final output torque gradient.

[0084] The calculation method of L is: the current vehicle mass Q is obtained through the vehicle mass model or mass switch, the current slope S is obtained through the slope sensor and slope calculation model, and combined with Table 1, the second-order gradient correction coefficient L is obtained. QS The values ​​of K and L are obtained by testing at different torque ranges, different masses and different slopes to meet the subjective evaluation requirements. The dimensions in Table 1 can be adjusted according to the actual needs of different working conditions.

[0085] Table 1:

[0086]

[0087] Note: For the parameters not covered in the above table, the linear difference calculation is adopted.

[0088] In this embodiment, more vehicle status information is selectively read from the outside to comprehensively judge and select the torque gradient, such as the torque, throttle, throttle change rate, acceleration, etc. Through the calibration process, the torque filter algorithm and the above vehicle status information are combined to selectively correct the torque gradient output value of the single amino acid.

[0089] Through the above steps, it can be seen that the vehicle torque control method in this application has the following beneficial effects:

[0090] 1) Add the second-order gradient correction coefficient, i.e., the torque gradient correction coefficient L of mass and slope, to the basic coefficient, and multiply it with the basic coefficient K as the final torque gradient value output to form different permutations and combinations, provide more torque gradient value options, and achieve the purpose of multiple working conditions.

[0091] 2) More vehicle status information can be introduced to correct the torque gradient value.

[0092] 3) Torque control is performed through the vehicle torque control method, which has the characteristics of strong flexibility, full coverage of working conditions, low cost, easy implementation and strong scalability.

[0093] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0094] In this embodiment, a vehicle torque control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0095] Figure 3 is a structural block diagram of a vehicle torque control device according to one embodiment of the present invention. Figure 3 As shown, the device includes: an acquisition module 42, the acquisition module 42 is used to acquire the torque demand information and vehicle status information of the target vehicle, wherein the torque demand information includes the target torque condition and the current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle status information at least includes a load signal and a slope signal; a determination module 44, the determination module 44 is used to determine the torque gradient model of the target vehicle based on the vehicle status information; the adjustment module 46, the adjustment module 46 is used to use the torque gradient model to perform torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

[0096] Through the above device, the torque demand information and vehicle state information of the target vehicle are obtained, wherein the torque demand information includes the target torque condition and the current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information at least includes a load signal and a slope signal; based on the vehicle state information, the torque gradient model of the target vehicle is determined; using the torque gradient model, the torque demand torque of the current cycle is adjusted for at least one cycle until the current cycle demand torque meets the target torque condition. The torque output is dynamically adjusted according to the actual load, slope and other vehicle states of the target vehicle to ensure that the vehicle torque is adjusted to the target torque within a limited number of cycles, to avoid the sudden torque change when the torque is adjusted once, which has a negative impact on the vehicle stability and energy efficiency, and to ensure the stability and comfort of the torque vehicle.

[0097] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0098] Optionally, the above-mentioned vehicle torque control device may also include other modules, such as a management module, which is used to optimize vehicle energy recovery and power management; a fault diagnosis module, which is used to detect the working status of the torque control system and identify potential faults or abnormalities in the system; a communication module, which is used to communicate with other vehicle-mounted systems and external equipment, so as to facilitate staff and drivers to timely understand the torque control status and effects and make timely operational adjustments.

[0099] An embodiment of the present invention further provides a computer program product, which is configured to execute the steps in any of the above-mentioned vehicle torque control method embodiments.

[0100] Optionally, in this embodiment, the computer program is configured to perform the following steps:

[0101] Step S1, obtaining torque demand information and vehicle state information of a target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information includes at least a load signal and a slope signal;

[0102] Step S2, determining a torque gradient model of the target vehicle based on the vehicle state information;

[0103] Step S3, using the torque gradient model, performing torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

[0104] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0105] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0106] Step S1, obtaining torque demand information and vehicle state information of a target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information includes at least a load signal and a slope signal;

[0107] Step S2, determining a torque gradient model of the target vehicle based on the vehicle state information;

[0108] Step S3, using the torque gradient model, performing torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

[0109] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0110] An embodiment of the present invention further provides a vehicle, which is controlled by the vehicle torque control method in the above embodiment.

[0111] Optionally, in this embodiment, the vehicle is configured to perform the following steps:

[0112] Step S1, obtaining torque demand information and vehicle state information of a target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information includes at least a load signal and a slope signal;

[0113] Step S2, determining a torque gradient model of the target vehicle based on the vehicle state information;

[0114] Step S3, using the torque gradient model, performing torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

[0115] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0118] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0120] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle torque control method, characterized in that: include: Obtaining torque demand information and vehicle status information of the target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle status information includes at least a load signal and a slope signal; Based on the vehicle state information, determining a torque gradient model of the target vehicle; The torque gradient model is used to perform torque adjustment on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

2. The vehicle torque control method according to claim 1, characterized in that: Determining a torque gradient model of the target vehicle based on the vehicle state information comprises the following steps: Obtain the basic torque gradient model; determining a gradient correction coefficient based on the vehicle state information; The basic torque gradient model is corrected using the gradient correction coefficient to obtain the torque gradient model of the target vehicle.

3. The vehicle torque control method according to claim 2, characterized in that: Using the torque gradient model, a torque adjustment is performed on the current cycle required torque for one cycle, including the following steps: Based on the current cycle required torque, determining a torque adjustment gradient matching the current cycle required torque from the torque gradient model; Based on the torque adjustment gradient, the current cycle required torque is torque adjusted to obtain the current cycle required torque of the next cycle.

4. The vehicle torque control method according to claim 3, characterized in that: The torque demand information also includes a final demand torque, the target torque condition includes a first torque condition and a second torque condition, and the current cycle demand torque meets the target torque condition, including the following steps: When the current period required torque meets any one of the first torque condition and the second torque condition, determining that the current period required torque meets the target torque condition; Wherein, the first torque condition is that the current cycle required torque is less than the final required torque, and the final required torque is less than the current cycle required torque of the next cycle; The second torque condition is that the current cycle required torque is greater than the final required torque, and the final required torque is greater than the current cycle required torque of the next cycle.

5. The vehicle torque control method according to claim 4, characterized in that: Before obtaining the torque demand information of the target vehicle, the method further includes the following steps: Get pedal target torque; Determining whether the pedal target torque is greater than or equal to a preset torque threshold; In the case where it is determined that the pedal target torque is greater than or equal to the preset torque threshold, determining the final required torque to be the preset torque threshold; When it is determined that the pedal target torque is less than the preset torque threshold, the final required torque is determined to be the pedal target torque.

6. The vehicle torque control method according to claim 4, characterized in that: After the current cycle required torque meets the target torque condition, the method further includes the following steps: When it is determined that the current cycle required torque meets the target torque condition, the current cycle required torque of the next cycle is determined to be the final required torque, and the torque adjustment is exited.

7. The vehicle torque control method according to claim 1, characterized in that: The vehicle status information also includes one of the following: a gear position signal, a throttle opening signal, a throttle change rate signal, a vehicle speed signal, and a vehicle acceleration signal.

8. A vehicle torque control device, characterized in that: include: An acquisition module, the acquisition module is used to acquire torque demand information and vehicle state information of the target vehicle, wherein the torque demand information includes a target torque condition and a current cycle demand torque, wherein the current cycle demand torque is used to control the motor to output torque in the current cycle, and the vehicle state information includes at least a load signal and a slope signal; A determination module, the determination module is used to determine a torque gradient model of the target vehicle based on the vehicle state information; The regulating module is used to use the torque gradient model to perform torque regulation on the current cycle demand torque for at least one cycle until the current cycle demand torque meets the target torque condition.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the computer-readable storage medium is controlled, and the device in which the program is located executes the vehicle torque control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle is controlled by the vehicle torque control method according to any one of claims 1 to 7.

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