Torque control method, device, vehicle, equipment, storage medium and program product

Abstract

The application relates to a torque control method and device, a vehicle, equipment, a storage medium and a program product, and relates to the technical field of automobiles. The method comprises the following steps: acquiring the output torque, the rotating speed and the rotating speed change rate of an engine of a vehicle at a current time; determining a first required torque of an engine control unit (ECU) when the rotating speed change rate is greater than a first threshold value and the output torque of the engine at the current time is greater than or equal to a second threshold value, and correcting the first required torque based on the rotating speed and the rotating speed change rate to obtain a second required torque when the first required torque is greater than a third threshold value; and controlling the output torque of the engine at a first time based on the second required torque; the first time is after the current time. Therefore, the application can predict and avoid the occurrence of a fly-off failure in advance, and eliminate the influence of the torque precision of the engine and the motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to the technical field of engine control, and specifically to a torque control method and device, a vehicle, equipment, a storage medium and a program product. BACKGROUND

[0002] The engine of a hybrid vehicle in a series configuration can work independently of the operating conditions of the vehicle, and the output of energy is completed by driving the generator. Since there is a certain deviation in the torque accuracy of the engine and the generator, when the actual torque of the engine at the maximum power point is higher than the preset target torque and exceeds the torque limit of the generator, the speed of the engine will be quickly overshooted, and this overshoot may lead to a runaway failure in extreme cases. If the speed overshoot cannot be effectively inhibited in time, it may cause damage or failure of the transmission components such as connecting rods and torque dampers.

[0003] The related technology CN110056436A proposes to compare the maximum torque allowed by the generator, the original target torque of the engine, and the closed-loop speed torque in the speed adjustment process, and take the minimum value as the upper limit of the engine target torque to prevent the vehicle from running away.

[0004] The related technology CN117485319A proposes to reduce the engine target torque value and increase the engine target speed by reducing the maximum torque of the engine to reconfigure the engine target torque and the generator target speed, so as to ensure that the actual torque of the engine can meet the requirements of the re-distributed engine target torque.

[0005] However, the method in the related technology cannot accurately eliminate the influence of the torque accuracy of the engine and the motor. SUMMARY

[0006] The present application provides a torque control method, device, vehicle, equipment, storage medium and program product to at least solve the technical problem that it is difficult to accurately eliminate the influence of the torque accuracy of the engine and the motor in the related technology. The technical solutions of the present application are as follows:

[0007] According to the first aspect of the present application, a torque correction method is provided, comprising: obtaining the output torque, speed and speed change rate of the engine of the vehicle at the current time; determining the first demand torque output by the engine control unit ECU when the speed change rate is greater than the first threshold value and the output torque of the engine at the current time is greater than or equal to the second threshold value, and correcting the first demand torque based on the speed and speed change rate to obtain the second demand torque when the first demand torque is greater than the third threshold value; controlling the output torque of the engine at the first time based on the second demand torque; the first time is after the current time.

[0008] According to the technical means, the output torque, the rotation speed and the rotation speed change rate of the engine are monitored in real time, when the rotation speed change rate is abnormally increased and the engine torque is large, the demand torque output by the engine control unit ECU is dynamically adjusted, so that the flying phenomenon is effectively prevented, and the rotation speed overshoot is avoided, and therefore, the influence of the torque accuracy of the engine and the motor can be accurately eliminated.

[0009] In a possible manner, the first demand torque is corrected based on the rotation speed and the rotation speed change rate to obtain a second demand torque, including: determining a first correction parameter based on the rotation speed and the rotation speed change rate; and correcting the first demand torque based on the first correction parameter to obtain the second demand torque.

[0010] According to the technical means, the rotation speed and the rotation speed change rate are monitored in real time, the running state of the engine can be accurately understood, therefore, the first demand torque is corrected based on the dynamic data, which helps to ensure that the engine can stably run under various working conditions, the flying phenomenon is prevented, and the rotation speed overshoot problem is avoided.

[0011] In a possible manner, the correction parameter is determined based on the rotation speed and the rotation speed change rate, including: determining a first parameter corresponding to the rotation speed and a first correction coefficient; and determining the sum of the first parameter and a second parameter as the first correction parameter, the second parameter being the product of the rotation speed change rate and the first correction coefficient.

[0012] According to the technical means, the correction parameter can be determined by combining the rotation speed and the rotation speed change rate, so that the control is more accurate, the rotation speed reflects the current running state of the engine, and the rotation speed change rate provides prediction information about the future state change of the engine. By combining the two factors, the demand of the engine can be more accurately judged, and the output torque can be adjusted accordingly.

[0013] In a possible manner, the first demand torque of the engine control unit ECU is determined, and the method further includes: in a case where the initial demand torque of the ECU is greater than a third threshold value, correcting the initial demand torque based on a preset parameter to obtain the first demand torque.

[0014] According to the technical means, the initial demand torque can be corrected based on the preset parameter, the accurate control of the torque output is realized, and by adjusting the parameters, the peak value of the torque can be effectively limited without sacrificing the performance of the engine, so that the risk of the flying phenomenon is reduced.

[0015] In a possible implementation, the vehicle comprises a computing unit; the method further comprises: determining a torque change rate of the engine in a case that the speed change rate is less than or equal to a first threshold value and / or the output torque of the engine at the current time is less than a second threshold value and / or the demand torque of the ECU is less than or equal to a third threshold value; obtaining the demand torque of a power control unit (PCU) of the vehicle and the calculated torque of the computing unit in a case that the absolute value of the speed change rate is less than a fourth threshold value and the absolute value of the torque change rate of the engine is less than a fifth threshold value; and correcting the demand torque of the ECU based on the speed, the demand torque of the PCU, the calculated torque, the output torque of the engine at the current time, and the demand torque of the ECU, to obtain a third demand torque.

[0016] According to the technical means, the speed change rate, the output torque of the engine, and the demand torques of the ECU and the PCU are monitored in real time, so that the running state of the engine and the power demand of the vehicle are comprehensively understood, and the demand torque of the ECU is corrected based on the real-time data, which ensures that the engine can run in a more accurate and stable manner under various working conditions, and reduces the risk of abnormal phenomena such as flying.

[0017] In a possible implementation, the demand torque of the ECU is corrected based on the speed, the demand torque of the PCU, the calculated torque, the output torque of the engine at the current time, and the demand torque of the ECU, to obtain a third demand torque, which comprises: correcting the demand torque of the ECU based on the speed in a case that the absolute value of the difference between the demand torque of the PCU and the output torque of the engine at the current time is less than a sixth threshold value, and the absolute value of the difference between the calculated torque and the demand torque of the ECU is less than a seventh threshold value.

[0018] According to the technical means, the demand torque of the ECU is corrected based on the speed in a case that the demand torque of the PCU is close to the actual output torque of the engine (i.e., the difference is less than the sixth threshold value), and the calculated torque is close to the demand torque of the ECU (i.e., the difference is less than the seventh threshold value), which further enhances the coordination and consistency of the parts of the vehicle power system, and ensures stable operation of the entire power system.

[0019] In a possible implementation, the demand torque of the ECU is corrected based on the speed to obtain a third demand torque, which comprises: determining a second correction parameter based on the speed; and correcting the demand torque of the ECU based on the second correction parameter to obtain the third demand torque.

[0020] According to the technical means, the speed is introduced as a correction parameter, so that the demand torque can be adjusted more accurately according to the current running state of the engine, and the engine can stably run under various working conditions.

[0021] According to a second aspect provided in the present application, a torque correction device is provided, comprising: an acquisition unit, a determination unit and a control unit; the acquisition unit is configured to acquire an output torque, a speed and a speed change rate of an engine of a vehicle at a current time; the determination unit is configured to determine a first required torque output by an engine control unit (ECU) when the speed change rate is greater than a first threshold value and the output torque of the engine at the current time is greater than or equal to a second threshold value, and correct the first required torque based on the speed and the speed change rate to obtain a second required torque when the first required torque is greater than a third threshold value; and the control unit is configured to control the output torque of the engine at a first time based on the second required torque, wherein the first time is after the current time.

[0022] In a possible implementation, the determination unit is specifically configured to: determine a first correction parameter based on the speed and the speed change rate; and correct the first required torque based on the first correction parameter to obtain the second required torque.

[0023] In a possible implementation, the determination unit is specifically configured to: determine a first parameter corresponding to the speed and a first correction coefficient; and determine a sum of the first parameter and a second parameter as the first correction parameter, wherein the second parameter is a product of the speed change rate and the first correction coefficient.

[0024] In a possible implementation, the determination unit is specifically configured to: correct an initial required torque of the ECU based on a preset parameter to obtain the first required torque when the initial required torque of the ECU is greater than the third threshold value.

[0025] In a possible implementation, the device further comprises a correction unit, and the determination unit is further configured to determine a torque change rate of the engine when the speed change rate is less than or equal to the first threshold value and / or the output torque of the engine at the current time is less than the second threshold value and / or the required torque of the ECU is less than or equal to the third threshold value; the determination unit is further configured to acquire a required torque of a power control unit (PCU) of the vehicle and a calculated torque of a calculation unit when an absolute value of the speed change rate is less than a fourth threshold value and an absolute value of the torque change rate of the engine is less than a fifth threshold value; and the correction unit is configured to correct the required torque of the ECU based on the speed, the required torque of the PCU, the calculated torque, the output torque of the engine at the current time and the required torque of the ECU to obtain a third required torque.

[0026] In a possible implementation, the correction unit is specifically configured to: correct the required torque of the ECU based on the speed to obtain the third required torque when an absolute value of a difference between the required torque of the PCU and the output torque of the engine at the current time is less than a sixth threshold value and an absolute value of a difference between the calculated torque and the required torque of the ECU is less than a seventh threshold value.

[0027] In a possible manner, the correction unit is specifically configured to: determine a second correction parameter based on the rotation speed; and correct the required torque of the ECU based on the second correction parameter to obtain a third required torque.

[0028] According to a third aspect provided by the present application, a vehicle is provided, comprising the torque correction device.

[0029] According to a fourth aspect provided by the present application, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation thereof.

[0030] According to a fifth aspect provided by the present application, a computer-readable storage medium is provided, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method of the first aspect and any possible implementation thereof.

[0031] According to a sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, when the computer instructions are run on an electronic device, the electronic device performs the method of the first aspect and any possible implementation thereof.

[0032] Therefore, the above technical features of the present application have the following beneficial effects:

[0033] (1) The output torque, rotation speed and rotation speed change rate of the engine can be monitored in real time, and when the rotation speed change rate is abnormally increased and the engine torque is large, the required torque output by the engine control unit (ECU) is dynamically adjusted, so as to effectively prevent the flying phenomenon and avoid the rotation speed overshoot, and therefore, the present application can accurately eliminate the influence of the engine and motor torque precision.

[0034] (2) By monitoring the rotation speed and rotation speed change rate in real time, the running state of the engine can be accurately understood, and therefore, the first required torque is corrected according to these dynamic data, which helps to ensure that the engine can stably run under various working conditions, prevent the flying phenomenon, and avoid the rotation speed overshoot problem.

[0035] (3) The correction parameter can be determined in combination with the rotation speed and the rotation speed change rate, so that the control is more accurate, the rotation speed reflects the current running state of the engine, and the rotation speed change rate provides prediction information about the future state change of the engine. In combination with these two factors, the demand of the engine can be more accurately judged, and the output torque can be adjusted accordingly.

[0036] (4) The initial demand torque can be corrected based on preset parameters to achieve accurate control of the torque output. By adjusting these parameters, the peak value of the torque can be effectively limited without sacrificing engine performance, thereby reducing the risk of racing.

[0037] (5) The engine speed change rate, output torque, and demand torque of the ECU and PCU can be monitored in real time to more comprehensively understand the operating state of the engine and the power demand of the vehicle. Based on these real-time data, the ECU demand torque can be corrected to ensure that the engine operates in a more accurate and stable manner under various operating conditions, thereby reducing the risk of racing and other abnormal phenomena.

[0038] (6) When the demand torque of the PCU and the actual output torque of the engine are not significantly different (i.e., the difference is less than a sixth threshold value), and the calculated torque and the demand torque of the ECU are also similar (i.e., the difference is less than a seventh threshold value), the ECU demand torque can be corrected based on the speed to further enhance the coordination and consistency of the various parts of the vehicle power system, ensuring stable operation of the entire power system.

[0039] (7) By introducing the speed as a correction parameter, the demand torque can be adjusted more accurately according to the current operating state of the engine, allowing the engine to operate stably under various operating conditions.

[0040] It should be noted that the technical effects brought about by any one of the implementation manners of the second aspect to the sixth aspect can be referred to the technical effects brought about by the corresponding implementation manners in the first aspect, which will not be repeated here.

[0041] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application, and do not constitute an undue limitation on the present application.

[0043] Figure 1 is a structural schematic diagram of a vehicle according to an exemplary embodiment;

[0044] Figure 2 is a flowchart of a torque correction method according to an exemplary embodiment;

[0045] Figure 3 is a schematic diagram of a correction parameter corresponding to the speed and demand torque according to an exemplary embodiment;

[0046] Figure 4is a schematic diagram of a torque correction process according to an exemplary embodiment;

[0047] Figure 5 is a block diagram of a torque correction device according to an exemplary embodiment;

[0048] Figure 6 is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0049] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings.

[0050] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0051] In the embodiments of the present application, the words "exemplary", "such as", or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary", "such as", or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of the words "exemplary", "such as", or "for example" is intended to present relevant concepts in a concrete manner.

[0052] First, the related art involved in the present application is explained and described in order to facilitate understanding by those skilled in the art.

[0053] With the vigorous development of the new energy automobile industry, hybrid models are rapidly increasing their market share and gradually approaching pure electric models, thanks to their ability to provide optimal solutions for various driving scenarios. In a series hybrid system, the engine can work independently of the operating conditions of the vehicle, and the output of energy is completed by driving the generator.

[0054] In the matching process of the engine and the generator, the peak power of the selected generator is usually close to or slightly higher than the maximum power of the engine in the use range, which aims to avoid the problem of cost increase caused by the oversize of the generator. However, in the actual mass production process, there are certain deviations in the torque accuracy of the engine and the generator.

[0055] When the actual torque of the engine at the maximum power point is higher than the preset target torque and exceeds the torque limit of the generator, the speed of the engine will be quickly overshooted, which may cause the flywheel failure in extreme cases. If the speed overshoot cannot be effectively inhibited in time, it may cause damage or failure of the transmission components such as connecting rod and torque damper.

[0056] Generally, when the speed overshoot occurs, the speed can be re-controlled by reducing the requested torque or the target torque of the engine. However, if the speed overshoot amplitude is large, there may be problems such as large speed fluctuation, obvious noise and even the speed overshoot cannot be completely inhibited in the control process.

[0057] In addition, in order to avoid the occurrence of speed overshoot, the strategy of reducing the preset value of the maximum requested torque of the engine can also be adopted to ensure that the upper limit of the torque deviation of the engine is lower than the lower limit of the torque deviation of the generator. However, this strategy can reduce the risk of speed overshoot, but it will also significantly reduce the maximum available output power of the engine, thereby sacrificing the power performance of the vehicle to a certain extent.

[0058] Related technology 1 proposes to compare the maximum torque allowed by the generator, the original target torque of the engine and the closed-loop speed torque in the speed regulation process, and take the minimum value as the upper limit of the engine target torque to prevent flywheel.

[0059] Related technology 2 proposes to reduce the engine maximum torque to reconfigure the engine target torque and the generator target speed in order to reduce the engine target torque value and improve the engine target speed, so as to ensure that the actual torque of the engine can meet the requirements of the re-distributed engine target torque.

[0060] As described in the background, in order to solve the problem that the influence of the accuracy of engine and motor torque cannot be accurately eliminated in the related art, the present application provides a torque correction method, which can obtain the output torque, speed and speed change rate of the engine of the vehicle at the current time, determine the first demand torque output by the engine control unit (ECU) when the speed change rate is greater than the first threshold and the output torque of the engine at the current time is greater than or equal to the second threshold, and correct the first demand torque based on the speed and speed change rate to obtain the second demand torque when the first demand torque is greater than the third threshold, and control the output torque of the engine at the first time based on the second demand torque, wherein the first time is after the current time, so as to predict and avoid the occurrence of the runaway failure in advance, and eliminate the influence of the accuracy of the engine and motor torque.

[0061] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments.

[0062] The discharge control method provided in the embodiments of the present application can be applied in a vehicle. The vehicle can also be referred to as a vehicle, a mobile carrier, an electric vehicle (EV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell vehicle (FCV), an autonomous vehicle, an intelligent and connected vehicle (ICV), a driverless vehicle, etc.

[0063] In the embodiments of the present application, the vehicle can be a car, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, a fire truck, a police car, etc.), a driverless taxi, an intelligent and connected bus, an autonomous logistics vehicle, an electric truck, etc. In addition, the method is also applicable to various special vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. The present application does not make specific limitations in this regard.

[0064] Figure 1 A structural schematic diagram of a vehicle 100 is shown.

[0065] The vehicle 100 can include a torque correction device 101 and a data collection device 102. The torque correction device 101 and the data collection device 102 can be communicatively connected.

[0066] In actual applications, the torque correction device 101 can be communicatively connected with one or more data collection devices 102.

[0067] For ease of understanding, the present application takes the torque correction device 101 and the data collection device 102 as an example to illustrate the communication connection between them.

[0068] Optionally, Figure 1 The torque correction device 101 and the data collection device 102 in the above can be functional modules integrated in the same device, or two devices independently arranged. The present application does not limit this.

[0069] It is easy to understand that when the torque correction device 101 and the data collection device 102 are functional modules integrated in the same device, the communication mode between the torque correction device 101 and the data collection device 102 is the communication between the internal modules of the device. In this case, the communication process between them is the same as the communication process between the torque correction device 101 and the data collection device 102 when they are independently arranged.

[0070] For ease of understanding, the present application mainly takes the torque correction device 101 and the data collection device 102 as an example to illustrate the communication connection between them.

[0071] Figure 1 The torque correction device 101 in the above can receive the output torque, the speed and the speed change rate of the engine of the vehicle at the current time sent by the data collection device 102, and when the speed change rate is greater than a first threshold value and the output torque of the engine at the current time is greater than or equal to a second threshold value, determine the first demand torque output by the engine control unit ECU, and when the first demand torque is greater than a third threshold value, correct the first demand torque based on the speed and the speed change rate to obtain the second demand torque, so as to control the output torque of the engine at the first time based on the second demand torque.

[0072] Optionally, Figure 1 The torque correction device 101 and the data collection device 102 in the above can be a terminal, a server, or other types of electronic devices. Figure 1 The device form shown in the above is only one example of the torque correction device 101 and the data collection device 102, and does not constitute a limitation.

[0073] In the case that the torque correction device 101 and the data collection device 102 are terminals, the terminals can be devices for providing voice and / or data connectivity to users, handheld devices with wireless connection capability, or other processing devices connected to wireless modems. The terminals can communicate with one or more core networks via a radio access network (RAN). The terminals can be mobile terminals, such as computers with mobile terminals, or mobile devices built into vehicles 100, which exchange language and / or data with the radio access network, for example, mobile phones, tablets, laptops, netbooks, personal digital assistants (PDAs). The present application does not make any limitation in this regard.

[0074] In the case that the torque correction device 101 and the data collection device 102 are servers, the servers can be a single server, or also a server cluster composed of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. The present application does not make any limitation in this regard.

[0075] It should be noted that the structure shown in the embodiments of the present application does not constitute a limitation on the vehicle 100. More or fewer components than shown can be included, or certain components can be combined, or split, or different components can be arranged. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0076] For ease of understanding, the torque correction method provided by the present application is specifically introduced below in combination with the accompanying drawings.

[0077] Figure 2 is a flowchart of a torque correction method according to an exemplary embodiment, as shown in Figure 2 The torque correction method includes the following steps: S201-S203.

[0078] S201, the output torque, the speed and the speed change rate of the engine of the vehicle at the current time are obtained.

[0079] In one possible implementation, the torque correction device can obtain the output torque and the speed of the engine of the vehicle at the current time based on the data collection device such as a sensor. The torque correction device can calculate the speed change rate at the current time based on the speed.

[0080] Optionally, the output torque of the engine of the vehicle at the current time can be the generator feedback calculation torque.

[0081] S202、In the case that the rate of change of the rotation speed is greater than the first threshold value and the output torque of the engine at the current time is greater than or equal to the second threshold value, the torque correction device determines a first demand torque output by the engine control unit (ECU), and in the case that the first demand torque is greater than a third threshold value, the torque correction device corrects the first demand torque based on the rotation speed and the rate of change of the rotation speed to obtain a second demand torque.

[0082] In a possible implementation, in the case that the rate of change of the rotation speed is greater than the first threshold value and the output torque of the engine at the current time is greater than or equal to the second threshold value, the torque correction device can determine a first demand torque output by the engine control unit (ECU), that is, in the case that the initial demand torque of the ECU is greater than a third threshold value, the torque correction device can correct the initial demand torque based on preset parameters to obtain the first demand torque, and in the case that the first demand torque is greater than the third threshold value, the torque correction device corrects the first demand torque based on the rotation speed and the rate of change of the rotation speed to obtain a second demand torque.

[0083] Optionally, the specific implementation time of the torque correction device for correcting the initial demand torque of the ECU based on preset parameters to obtain the first demand torque in the case that the initial demand torque of the ECU is greater than the third threshold value can be between determining the output torque, the rotation speed and the rate of change of the rotation speed of the engine of the vehicle at the current time, and the present application does not make a specific limitation in this regard.

[0084] In an example, after the engine is started, the torque correction device or a power control unit (PCU) can send a target torque (first demand torque) of the engine and a target rotation speed instruction to the ECU and a power electronics unit (PEU) according to a preset energy management strategy and a power demand of the vehicle.

[0085] Optionally, Tq0(n) can be set to 90% of the engine external characteristic torque (that is, the maximum torque that the engine can output at a certain rotation speed), or can be set to 95% of the engine external characteristic torque. The present application does not make a specific limitation in this regard.

[0086] In the case that Tqreq or the first demand torque Tqecu exceeds Tq0(n), the torque correction device or the PCU corrects the first demand torque based on preset parameters ΔTqc(n), that is, Tqecu=Tqecu-ΔTqc(n), so as to actively reduce the target torque, effectively reduce the probability of flywheel failure by using the previously accumulated data and experience, and ensure the stability and safety of the engine operation.

[0087] Optionally, the preset parameter ΔTqc(n) can be a correction value accumulated based on historical data, or a preset correction value. For example, for a new vehicle, the preset parameter ΔTqc(n) can be set to 0, or can be set to 5 Newton meters (Nm). The present application does not make specific limitations thereto.

[0088] In one possible implementation, the torque correction device can determine the first correction parameter based on the rotation speed and the rotation speed change rate. The torque correction device can correct the first demand torque based on the first correction parameter to obtain the second demand torque. That is, the torque correction device can determine the first parameter corresponding to the rotation speed and the first correction coefficient, and determine the sum between the first parameter and the second parameter as the first correction parameter.

[0089] Wherein, the second parameter is the product of the rotation speed change rate and the first correction coefficient.

[0090] In yet another example, after completing the correction of the initial demand torque, the torque correction device can determine that there is a risk of rotation speed overshoot or flywheel failure, i.e., the first demand torque needs to be corrected, in the case that the rotation speed change rate Δn / Δt is greater than a first threshold (for example, 0), and the output torque TqGM(n) of the engine at the current time (i.e., the generator feedback torque) is not less than a second threshold (for example, the maximum allowable torque TqGM_Max(n) of the generator design).

[0091] Optionally, the second threshold (TqGM_Max(n) can be set to 95% to 97% of the peak external characteristic of the generator, or can be set to 90% to 95% of the peak external characteristic of the generator. The present application does not make specific limitations thereto.

[0092] In the case that there is a risk of rotation speed overshoot or flywheel failure, the torque correction device can perform open-loop proportional-integral (PI) correction on the first parameter ΔTqc(n)1 corresponding to the current rotation speed interval according to the current rotation speed change rate to obtain the correction parameter ΔTqc(n). Wherein, the correction method can satisfy the following first formula:

[0093] ΔTqc(n) = ΔTqc(n)1 - k1 x Δn / Δt first formula

[0094] Wherein, ΔTqc(n) can be used to represent the correction parameter. ΔTqc(n)1 can be used to represent the first parameter. K1 can be used to represent the first correction coefficient. Δn / Δt can be used to represent the rotation speed change rate.

[0095] Exemplarily, as shown in Figure 3 , a schematic diagram of the correction parameter corresponding to the rotation speed and the demand torque is shown. Figure 3 ​

[0096] Wherein, ΔTqc1, ΔTqc2, ΔTqc3, ΔTqc4, ΔTqc5, ΔTqc6, ΔTqc7, ΔTqc8, ΔTqc9, ΔTqc10, ΔTqc11, ΔTqc12 can be used to represent the correction parameters corresponding to different rotating speeds (N1, N2, N3) and demand torques. Figure 3 The engine characteristic, the generator peak characteristic, and the first threshold and the second threshold are further included in the equation.

[0097] In a possible implementation manner, the correction parameters corresponding to the rotating speed and the demand torque can further include information of temperature, altitude, etc., so that the torque correction and the wheel spin prevention control are more accurate.

[0098] S203, based on the second demand torque, control the output torque of the engine at the first time.

[0099] The first time can be after the current time.

[0100] In a possible manner, the torque correction device can control the output torque of the engine at the first time based on the second demand torque, and continuously detect the output torque of the engine and the demand torque of the ECU. The torque correction device can make a corresponding correction strategy according to the output torque of the engine and the demand torque of the ECU.

[0101] In an example, in the case that the second demand torque Tqreq is greater than the third threshold Tq0(n), the torque correction device can further correct the second demand torque until the corrected demand torque is less than or equal to the third threshold, so as to reduce the risk of wheel spin failure. Alternatively, until the torque TqGM(n) of the engine data is reduced to below the second threshold TqGM_Max(n), indicating that the engine rotating speed has reached a controllable state, so as to ensure stable operation of the entire power system.

[0102] Based on the technical solutions in the above Figure 2 , the application can monitor the output torque, rotating speed and rotating speed change rate of the engine in real time, dynamically adjust the demand torque output by the engine control unit ECU when the rotating speed change rate is abnormally increased and the engine torque is large, so as to effectively prevent the wheel spin phenomenon and avoid the rotating speed overshoot. Therefore, the application can accurately eliminate the influence of the engine and motor torque precision.

[0103] In some embodiments, the torque correction method provided by the application further includes the following steps: S301-S303.

[0104] S301, determining a torque change rate of the engine in a case where a change rate of the rotation speed is less than or equal to a first threshold value and / or an output torque of the engine at the current time is less than a second threshold value and / or a required torque of the ECU is less than or equal to a third threshold value.

[0105] In one possible implementation, the torque correction device can determine the torque change rate of the engine based on the output torque of the engine in a case where the change rate of the rotation speed is less than or equal to the first threshold value and / or the output torque of the engine at the current time is less than the second threshold value and / or the required torque of the ECU is less than or equal to the third threshold value.

[0106] S302, acquiring a required torque of a power control unit (PCU) of the vehicle and a calculated torque of the calculation unit in a case where an absolute value of the change rate of the rotation speed is less than a fourth threshold value and an absolute value of the torque change rate of the engine is less than a fifth threshold value.

[0107] S303, correcting the required torque of the ECU based on the rotation speed, the required torque of the PCU, the calculated torque, the output torque of the engine at the current time, and the required torque of the ECU to obtain a third required torque.

[0108] In one possible implementation, the torque correction device can correct the required torque of the ECU based on the rotation speed to obtain the third required torque in a case where an absolute value of a difference between the required torque of the PCU and the output torque of the engine at the current time is less than a sixth threshold value and an absolute value of a difference between the calculated torque and the required torque of the ECU is less than a seventh threshold value.

[0109] In another possible implementation, the torque correction device can determine a second correction parameter based on the rotation speed, and correct the required torque of the ECU based on the second correction parameter to obtain the third required torque.

[0110] In one example, the torque correction device can determine the stability of the first required torque Tqreq and the current engine rotation speed, i.e., determine whether the change rate of the rotation speed is less than the fourth threshold value e1 (i.e., Δn / Δt<e1) or the torque change rate is less than the fifth threshold value e2 (i.e., ΔTqreq / Δt<e2) at the same time, in a case where the required torque Tqreq of the ECU is less than or equal to the second threshold value Tq0(n) or there is no risk of rotation speed overshoot (i.e., the change rate of the rotation speed Δn / Δt is greater than the first threshold value 0 and the torque TqGM(n) output by the engine is not less than the second threshold value TqGM_Max(n)), and if both conditions are met, continue to determine whether the correction of the steady-state engine torque deviation needs to be performed, and if not, return to S201.

[0111] In the case that the condition that the rate of change of the rotational speed is less than the fourth threshold value e1 and the rate of change of the torque is less than the fifth threshold value e2 is satisfied, the torque correction device can calculate a difference ATqa between the required torque Tqreq of the PCU and the output torque TqGM of the engine, and determine whether the difference is less than or equal to a preset sixth threshold value e3 (i.e., |Tqreq-TqGM|<e3). Meanwhile, a difference ATqb between the required torque Tqecu of the ECU and the calculated torque Tqeng calculated by the calculation unit is also calculated, and it is determined whether the difference exceeds a seventh threshold value e4 (i.e., |Tqecu-Tqeng|>e4), so as to exclude the engine torque control failure caused by the supercharger failure and other factors. If the absolute value of the difference between the required torque of the PCU and the output torque of the engine at the current time is less than the sixth threshold value, and the absolute value of the difference between the calculated torque and the required torque of the ECU is less than the seventh threshold value, the torque correction device can enable the steady-state torque correction of the engine, and if not, return to S201.

[0112] The engine steady-state torque correction includes that the torque correction device can perform open-loop proportional-integral (PI) correction on the stored self-learning correction value based on the calculated correction parameter ATqa, i.e., a second formula:

[0113] ATqc(n)=ATqc(n)2+k2*ATqa second formula

[0114] Wherein, ATqc(n) can be used to represent the second correction parameter. ATqc(n)2 can be used to represent the original correction parameter. k2 can be used to represent the second correction coefficient. ATqa can be used to represent the correction parameter calculated based on the rotational speed.

[0115] The torque correction device can correct the target torque of the engine based on the corrected second correction parameter ATqc(n), i.e., Tqecu=Tqecu-ATqc(n). After the correction is completed, the torque correction device can again determine whether the torque difference ATqa is less than or equal to an eighth threshold value e5 (i.e., ATqa<e5). If the torque difference ATqa is less than or equal to the eighth threshold value e5, the torque correction device can further determine whether the engine needs to be stopped. If the torque difference ATqa is greater than the eighth threshold value e5, the torque correction device can return to S201.

[0116] Based on the above technical solutions, the engine speed change rate, the output torque, and the required torque of the ECU and the PCU are monitored in real time, the running state of the engine and the power demand of the vehicle are more comprehensively understood, the ECU required torque is corrected based on these real-time data, the engine can run in a more accurate and stable manner under various working conditions, and the risk of abnormal phenomena such as flying is reduced.

[0117] In some embodiments, as shown in FIG. 1, a flowchart of a torque correction process is provided. Figure 4

[0118] In one possible implementation, when the engine is started, the torque correction device can correct the initial demand torque based on a correction parameter to obtain a first demand torque, if the initial demand torque of the ECU is greater than a third threshold value. The torque correction device can update the correction parameter based on the speed and the speed change rate, and return to determine whether the initial demand torque is greater than the third threshold value, if the speed change rate is greater than a first threshold value and the output torque of the engine at the current time is greater than or equal to a second threshold value.

[0119] The torque correction device can determine whether the absolute value of the speed change rate is less than a fourth threshold value and the torque change rate is less than a fifth threshold value, if the speed change rate is greater than the first threshold value and the output torque of the engine at the current time is greater than or equal to the second threshold value, otherwise return to determine whether the initial demand torque is greater than the third threshold value.

[0120] The torque correction device can determine whether the absolute value of the difference between the demand torque of the PCU and the output torque of the engine at the current time is less than a sixth threshold value, and whether the absolute value of the difference between the torque and the demand torque of the ECU is less than a seventh threshold value, if the absolute value of the speed change rate is less than the fourth threshold value and the torque change rate is less than the fifth threshold value, otherwise return to determine whether the initial demand torque is greater than the third threshold value.

[0121] The torque correction device can update the correction parameter based on the speed, and determine whether the correction parameter is within an error range, if the absolute value of the difference between the demand torque of the PCU and the output torque of the engine at the current time is less than the sixth threshold value, and the absolute value of the difference between the torque and the demand torque of the ECU is less than the seventh threshold value, otherwise return to determine whether the initial demand torque is greater than the third threshold value.

[0122] The torque correction device can determine whether the engine is stopped, if the correction parameter is within the error range, otherwise return to determine whether the initial demand torque is greater than the third threshold value.

[0123] The torque correction device can end the process if the engine is stopped, otherwise return to determine whether the initial demand torque is greater than the third threshold value.

[0124] ​The above describes the solutions provided by the embodiments of the present application from the method perspective. In order to implement the above functions, the torque correction device or the electronic device comprises a hardware structure and / or a software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0125] The embodiments of the present application can divide the torque correction device or the electronic device into functional modules according to the above method. For example, the torque correction device or the electronic device can comprise functional modules corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical functional division. Actual implementation can have another division method.

[0126] Figure 5 is a block diagram of a torque correction device according to an example embodiment. Referring to Figure 5 The torque correction device comprises an acquisition unit 401, a determination unit 402, a control unit 403 and a correction unit 404.

[0127] In a possible manner, the acquisition unit 401 is configured to acquire an output torque, a speed and a speed change rate of an engine of a vehicle at a current time.

[0128] In a possible manner, the determination unit 402 is configured to determine a first demand torque output by an engine control unit (ECU) when the speed change rate is greater than a first threshold value and the output torque of the engine at the current time is greater than or equal to a second threshold value, and correct the first demand torque based on the speed and the speed change rate to obtain a second demand torque when the first demand torque is greater than a third threshold value.

[0129] In a possible manner, the control unit 403 is configured to control the output torque of the engine at a first time based on the second demand torque, wherein the first time is after the current time.

[0130] In a possible manner, the determination unit 402 is specifically configured to determine a first correction parameter based on the speed and the speed change rate, and correct the first demand torque based on the first correction parameter to obtain the second demand torque.

[0131] In a possible implementation, the determining unit 402 is specifically configured to: determine the first parameter corresponding to the rotation speed and the first correction coefficient; and determine the sum of the first parameter and a second parameter as the first correction parameter, the second parameter being the product of the rotation speed change rate and the first correction coefficient.

[0132] In a possible implementation, the determining unit 402 is specifically configured to: in a case where the initial required torque of the ECU is greater than a third threshold value, correct the initial required torque based on a preset parameter to obtain a first required torque.

[0133] In a possible implementation, the determining unit 402 is further configured to determine the torque change rate of the engine in a case where the rotation speed change rate is less than or equal to a first threshold value, and / or the output torque of the engine at the current time is less than a second threshold value, and / or the required torque of the ECU is less than or equal to a third threshold value.

[0134] In a possible implementation, the determining unit 402 is configured to: in a case where the absolute value of the rotation speed change rate is less than a fourth threshold value, and the absolute value of the torque change rate of the engine is less than a fifth threshold value, obtain a required torque of a power control unit (PCU) of the vehicle and a calculated torque of the calculating unit.

[0135] In a possible implementation, the correcting unit 404 is configured to correct the required torque of the ECU based on the rotation speed, the required torque of the PCU, the calculated torque, the output torque of the engine at the current time, and the required torque of the ECU, to obtain a third required torque.

[0136] In a possible implementation, the correcting unit 404 is specifically configured to: in a case where the absolute value of the difference between the required torque of the PCU and the output torque of the engine at the current time is less than a sixth threshold value, and the absolute value of the difference between the calculated torque and the required torque of the ECU is less than a seventh threshold value, correct the required torque of the ECU based on the rotation speed to obtain the third required torque.

[0137] In a possible implementation, the correcting unit 404 is specifically configured to: determine a second correction parameter based on the rotation speed; and correct the required torque of the ECU based on the second correction parameter to obtain the third required torque.

[0138] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and thus will not be described here in detail.

[0139] Figure 6 is a block diagram of an electronic device according to an example embodiment. As shown in Figure 6 the electronic device includes but is not limited to a processor 501 and a memory 502.

[0140] The memory 502 described above is used to store the executable instructions of the processor 501. It is understood that the processor 501 is configured to execute instructions to implement the torque correction method in the above embodiments.

[0141] It should be noted that those skilled in the art will understand that Figure 6 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 6 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0142] Processor 501 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 502, and by calling data stored in memory 502, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 501 may include one or more processing units. Optionally, processor 501 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 501.

[0143] The memory 502 can be used to store software programs and various data. The memory 502 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0144] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions, which can be executed by a processor 501 of an electronic device to implement the methods in the above embodiments.

[0145] In actual implementation, Figure 5 The functions of the acquisition unit 401, determination unit 402, control unit 403, and correction unit 404 can all be derived from... Figure 6 The processor 501 calls the computer program stored in the memory 502 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0146] Optionally, the computer readable storage medium can be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0147] In the example embodiments, the embodiments of the present application also provide a computer program product comprising one or more instructions executable by the processor 501 of the electronic device to complete the method in the above embodiments.

[0148] It should be noted that the instructions in the above computer readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device to realize the processes of the above method embodiments, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be described here.

[0149] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete the above described full classification or part of the function.

[0150] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the above-described device embodiments are only illustrative, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0151] The units described as separate components can or can not be physically separated, and the components displayed as units can be one physical unit or multiple physical units, that is, can be located in one place, or can be distributed to multiple different places. According to actual needs, part or all of the units can be selected to achieve the purpose of the present embodiment.

[0152] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0153] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application are essentially or say the part that contributes to the prior art or the whole classification or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute the whole classification or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk and various media that can store program codes.

[0154] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A torque correction method, characterized in that, Applied to vehicles, wherein the vehicles are series-configured hybrid vehicles, including: Obtain the engine output torque, speed, and rate of change of speed of the vehicle at the current time; When the rate of change of engine speed is greater than a first threshold and the output torque of the engine at the current time is greater than or equal to a second threshold, the first required torque of the engine control unit (ECU) is determined. If the first required torque is greater than a third threshold, the first required torque is corrected based on the engine speed and the rate of change of engine speed to obtain the second required torque. Based on the second required torque, the output torque of the engine is controlled at a first time; the first time is after the current time.

2. The method according to claim 1, characterized in that, The step of correcting the first required torque based on the rotational speed and the rate of change of rotational speed to obtain the second required torque includes: Based on the rotational speed and the rate of change of rotational speed, a first correction parameter is determined; Based on the first correction parameter, the first required torque is corrected to obtain the second required torque.

3. The method according to claim 2, characterized in that, The determination of the first correction parameter based on the rotational speed and the rate of change of rotational speed includes: Determine the first parameter and the first correction coefficient corresponding to the rotational speed; The sum of the first parameter and the second parameter is determined as the first correction parameter; the second parameter is the product of the speed change rate and the first correction coefficient.

4. The method according to claim 2 or 3, characterized in that, The method for determining the first required torque of the engine control unit (ECU) further includes: If the initial torque demand of the ECU is greater than the third threshold, the initial torque demand is corrected based on preset parameters to obtain the first torque demand.

5. The method according to claim 4, characterized in that, The vehicle includes a computing unit; the method further includes: The engine torque change rate is determined when the engine speed change rate is less than or equal to the first threshold and / or the engine output torque at the current time is less than the second threshold and / or the ECU's first required torque is less than or equal to the third threshold. When the absolute value of the speed change rate is less than a fourth threshold and the absolute value of the engine torque change rate is less than a fifth threshold, the required torque of the vehicle's power control unit (PCU) and the calculated torque of the calculation unit are obtained. Based on the engine speed, the PCU's required torque, the calculated torque, the engine's output torque at the current time, and the ECU's first required torque, the ECU's first required torque is corrected to obtain the third required torque.

6. The method according to claim 5, characterized in that, The process of correcting the first required torque of the ECU based on the engine speed, the required torque of the PCU, the calculated torque, the engine output torque at the current time, and the first required torque of the ECU to obtain the third required torque includes: If the absolute value of the difference between the PCU's required torque and the engine's output torque at the current time is less than a sixth threshold, and the absolute value of the difference between the calculated torque and the ECU's first required torque is less than a seventh threshold, the ECU's first required torque is corrected based on the engine speed to obtain a third required torque.

7. The method according to claim 6, characterized in that, The step of correcting the first required torque of the ECU based on the rotational speed to obtain the third required torque includes: Based on the rotational speed, determine the second correction parameter; Based on the second correction parameter, the first required torque of the ECU is corrected to obtain the third required torque.

8. A torque correction device, characterized in that, The device is deployed in a vehicle, which is a series-configured hybrid vehicle, and the device includes: an acquisition unit, a determination unit, and a control unit; The acquisition unit is used to acquire the engine output torque, speed, and speed change rate of the vehicle at the current time. The determining unit is configured to determine the first required torque output by the engine control unit (ECU) when the speed change rate is greater than a first threshold and the engine output torque at the current time is greater than or equal to a second threshold, and when the first required torque is greater than a third threshold, to correct the first required torque based on the speed and the speed change rate to obtain the second required torque. The control unit is configured to control the output torque of the engine at a first time based on the second required torque; the first time is after the current time.

9. The apparatus according to claim 8, characterized in that, The determining unit is specifically used for: Based on the rotational speed and the rate of change of rotational speed, a first correction parameter is determined; Based on the first correction parameter, the first required torque is corrected to obtain the second required torque.

10. The apparatus according to claim 9, characterized in that, The determining unit is specifically used for: Determine the first parameter and the first correction coefficient corresponding to the rotational speed; The sum of the first parameter and the second parameter is determined as the first correction parameter; the second parameter is the product of the speed change rate and the first correction coefficient.

11. The apparatus according to claim 9 or 10, characterized in that, The determining unit is specifically used for: If the initial torque demand of the ECU is greater than the third threshold, the initial torque demand is corrected based on preset parameters to obtain the first torque demand.

12. The apparatus according to claim 11, characterized in that, The device further includes: a correction unit; The determining unit is further configured to determine the torque change rate of the engine when the speed change rate is less than or equal to the first threshold and / or the output torque of the engine at the current time is less than the second threshold and / or the first demand torque of the ECU is less than or equal to the third threshold. The acquisition unit is further configured to acquire the required torque of the vehicle's power control unit (PCU) and the calculated torque of the calculation unit when the absolute value of the speed change rate is less than a fourth threshold and the absolute value of the engine torque change rate is less than a fifth threshold. The correction unit is used to correct the first required torque of the ECU based on the rotational speed, the required torque of the PCU, the calculated torque, the output torque of the engine at the current time, and the first required torque of the ECU, to obtain a third required torque.

13. The apparatus according to claim 12, characterized in that, The correction unit is specifically used for: If the absolute value of the difference between the PCU's required torque and the engine's output torque at the current time is less than a sixth threshold, and the absolute value of the difference between the calculated torque and the ECU's first required torque is less than a seventh threshold, the ECU's first required torque is corrected based on the engine speed to obtain a third required torque.

14. The apparatus according to claim 13, characterized in that, The correction unit is specifically used for: Based on the rotational speed, determine the second correction parameter; Based on the second correction parameter, the first required torque of the ECU is corrected to obtain the third required torque.

15. A vehicle, characterized in that, The vehicle includes the device according to any one of claims 8 to 14.

16. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 7.

17. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 7.

18. A computer program product containing instructions, characterized in that, When the instructions are executed by a computer, the computer performs the method as described in any one of claims 1-7.

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