Torque determination method and device and vehicle

Abstract

The invention discloses a torque determination method and device and a vehicle, and belongs to the technical field of vehicles. Comprising the steps of obtaining battery pack discharge power of a target vehicle in response to a starting instruction for a target mode of the target vehicle; based on the battery pack discharging power and the power limiting coefficient, the driving power of the target vehicle is limited, and target available power is obtained; and based on the target available power, the current motor rotating speed of the driving motor and the target output torque, the motor driving torque is determined, the target output torque is the torque capable of being output by the driving motor of the target vehicle at the current motor rotating speed, and the motor driving torque is the maximum output torque of the limited driving motor for driving the target vehicle to run. The vehicle speed in the vehicle driving process is limited by limiting the driving power, so that the probability of vehicle accidents is reduced, the phenomenon of vehicle damage is reduced, and the property loss of a vehicle owner is avoided as much as possible.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a torque determination method, device and vehicle. Background Art

[0002] At present, vehicles provide great convenience for human travel, so users often choose to drive when traveling. Due to the convenience of vehicles, lending vehicles has become a very common thing. When people need to drive a vehicle but do not have a vehicle or the vehicle cannot be driven, they may think of borrowing someone else's car as an emergency measure. However, vehicles are special items. If an accident or other problems occur during the period of borrowing a vehicle, the vehicle will be damaged, resulting in property losses to the owner. Summary of the invention

[0003] The present application provides a torque determination method, device, vehicle and storage medium, which can limit the driving power when the target vehicle turns on the target mode, and then limit the output torque of the driving motor, so that the output torque of the driving motor of the subsequent target vehicle does not exceed the maximum output torque after the limit during the driving process, thereby limiting the speed of the vehicle during driving, thereby reducing the probability of vehicle accidents, reducing the phenomenon of vehicle damage, and avoiding the loss of the owner's property as much as possible. The technical solution includes the following contents.

[0004] In a first aspect, a torque determination method is provided, the method comprising:

[0005] In response to a start instruction of a target mode for a target vehicle, obtaining a battery pack discharge power of the target vehicle;

[0006] Based on the battery pack discharge power and the power limitation coefficient, the driving power of the target vehicle is limited to obtain a target available power, wherein the power limitation coefficient is used to represent the ratio between the driving power after limitation and the driving power before limitation;

[0007] The motor driving torque is determined based on the target available power, the current motor speed of the driving motor and the target output torque. The target output torque is the torque that the driving motor of the target vehicle can output at the current motor speed. The motor driving torque is the maximum output torque of the driving motor after limitation to drive the target vehicle.

[0008] In the present application, when the target mode of the target vehicle is turned on, the battery pack discharge power of the target vehicle can be obtained first, and then the drive power of the target vehicle can be limited based on the battery pack discharge power and the power limit coefficient to obtain the target available power, that is, the maximum power used to drive the target vehicle. Subsequently, a motor drive torque is determined based on the target available power, the current motor speed of the drive motor and the target output torque, that is, the maximum output torque of the drive motor after the restriction is determined to drive the target vehicle. In this way, the present application limits the drive power and then limits the output torque of the drive motor when the target mode of the target vehicle is turned on, so that the output torque of the drive motor of the subsequent target vehicle during driving does not exceed the maximum output torque after the restriction, thereby achieving the limitation of the vehicle speed during driving, thereby reducing the probability of vehicle accidents, thereby reducing the phenomenon of vehicle damage and avoiding the loss of the owner's property as much as possible.

[0009] Optionally, the method further comprises:

[0010] When the target vehicle has a fault, obtaining a fault limiting power;

[0011] The limiting the driving power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power includes:

[0012] Determining a first reference power based on the battery pack discharge power and a power limit coefficient;

[0013] A minimum value between the first reference power and the fault limit power is determined as the target available power.

[0014] In the present application, when there is a fault in the target vehicle, the fault may affect the driving safety of the target vehicle and cause unsafe factors. If the target vehicle is subsequently driven with a driving power greater than the fault limiting power, unsafe factors may occur in the target vehicle. In the above method, the minimum value between the first reference power and the fault limiting power is determined as the target available power, so that the target vehicle is subsequently driven with the fault limiting power as the driving power, thereby reflecting the principle of fault priority, considering the impact of the fault on the driving power as much as possible, and then avoiding the occurrence of unsafe factors as much as possible to ensure driving safety.

[0015] Optionally, the method further comprises:

[0016] Obtaining the power consumption of accessories of the target vehicle;

[0017] The limiting the driving power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power includes:

[0018] The target available power is determined based on the battery pack discharge power, the power limit coefficient, the fault limit power, and the accessory consumption power.

[0019] In the present application, the driving power after limitation is determined by combining the fault limiting power and the accessory consumption power, so that the impact of faults in the target vehicle and high-voltage accessories on the driving power can be fully considered, so that a more accurate target available power can be determined.

[0020] Optionally, determining the target available power based on the battery pack discharge power, the power limit coefficient, the fault limit power and the accessory consumption power includes:

[0021] Determining the first reference power based on the battery pack discharge power and the power limit coefficient;

[0022] Determine a minimum value between the first reference power and the power limit coefficient as a second reference power;

[0023] The target available power is obtained by subtracting the power consumed by the accessory from the second reference power.

[0024] Optionally, limiting the driving power of the target vehicle based on the battery pack discharge power and the power limitation coefficient to obtain the target available power includes:

[0025] The target available power is obtained by multiplying the battery pack discharge power by the power limit coefficient.

[0026] Optionally, the method further comprises:

[0027] Acquiring a target driving efficiency of the driving motor;

[0028] The limiting the driving power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power includes:

[0029] Determining a first reference power based on the battery pack discharge power and a power limit coefficient;

[0030] The target available power is obtained by multiplying the first reference power by the target driving efficiency.

[0031] In the present application, after the restricted driving power is determined, a more accurate power for driving the target vehicle can be determined by taking the driving efficiency of the driving motor into consideration.

[0032] Optionally, obtaining the target driving efficiency of the driving motor includes:

[0033] Determining a reference driving efficiency based on a current motor speed of the driving motor;

[0034] Determining an efficiency correction factor based on a coolant temperature at a water outlet of the drive motor;

[0035] The reference driving efficiency is multiplied by the efficiency correction coefficient to obtain the target driving efficiency.

[0036] In the present application, since the outlet coolant temperature of the drive motor affects the drive efficiency of the drive motor, if the outlet coolant temperature is too high, the drive efficiency of the drive motor will be reduced. Therefore, the target drive efficiency can be determined in combination with the outlet coolant temperature of the drive motor. In this way, by correcting the drive efficiency of the drive motor based on the outlet coolant temperature, a more accurate target drive efficiency of the drive motor can be determined.

[0037] Optionally, the target output torque includes a first output torque and a second output torque, the first output torque being the maximum output torque of the drive motor at the current motor speed determined based on the voltage of the battery pack, and the second output torque being the maximum output torque at the current motor speed indicated by the motor positive external characteristic of the drive motor, and the target output torque based on the target available power, the current motor speed of the drive motor, and the target output torque, including:

[0038] determining a third output torque based on the target available power and the current motor speed;

[0039] A minimum value among the first output torque, the second output torque, and the third output torque is determined as the motor driving torque.

[0040] In the present application, the first output torque is the maximum output torque determined in combination with the actual working state of the target vehicle, the second output torque is the maximum output torque of the drive motor at the current motor speed under ideal conditions, and the third output torque is compared with the two, so that the torque finally determined is always less than or equal to the maximum output torque of the drive motor. In this way, the minimum value of the first output torque, the second output torque and the third output torque is always the torque that the drive motor can output within the maximum output capacity range, so that when the target vehicle is subsequently driven by the minimum value of the first output torque, the second output torque and the third output torque, the drive motor will not be damaged, that is, it can protect the drive motor.

[0041] In a second aspect, a torque determination device is provided, the device comprising:

[0042] A first acquisition module, configured to acquire a battery pack discharge power of a target vehicle in response to a start instruction of a target mode for the target vehicle;

[0043] a power limiting module, configured to limit the driving power of the target vehicle based on the battery pack discharge power and a power limiting coefficient to obtain a target available power, wherein the power limiting coefficient is used to represent a ratio between the driving power after limitation and the driving power before limitation;

[0044] The torque determination module is used to determine the motor drive torque based on the target available power, the current motor speed of the drive motor and the target output torque. The target output torque is the torque that can be output by the drive motor of the target vehicle at the current motor speed. The motor drive torque is the maximum output torque of the drive motor after limitation to drive the target vehicle.

[0045] Optionally, the device further comprises:

[0046] A second acquisition module is used to acquire a fault limit power when the target vehicle has a fault;

[0047] The power limiting module is used for:

[0048] Determining a first reference power based on the battery pack discharge power and a power limit coefficient;

[0049] A minimum value between the first reference power and the fault limit power is determined as the target available power.

[0050] Optionally, the device further comprises:

[0051] A third acquisition module, used to acquire the power consumption of accessories of the target vehicle;

[0052] The power limiting module is used for:

[0053] The target available power is determined based on the battery pack discharge power, the power limit coefficient, the fault limit power, and the accessory consumption power.

[0054] Optionally, the power limiting module is used for:

[0055] Determining the first reference power based on the battery pack discharge power and the power limit coefficient;

[0056] Determine a minimum value between the first reference power and the power limit coefficient as a second reference power;

[0057] The target available power is obtained by subtracting the power consumed by the accessory from the second reference power.

[0058] Optionally, the power limiting module is used for:

[0059] The target available power is obtained by multiplying the battery pack discharge power by the power limit coefficient.

[0060] Optionally, the device further comprises:

[0061] A fourth acquisition module, used for acquiring a target driving efficiency of the driving motor;

[0062] The power limiting module is used for:

[0063] Determining a first reference power based on the battery pack discharge power and a power limit coefficient;

[0064] The target available power is obtained by multiplying the first reference power by the target driving efficiency.

[0065] Optionally, the fourth acquisition module is used to:

[0066] Determining a reference driving efficiency based on a current motor speed of the driving motor;

[0067] Determining an efficiency correction factor based on a coolant temperature at a water outlet of the drive motor;

[0068] The reference driving efficiency is multiplied by the efficiency correction coefficient to obtain the target driving efficiency.

[0069] Optionally, the target output torque includes a first output torque and a second output torque, the first output torque being the maximum output torque of the drive motor at the current motor speed determined based on the voltage of the battery pack, and the second output torque being the maximum output torque at the current motor speed indicated by the motor positive external characteristic of the drive motor, and the torque determination module is used to:

[0070] determining a third output torque based on the target available power and the current motor speed;

[0071] A minimum value among the first output torque, the second output torque, and the third output torque is determined as the motor driving torque.

[0072] In a third aspect, a vehicle is provided, the vehicle comprising:

[0073] A memory for storing executable program codes;

[0074] The processor is used to call and run the executable program code from the memory so that the vehicle executes the torque determination method.

[0075] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned torque determination method is implemented.

[0076] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned torque determination method.

[0077] It can be understood that the beneficial effects of the second, third, fourth and fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0079] Figure 1 is a scenario schematic diagram of a torque determination method provided in an embodiment of the present application;

[0080] Figure 2 is a flow chart of a torque determination method provided in an embodiment of the present application;

[0081] Figure 3 is a flow chart of limiting driving power provided by an embodiment of the present application;

[0082] Figure 4 is another flow chart for limiting driving power provided by an embodiment of the present application;

[0083] Figure 5 is a flow chart for determining target available power provided by an embodiment of the present application;

[0084] Figure 6 is a flow chart for determining a motor driving torque provided by an embodiment of the present application;

[0085] Figure 7 is a structural schematic diagram of a torque determination device provided in an embodiment of the present application;

[0086] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0087] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0088] It should be understood that the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, the words "first" and "second" are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0089] Before describing the torque determination method provided in the embodiment of the present application, the application scenario of the embodiment of the present application is described first.

[0090] For example, Figure 1 is a schematic diagram of a torque determination method provided in an embodiment of the present application, see Figure 1 , Figure 1 The vehicle 101 is included.

[0091] In the embodiment of the present application, the vehicle 101 may be a pure electric vehicle or a hybrid vehicle. When the vehicle 101 is a hybrid vehicle, the torque determination method may be applied when the vehicle 101 is in a pure electric mode.

[0092] Two application scenarios of the torque determination method are introduced below.

[0093] Scenario 1: The vehicle is loaned out

[0094] When the vehicle 101 is loaned out, the driver of the vehicle 101 is not the owner of the vehicle 101. In this case, the driver may not be familiar with the use of the vehicle 101, so when driving the vehicle 101, there will often be phenomena such as misoperation. In addition, there is also a phenomenon that when the driver is not familiar with the vehicle 101, the vehicle 101 is driven quickly, causing the speed of the vehicle 101 to be too fast. As is known to all, when the speed is too fast, the vehicle will be uncontrollable. Therefore, when the speed of the vehicle 101 is too fast, it is easy to cause a dangerous situation, which may easily lead to an accident of the vehicle 101, thereby damaging the vehicle 101 and causing the owner of the vehicle 101 to suffer property losses.

[0095] Scenario 2: The vehicle is driving on an unfamiliar road

[0096] When driving vehicle 101 on an unfamiliar road, the driver may be unfamiliar with the current driving section. When the driving road is unfamiliar, the driver driving vehicle 101 is equivalent to exploring the road. Since the road conditions of the road ahead are unknown, the driver needs to be extra cautious when driving vehicle 101. In this case, if the driver drives vehicle 101 quickly on an unknown road, when unexpected road conditions (such as traffic jams, sharp turns, etc.) appear on the road ahead, serious accidents may occur. This may cause damage to the occupants and vehicle 101, thereby causing unnecessary personal and property losses.

[0097] To this end, an embodiment of the present application provides a torque determination method, which can be used in the above two possible scenarios.

[0098] For example, when the torque determination method is applied in the above scenario 1, that is, when the driver of the vehicle 101 is not the owner, the target mode of the vehicle 101 can be turned on. For another example, when the torque determination method is applied in the above scenario 2, that is, when the vehicle 101 is driven on an unfamiliar road, the target mode of the vehicle 101 can be turned on.

[0099] In the case of receiving the target mode start instruction, the target mode start instruction can be responded to, and then the battery pack discharge power of the vehicle 101 can be obtained, and based on the battery pack discharge power and the power limit coefficient, the driving power of the vehicle 101 can be limited to obtain the driving power of the driving motor used to drive the vehicle. However, the torque output of the driving motor has a maximum output capacity, so based on the driving power of the driving motor used to drive the vehicle, the current motor speed and the maximum output capacity of the driving motor at the current speed, the maximum output torque of the driving motor used to drive the target vehicle can be determined, so that the driving motor can drive the vehicle 101 with a torque that does not exceed the maximum output torque.

[0100] In this way, by limiting the driving power and thus limiting the output torque of the driving motor when the target mode of vehicle 101 is turned on, the output torque of the driving motor of subsequent vehicle 101 does not exceed the maximum output torque after the limitation during driving. The speed of vehicle 101 during driving can be limited by limiting the driving power, thereby reducing the probability of an accident occurring with vehicle 101, thereby reducing damage to vehicle 101 and avoiding property loss to the owner as much as possible.

[0101] The torque determination method provided in the embodiment of the present application is explained in detail below.

[0102] Figure 2is a flow chart of a torque determination method provided in an embodiment of the present application. The method can be applied to a vehicle control unit (VCU) of a vehicle. Figure 2 , the method comprises the following steps.

[0103] Step 201: In response to a start instruction for a target mode of a target vehicle, a battery pack discharge power of the target vehicle is obtained.

[0104] The target mode may be a mode in which the torque determination method is applied in the target vehicle, for example, the target mode may be a hospitality mode.

[0105] The start instruction for the target mode of the target vehicle is used to start the target mode of the target vehicle. Optionally, the start instruction can be triggered by a user, and the user can be the owner of the target vehicle. In an embodiment of the present application, the user can trigger the start instruction by clicking, sliding, somatosensory, voice, etc.

[0106] As an implementation mode, a target mode start button may be displayed on the central control screen of the target vehicle. When the user wants to start the target mode, the start instruction of the target mode may be triggered by clicking the start button.

[0107] As another implementation, the target mode of the target vehicle can be set through the user's terminal device, and the setting includes turning on the target mode. Specifically, an APP (Application) related to vehicle settings can be installed on the user's terminal device, and the APP may include a button to turn on the target mode. When the user wants to turn on the target mode, the user can click the turn-on button of the target mode set on the terminal device, and the turn-on instruction can be triggered.

[0108] The battery pack discharge power refers to the maximum energy that the battery pack of the target vehicle can provide within a specific time. Optionally, the battery pack discharge power may include a 5-second discharge power, a 10-second discharge power, a 30-second discharge power, and a continuous discharge power.

[0109] 5-second discharge power refers to the maximum power that the battery pack can continuously provide within 5 seconds. 10-second discharge power refers to the maximum power that the battery pack can continuously provide within 10 seconds. 30-second discharge power refers to the maximum power that the battery pack can continuously provide within 30 seconds. Continuous discharge power refers to the maximum power that the battery pack of the target vehicle can stably provide over a long period of time (such as several hours).

[0110] Since the battery pack is the power source of the entire vehicle, the electric energy released by the battery pack discharge can drive the target vehicle and drive other components to operate normally. In addition, the size of the battery pack discharge power will affect the driving state of the target vehicle, such as fast driving, slow driving, etc., and the speed of the target vehicle is achieved by the drive motor working at a certain driving power, so the battery pack discharge power can affect the driving power of the target vehicle. The purpose of the embodiment of the present application is to limit the driving power. Therefore, in the embodiment of the present application, the battery pack discharge power can be obtained.

[0111] Specifically, the operation of step 201 may be: obtaining the current power level and current temperature of the battery pack of the target vehicle; and obtaining the discharge power of the battery pack in the first corresponding relationship based on the current power level and current temperature.

[0112] The current power level refers to the current remaining power of the battery pack of the target vehicle.

[0113] The first corresponding relationship is the corresponding relationship between power, temperature and discharge power. The first corresponding relationship may include multiple power intervals, multiple temperature intervals and multiple discharge powers. Different power intervals and different temperature intervals may correspond to different discharge powers.

[0114] For example, the following Table 1 is an example of the first correspondence. Referring to Table 1, the first correspondence includes multiple power intervals, multiple temperature intervals, and multiple discharge powers, and different power intervals and different temperature intervals correspond to different discharge powers. For example, if the current power is 60% and the current temperature is 30°C, then from the first correspondence in Table 1, it can be determined that the battery pack discharge power is 60%.

[0115] Table 1

[0116]

[0117]

[0118] The embodiment of the present application only uses Table 1 as an example to illustrate the first corresponding relationship, and does not constitute a limitation to the embodiment of the present application.

[0119] Since the power level and temperature will affect the discharge power of the battery pack, the embodiment of the present application can determine a more accurate discharge power of the battery pack through the current power level and the current temperature.

[0120] When the battery pack discharge power includes 5-second discharge power, 10-second discharge power, 30-second discharge power and continuous discharge power, the pedal opening change of the target vehicle's accelerator pedal within the target time period can also be obtained; the subsequent operation of obtaining the battery pack discharge power of the target vehicle can be: determining the battery pack discharge power based on the pedal opening change, the current temperature and the current power.

[0121] Since the change in the pedal opening of the target vehicle can indicate the driver's driving needs, such as the need for rapid acceleration, continuous acceleration, stabilization at a certain speed, etc., the driver's driving needs can be learned based on the change in the pedal opening of the target vehicle.

[0122] In addition, during the driving of the target vehicle, the driving conditions of the target vehicle are different, and the battery pack discharge power obtained under different conditions may also be different. For example, when the target vehicle has a sudden acceleration demand (reflected in the sudden increase in the opening of the accelerator pedal), the 5-second discharge power, 10-second discharge power or 30-second discharge power of the target vehicle can be obtained. In general, in order to ensure the stability and safety of the battery pack, the continuous discharge power of the battery pack is obtained under most conditions.

[0123] In this case, by determining the battery pack discharge power based on the pedal opening change, current temperature and current charge, it is equivalent to combining the driver's driving needs. The battery pack discharge power determined in this way can meet the driver's driving needs, thereby determining a more accurate battery pack discharge power.

[0124] Among them, the operation of determining the battery pack discharge power based on the pedal opening change, the current temperature and the current power can be: based on the pedal opening change, determining the target correspondence; based on the current power and the current temperature, determining the battery pack discharge power from the target correspondence.

[0125] It should be understood that different driving conditions with the same power and temperature may correspond to different battery pack discharge powers, so the embodiment of the present application may set multiple correspondences according to the divided driving conditions. It should be understood that a driving condition with a very large speed change within a certain period of time may correspond to a 5-second discharge power correspondence; when the speed change within a certain period of time is less than the speed change corresponding to the 5-second discharge power, the driving condition may correspond to a 10-second discharge power correspondence; when the speed change within a certain period of time is less than the speed change corresponding to the 10-second discharge power, the driving condition may correspond to a 30-second discharge power correspondence; and a driving condition with a small speed change within a certain period of time may correspond to a continuous discharge power correspondence.

[0126] The target corresponding relationship is a corresponding relationship that conforms to the current driving condition of the target vehicle.

[0127] Among them, based on the pedal opening change, the operation of determining the target corresponding relationship can be: when the pedal opening change is greater than or equal to the first opening threshold, the target corresponding relationship is determined to be the corresponding relationship of 5-second discharge power; when the pedal opening change is greater than or equal to the second opening threshold and less than the first opening threshold, the target corresponding relationship is determined to be the corresponding relationship of 10-second discharge power; when the pedal opening change is greater than or equal to the third opening threshold and less than the second opening threshold, the target corresponding relationship is determined to be the corresponding relationship of 30-second discharge power; when the pedal opening change is less than the third opening threshold, the target corresponding relationship is determined to be the corresponding relationship of continuous discharge power.

[0128] The first opening threshold, the second opening threshold and the third opening threshold can be set in advance, and the first opening threshold is greater than the second opening threshold, and the second opening threshold is greater than the third opening threshold.

[0129] In the case where the pedal opening change is greater than or equal to the first opening threshold, it means that the opening change of the pedal opening of the accelerator pedal of the target vehicle within the target duration is very large, that is, the driver needs to accelerate rapidly, so it can be determined that the target corresponding relationship at this time is the corresponding relationship of the 5-second discharge power. In the case where the pedal opening change is less than the first opening threshold and greater than or equal to the second opening threshold, it means that the opening change of the pedal opening of the accelerator pedal of the target vehicle within the target duration is inferior to the pedal opening change during rapid acceleration, which means that the driver of the target vehicle is not very urgent for acceleration, so it can be determined that the target corresponding relationship at this time is the corresponding relationship of the 10-second discharge power. In the case where the pedal opening change is greater than or equal to the third opening threshold and less than the second opening threshold, it means that the opening change of the pedal opening within the target duration is not very large, which means that the driver of the target vehicle may need to accelerate slowly, so it can be determined that the target corresponding relationship at this time is the corresponding relationship of the 30-second discharge power. When the pedal opening change is less than the third opening threshold, it means that the pedal opening change within the target time is relatively small, indicating that the driver may not need the target vehicle to accelerate, or requires the vehicle speed to fluctuate within a certain range. In this case, the target correspondence can be determined as the correspondence of continuous discharge power.

[0130] Optionally, in addition to being triggered by the user, the target mode may also be triggered by the target vehicle itself to trigger the start instruction.

[0131] As an implementation manner, before step 201, it may also include: when the target vehicle is started, collecting the driver image of the target vehicle; based on the driver image, determining whether the driver of the target vehicle is the target user; if the driver of the target vehicle is not the target user, turning on the target mode of the target vehicle.

[0132] The driver image refers to the image of the driver currently driving the target vehicle. As a possible implementation, an in-vehicle camera may be installed in the target vehicle. Then, when the target vehicle is started, the in-vehicle camera may capture the image of the driver in the driving seat to obtain the driver image. It should be understood that the driver image includes an image of the driver's face.

[0133] The target user may be the owner of the target vehicle, and in some embodiments, the target user may also be a user who often drives the target vehicle. In an embodiment of the present application, the target user may pre-enter a face image in the target vehicle, so that the face image of the target user may be stored in the target vehicle.

[0134] In this case, when the target vehicle is started, by automatically acquiring the driver's image and determining whether the driver is the target user, the target mode can be automatically turned on when the driver is not the target user, thereby providing convenience for turning on the target mode of the target vehicle.

[0135] Among them, based on the driver image, the operation of determining whether the driver of the target vehicle is the target user can be: identifying the driver image to compare the driver image with the facial image of the target user, and when the driver image is similar to the facial image of one of the target users, determining that the driver of the target vehicle is the target user; when the driver image is different from the facial image of the target user, determining that the driver of the target vehicle is not the target user.

[0136] Specifically, the operation of comparing the driver image with the facial image of the target user can be: determining the similarity between the driver image and the facial image of each target user; when there is a similarity among multiple similarities that is greater than or equal to a preset similarity threshold, determining that the driver image is similar to the facial image of one of the target users; when multiple similarities are all less than the preset similarity threshold, determining that the driver image is different from the facial images of the target users.

[0137] The preset similarity threshold can be set in advance, and the preset similarity threshold can be set larger.

[0138] When there is a similarity among multiple similarities that is greater than or equal to a preset similarity threshold, it means that the similarity is large, which means that the driver image is closer to a facial image of a target user among the target users' facial images. Therefore, it can be determined that the driver image is similar to the facial image of the target user, which means that the driver of the target vehicle is very likely to be the target user.

[0139] When multiple similarities are all smaller than the preset similarity threshold, it indicates that the multiple similarities are all small, that is, the similarities between the driver image and the facial image of each target user are all small, which means that the driver's facial image is different from that of each target user, and thus it can be indicated that the driver of the target vehicle is not the target user.

[0140] Further, when the driver of the target vehicle is the target user, the target mode of the target vehicle is not turned on.

[0141] When the driver of the target vehicle is the target user, it means that the driver of the target vehicle is the person who drives the target vehicle pre-stored in the target vehicle. Therefore, it does not belong to the application scenario of the torque determination method provided in the embodiment of the present application, and the target mode of the target vehicle may not be turned on.

[0142] Optionally, after turning on the target mode, a target indicator light may also be displayed on the instrument display.

[0143] The target indicator light is an indicator light corresponding to the target mode. It should be understood that after the target mode is turned on, the indicator light corresponding to the target mode can be turned on to let the driver know that the target mode is currently in progress.

[0144] Furthermore, target reminder information can also be displayed on the instrument display screen.

[0145] The target reminder information is used to remind the driver that the target vehicle is currently in target mode.

[0146] Since the target vehicle is lent to others, the other person is not familiar with the use of the target vehicle, and therefore, the target mode indicator light on the target vehicle does not know what it means. In this case, even if the target vehicle's instrument display screen displays the target indicator light, the other person may not know that the target vehicle is currently in the target mode.

[0147] In this way, by displaying the target reminder information on the instrument display screen, the instrument display screen can display the reminder information that the target vehicle is in the target mode, so that the driver of the target vehicle can clearly know that the target vehicle is currently in the target mode, thereby improving the user experience.

[0148] Step 202: Based on the battery pack discharge power and the power limitation coefficient, the driving power of the target vehicle is limited to obtain the target available power. The power limitation coefficient is used to represent the ratio between the driving power after limitation and the driving power before limitation.

[0149] The power limit coefficient is used to limit the driving power of the target vehicle. Optionally, the power limit coefficient can be set in advance, and the power limit coefficient is a number between 0 and 1. For example, the power limit coefficient can be set to 0.6.

[0150] The target available power refers to the maximum driving power of the target vehicle after power limitation.

[0151] Since the driving power source of the target vehicle is the battery pack discharge power, in other words, the driving power of the target vehicle is obtained by converting the battery pack discharge power. Without considering the conversion efficiency, the battery pack discharge power can be used as the driving power of the target vehicle. Therefore, the driving power of the target vehicle can be limited based on the battery pack discharge power.

[0152] In this case, the driving power of the target vehicle is limited based on the battery pack discharge power and the power limiting coefficient, so that the driving power of the target vehicle is reduced compared to the normal driving mode. Then the subsequent speed of the target vehicle will also be reduced, thereby achieving the purpose of limiting the speed and improving driving safety.

[0153] The step of determining the power limit coefficient includes: obtaining the current speed of the target vehicle; and determining the corresponding power limit coefficient from a mapping relationship based on the current speed.

[0154] The mapping relationship refers to the corresponding relationship between the vehicle speed and the power limit coefficient. The mapping relationship may include multiple vehicle speeds and multiple power limit coefficients, wherein different vehicle speeds correspond to different power limit coefficients.

[0155] Among them, the mapping relationship can be calibrated in advance by technical personnel. For example, for different vehicle speeds, the vehicle speed after the limit is set, and then the ratio between the vehicle speed after the limit and the vehicle speed before the limit is determined as the power limit coefficient, and then used as the ratio between the driving power after the power limit and the driving power before the limit, so as to determine the power limit coefficient corresponding to the different vehicle speeds, that is, to determine the mapping relationship.

[0156] Specifically, the operation of step 202 may be: multiplying the battery pack discharge power by the power limit coefficient to obtain the target available power.

[0157] Since the power limiting coefficient is the ratio of the driving power after limitation to the driving power before limitation, without considering the conversion efficiency, the driving power before limitation can be considered as the battery pack discharge power. Therefore, multiplying the battery pack discharge power by the power limiting coefficient can obtain the driving power after limitation.

[0158] In addition, by multiplying the battery pack discharge power by a number between 0 and 1, the power value can be reduced, so that the driving power can be effectively limited.

[0159] For example, Figure 3 This is a flow chart of limiting driving power provided by an embodiment of the present application, see Figure 3 When the target mode is on (expressed as VCU-bSaftMod = true), based on the battery pack discharge power and the power limit coefficient, the limited driving power can be obtained, that is, the target available power. When the target mode is not on, the driving power is not limited, that is, the battery pack discharge power is output.

[0160] Optionally, in the event that a fault occurs in the target vehicle, the driving power of the target vehicle may also be limited. In this case, the power limitation caused by the fault also needs to be taken into account. Therefore, in an embodiment of the present application, the fault limiting power can also be obtained.

[0161] Fault limit power refers to the driving power set to ensure the safety of the target vehicle when a fault occurs. For example, if the battery pack of the target vehicle has an overtemperature fault, the driving power can be limited accordingly to reduce the discharge power of the battery pack, thereby protecting the battery pack as much as possible.

[0162] In the embodiment of the present application, the fault limit power corresponding to different faults may be different. For example, the fault limit power corresponding to the battery pack overtemperature fault may be power 1, while the fault limit power corresponding to the motor overtemperature fault may be power 2. In this case, the fault limit power may also be the driving power corresponding to the current fault of the target vehicle.

[0163] As an implementation manner, in consideration of the fault limiting power, the operation of the above step 202 may also be: determining the target available power based on the battery pack discharge power, the power limiting coefficient and the fault limiting power.

[0164] In this case, by limiting the driving power in combination with the fault limiting power, the fault condition in the target vehicle can be taken into account, so that the driving power can be limited while taking the fault of the target vehicle into consideration, thereby improving the driving safety of the target vehicle.

[0165] Specifically, based on the battery pack discharge power, power limiting coefficient and fault limiting power, the operation of determining the target available power can be: based on the battery pack discharge power and the power limiting coefficient, determine the first reference power; and determine the minimum value between the first reference power and the fault limiting power as the target available power.

[0166] The first reference power is a driving power directly limited based on the battery pack discharge power and the power limit coefficient.

[0167] Since when there is a fault in the target vehicle, the fault may affect the driving safety of the target vehicle and cause unsafe factors, when the target vehicle fails, the driving power needs to be limited to avoid the occurrence of unsafe factors as much as possible. If the target vehicle is subsequently driven with a driving power greater than the fault limit power, unsafe factors may occur in the target vehicle. Therefore, the minimum value between the first reference power and the fault limit power can be determined as the target available power.

[0168] In this case, by determining the minimum value between the first reference power and the fault-limited power as the target available power, the target vehicle is subsequently driven with the fault-limited power as the driving power, thereby reflecting the principle of fault priority, considering the impact of the fault on the driving power as much as possible, and thus avoiding the occurrence of unsafe factors as much as possible to ensure driving safety.

[0169] As another implementation method, the target vehicle may also involve the use of high-voltage accessories such as air conditioning, lights, audio systems, and on-board chargers during driving. High-voltage accessories will also consume power when in use, and the power consumed by the high-voltage accessories is derived from the discharge power of the battery pack. Therefore, when limiting the driving power, the power consumed by the high-voltage accessories can also be considered.

[0170] In this case, the power consumption of accessories of the target vehicle may also be obtained.

[0171] Optionally, the accessory power consumption refers to the power consumed by the high-voltage accessories in the target vehicle. In the present application, the accessory power consumption may include DC / DC power, compressor power and PTC (Positive Temperature Coefficient, heater) power.

[0172] Among them, DC / DC power refers to the power consumed by the DC / DC converter of the target vehicle, compressor power refers to the power consumed by the electric compressor of the air conditioner of the target vehicle, and PTC power refers to the power consumed by the PTC heater of the target vehicle.

[0173] Optionally, the operation of step 202 may also be: determining a first reference power based on the battery pack discharge power and the power limit coefficient; and subtracting the accessory consumption power from the first reference power to obtain the target available power.

[0174] In this case, part of the battery pack discharge power is converted into accessory consumption power, and part of it is converted into driving power to drive the target vehicle. By subtracting the accessory consumption power from the first reference power, the target available power is the battery pack discharge power excluding the accessory consumption power. Therefore, the subsequent power is all the power that can be used to drive the target vehicle. In this way, a more accurate driving power can be obtained.

[0175] Of course, in the case that the target vehicle has a fault and has accessory consumption, the fault limit power and the accessory consumption power can be obtained.

[0176] In this case, the operation of step 202 may be: determining the target available power based on the battery pack discharge power, the power limit coefficient, the fault limit power and the accessory consumption power.

[0177] In this way, the driving power after limitation is determined by combining the fault limiting power and the accessory consumption power, so that the impact of the fault in the target vehicle and the high-voltage accessories on the driving power can be fully considered, so that a more accurate target available power can be determined.

[0178] Specifically, based on the battery pack discharge power, power limiting coefficient, fault limiting power and accessory consumption power, the operation of determining the target available power can be: based on the battery pack discharge power and the power limiting coefficient, determine the first reference power; determine the minimum value of the first reference power and the power limiting coefficient as the second reference power; subtract the accessory consumption power from the second reference power to obtain the target available power.

[0179] For example, Figure 4 This is another flow chart for limiting driving power provided by an embodiment of the present application, see Figure 4 After determining the first reference power, first select the second reference power which is the minimum value between the first reference power and the fault limiting power, and then subtract the accessory power consumption from the second reference power, that is, subtract the DC / DC power, the compressor power and the PTC power, to obtain the target available power.

[0180] It is worth noting that when the drive motor drives the target vehicle, it converts electrical energy into mechanical energy. However, in the process of converting electrical energy into mechanical energy, a part of the energy is lost in the form of heat. Therefore, the drive motor works with a certain driving efficiency.

[0181] In this case, the target driving efficiency of the driving motor can be obtained. Then the operation of step 202 can be: determining a first reference power based on the battery pack discharge power and the power limit coefficient; and multiplying the first reference power by the target driving efficiency to obtain the target available power.

[0182] In this case, after the restricted driving power is determined, by taking the driving efficiency of the driving motor into consideration, it is possible to determine a more accurate power for driving the target vehicle to travel.

[0183] Of course, in consideration of the above-mentioned fault limit power and accessory power consumption, the target available power may be obtained by multiplying the third reference power by the target driving efficiency.

[0184] The third reference power refers to the limited driving power determined by taking into account the fault limit power and the accessory consumption power.

[0185] Among them, the process of determining the third reference power can be: determining the first reference power based on the battery pack discharge power and the power limiting coefficient; determining the minimum value of the first reference power and the power limiting coefficient as the second reference power; subtracting the accessory consumption power from the second reference power to obtain the third reference power.

[0186] In this way, by considering the fault limiting power and the accessory power consumption, a more accurate driving power after limitation can be determined. Then, by taking the driving efficiency of the driving motor into consideration, a more accurate power for driving the target vehicle can be determined.

[0187] The following describes the process of determining the target driving efficiency of the driving motor.

[0188] Specifically, the steps for determining the target driving efficiency may be: determining a reference driving efficiency based on the current motor speed of the driving motor; determining an efficiency correction coefficient based on the outlet coolant temperature of the driving motor; and multiplying the reference driving efficiency by the efficiency correction coefficient to obtain the target driving efficiency.

[0189] Since the coolant temperature at the water outlet of the drive motor affects the drive efficiency of the drive motor, if the coolant temperature at the water outlet is too high, the drive efficiency of the drive motor will be reduced. Therefore, the target drive efficiency can be determined in combination with the coolant temperature at the water outlet of the drive motor. In this way, by correcting the drive efficiency of the drive motor based on the coolant temperature at the water outlet, a more accurate target drive efficiency of the drive motor can be determined.

[0190] Among them, when the drive motor begins to start preparation work, that is, within the first cycle when the drive motor starts to work, the operation of determining the reference drive efficiency based on the current motor speed of the drive motor can be: within the first cycle when the drive motor starts to work, based on the current motor speed of the drive motor and the third reference power, the reference drive efficiency is determined from the second corresponding relationship; within the i-th cycle when the drive motor starts to work, based on the current motor speed of the drive motor and the target available power output in the i-1th cycle, the reference drive efficiency is determined from the second corresponding relationship.

[0191] The reference driving efficiency refers to the theoretical driving efficiency of the driving motor at the current motor speed.

[0192] The second corresponding relationship is the corresponding relationship between the motor speed, the driving power and the motor driving efficiency. The second corresponding relationship includes multiple motor speeds, multiple driving powers and multiple motor driving efficiencies. Different motor speeds and different driving powers may correspond to different motor driving efficiencies.

[0193] Assuming that when the vehicle accelerates from low speed to high speed, the motor needs to gradually increase the power output. If the power is adjusted significantly according to the demand of the current cycle, it may cause the motor to be overloaded or the efficiency to decrease. Therefore, in the embodiment of the present application, the reference driving efficiency is determined based on the current motor speed and the target available power output in the previous cycle, so that the driving efficiency can be adjusted more gradually and accurately.

[0194] In addition, in the first cycle of the drive motor starting operation, there is no target available power that has been output, so the third reference power determined above can be directly used to determine the reference drive power. When the drive motor is started for the i-th cycle, it means that the drive motor has output the drive power for driving the vehicle in the previous cycle, so the target available power output in the previous cycle can be obtained to determine the target drive efficiency.

[0195] In this case, by determining the reference drive efficiency based on the current motor speed and the target available power output in the previous cycle, the drive motor can be adjusted to the required power more smoothly, thereby avoiding instability or oscillation caused by sudden changes, thereby improving the performance of the drive motor and improving driving stability.

[0196] The operation of determining the efficiency correction coefficient based on the outlet coolant temperature of the drive motor may be: determining the efficiency correction coefficient from a third corresponding relationship based on the outlet coolant temperature.

[0197] The third corresponding relationship is the corresponding relationship between the outlet coolant temperature of the drive motor and the correction coefficient. The third corresponding relationship includes multiple outlet coolant temperatures and multiple correction coefficients, wherein different temperature ranges correspond to different correction coefficients.

[0198] For example, the following Table 2 is an example of the third corresponding relationship, referring to Table 2, which includes multiple temperature intervals and multiple correction coefficients, wherein different temperature intervals correspond to different correction coefficients, and the multiple temperature intervals include multiple different outlet coolant temperatures. For example, if the outlet coolant temperature of the drive motor is 60°C, then the efficiency correction coefficient can be determined to be 1.3 from the following Table 2.

[0199] Table 2

[0200] Coolant temperature at water outlet Correction factor [20℃，50℃) 1 [50℃，70℃) 1.3 [70℃，80℃) 1.7 …… ……

[0201] The embodiment of the present application only uses Table 2 as an example to illustrate the third corresponding relationship, and does not constitute a limitation to the embodiment of the present application.

[0202] For example, Figure 5 This is a flow chart of determining target available power provided by an embodiment of the present application, see Figure 5 , Figure 5 First, the reference driving power is determined based on the target available power of the previous cycle and the current motor speed, and then a correction coefficient is determined based on the coolant temperature at the outlet of the driving motor. The reference driving power is multiplied by the efficiency correction coefficient to obtain the target driving efficiency. Finally, the third reference power is multiplied by the target driving efficiency to obtain the target available power required for the current cycle.

[0203] It should be noted that in order to cope with various driving conditions, load changes and potential safety needs, the target vehicle can be set with reserved power, so that the target vehicle can call the reserved power in specific situations to ensure vehicle performance and safety. For example, when the driver needs to accelerate quickly, such as overtaking or starting quickly from a stationary state, the reserved power can provide additional power support to make the acceleration smoother and faster. For another example, when encountering steep hills or other high-resistance road conditions, the reserved power can help the vehicle maintain the required driving speed.

[0204] In this case, after the target available power is determined, the target available power may be subtracted from the reserved power to obtain the target driving power, and the target vehicle will be subsequently controlled to travel based on the target driving power.

[0205] If the target vehicle has a reserved power, the reserved power minus the actual driving power used to drive the target vehicle will be used. In this case, the driving power is limited on the basis of ensuring the safety and driving performance of the target vehicle, thereby improving the user experience.

[0206] The step of determining the reserved power may include: determining the reserved power from a fourth corresponding relationship based on the current motor speed and the target available power of the drive motor.

[0207] The fourth corresponding relationship is the corresponding relationship between the motor speed, the driving power and the reserved power. The fourth corresponding relationship may include multiple motor speeds, multiple driving powers and multiple reserved powers, and different motor speeds and different driving powers may correspond to different reserved powers.

[0208] In this case, by pre-establishing the fourth corresponding relationship, the vehicle controller can quickly determine the reserved power, thereby improving the efficiency of determining the reserved power.

[0209] It is worth noting that the above step 202 describes a specific strategy for limiting the driving power, and the driving power after limitation can be obtained, that is, the target available power can be obtained. After the target available power is obtained, the target vehicle can be further driven to travel based on the target available power.

[0210] Step 203: Based on the target available power, the current motor speed of the drive motor and the target output torque, the motor drive torque is determined. The target output torque is the torque that the drive motor of the target vehicle can output at the current motor speed. The motor drive torque is the maximum output torque of the drive motor after limitation to drive the target vehicle.

[0211] The target output torque may be the maximum torque that the drive motor of the target vehicle can output at the current motor speed.

[0212] The motor drive torque is the maximum output torque of the drive motor after the limitation, that is, the torque subsequently output by the drive motor does not exceed the motor drive torque. In addition, the change of torque will correspondingly affect the change of vehicle speed. Therefore, in the embodiment of the present application, by limiting the output torque of the drive motor, the vehicle speed can be affected later, thereby indirectly limiting the vehicle speed.

[0213] Since the target vehicle is driven by a drive motor, and the drive motor has a maximum output capacity during operation, the drive motor will fail when the output capacity is exceeded. Therefore, in the embodiment of the present application, the final output torque of the drive motor can be determined based on the target available power, the current motor speed of the drive motor and the target output torque.

[0214] In this case, by determining the motor drive torque based on the target available power, the current motor speed of the drive motor and the target output torque, the maximum output capacity of the drive motor at the current motor speed can be fully considered, so that the final output torque of the drive motor can be determined on the basis of protecting the drive motor.

[0215] In addition, by determining the maximum output torque of the drive motor to drive the target vehicle, the drive motor always drives the target vehicle with a torque less than the maximum output torque during the driving of the target vehicle. Therefore, the output torque during the driving process of the vehicle can be limited by limiting the drive power, and then the vehicle speed can be limited, so as to reduce the probability of vehicle accidents, reduce the phenomenon of vehicle damage, and avoid property losses of vehicle owners as much as possible.

[0216] Optionally, the target output torque may include a first output torque and a second output torque. In this case, the operation of step 203 may be: determining a third output torque based on the target available power and the current motor speed; and determining the minimum value among the first output torque, the second output torque and the third output torque as the motor drive torque.

[0217] The first output torque is the maximum output torque of the drive motor at the current motor speed determined based on the voltage of the battery pack. In other words, the first output torque is the maximum output torque determined in combination with the current operating parameters of the battery pack, so that the first output torque is the output torque determined in accordance with the actual operating state of the target vehicle.

[0218] The second output torque is the maximum output torque at the current motor speed indicated by the motor positive external characteristics of the drive motor. The motor positive external characteristics usually refer to the performance of the drive motor under different working conditions, and the torque-speed characteristic curve is usually used to represent the motor positive external characteristics. The torque-speed characteristic curve shows the maximum torque output of the drive motor at different speeds. The maximum torque output at the current motor speed can be obtained from the torque-speed characteristic curve, that is, the second output torque. Therefore, the second output torque can be understood as the maximum output torque of the drive motor at the current motor speed under ideal conditions.

[0219] Consider a situation where the third output torque calculated based on the target available power is greater than the maximum torque output of the drive motor at the current speed. If the drive motor drives the target vehicle by outputting the third output torque, the drive motor may be damaged.

[0220] In addition, the first output torque is the maximum output torque determined in combination with the actual working state of the target vehicle, and the second output torque is the maximum output torque of the drive motor at the current motor speed under ideal conditions. The third output torque is then compared with these two, so that the final determined torque is always less than or equal to the maximum output torque of the drive motor.

[0221] In this way, the minimum value of the first output torque, the second output torque and the third output torque is always the torque that the drive motor can output within the maximum output capacity range. Therefore, when the target vehicle is subsequently driven by the minimum value of the first output torque, the second output torque and the third output torque, no damage will be caused to the drive motor, which means that the drive motor can be protected.

[0222] The third output torque may be determined based on the target available power and the current motor speed by: determining the third output torque based on the target available power and the current motor speed by the following formula (1).

[0223]

[0224] Among them, T 1 is the third output torque, P is the target available power, and N is the current motor speed of the drive motor.

[0225] Among them, the steps for determining the first output torque may be: obtaining the current voltage of the battery pack of the target vehicle; and determining the first output torque from a fifth corresponding relationship based on the current voltage of the battery pack and the current motor speed.

[0226] The fifth corresponding relationship is the corresponding relationship between the battery pack voltage, the motor speed and the maximum output torque of the drive motor. The fifth corresponding relationship may include multiple battery pack voltages, motor speeds and multiple output torques, and different battery pack voltages and different motor speeds correspond to different output torques, so that based on the current voltage of the battery pack and the current motor speed, the first output torque can be determined from the fifth corresponding relationship.

[0227] For example, Figure 6 is a flow chart of determining the motor drive torque provided in an embodiment of the present application, see Figure 6 , Figure 6 First, the first output torque is determined from the fifth corresponding relationship based on the current voltage of the battery pack and the current motor speed, and then the minimum value of the first output torque, the second output torque, and the third output torque is taken to obtain the motor driving torque, that is, the maximum output torque output by the driving motor to drive the target vehicle.

[0228] Furthermore, after determining the motor driving torque, the current pedal opening of the accelerator pedal and the current vehicle speed of the target vehicle can also be obtained; based on the current pedal opening and the current vehicle speed, the current driving torque is determined; when the current driving torque is greater than the motor driving torque, the drive motor is controlled to output the motor driving torque to drive the target vehicle.

[0229] The current driving torque is the torque that the driving motor should output in response to the current driving demand.

[0230] The above process is equivalent to determining the output torque corresponding to the current driving demand based on the driver's current driving demand. Then, the output torque corresponding to the current driving demand is compared with the maximum output torque after limitation. If the output torque corresponding to the current driving demand is greater than the maximum output torque after limitation, it means that the torque requested by the current driving demand exceeds the maximum output torque after limitation, and further means that the vehicle speed requested by the current driving demand exceeds the vehicle speed corresponding to the maximum output torque, so the drive motor cannot output the output torque corresponding to the current driving demand.

[0231] In this case, by controlling the drive motor to output the motor drive torque when the current drive torque is greater than the motor drive torque, the vehicle speed requested by the current driving demand can be limited to ensure that the speed of the target vehicle is not too high, thereby ensuring driving safety.

[0232] It is worth noting that the torque determination method provided in the embodiment of the present application enables the maximum driving power of the target vehicle to be reduced by limiting the maximum driving power of the entire vehicle after the target mode is turned on, thereby further limiting the maximum output torque of the drive motor and further limiting the maximum speed of the target vehicle. In this way, the target vehicle will not travel at too high a speed, thereby ensuring the driving safety of the target vehicle.

[0233] In an embodiment of the present application, when the target mode of the target vehicle is turned on, the vehicle controller can first obtain the battery pack discharge power of the target vehicle, and then limit the drive power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power, that is, to obtain the maximum power used to drive the target vehicle. Subsequently, a motor drive torque is determined based on the target available power, the current motor speed of the drive motor, and the target output torque, that is, the maximum output torque of the drive motor after the restriction is determined to drive the target vehicle. In this way, the present application limits the drive power and then limits the output torque of the drive motor when the target mode of the target vehicle is turned on, so that the output torque of the drive motor of the subsequent target vehicle during driving does not exceed the maximum output torque after the restriction, so that the speed of the vehicle during driving can be limited by limiting the drive power, thereby reducing the probability of vehicle accidents, so as to reduce the phenomenon of vehicle damage and avoid the loss of the owner's property as much as possible.

[0234] Figure 7 is a schematic diagram of a torque determination device provided in an embodiment of the present application. The torque determination device can be implemented by software, hardware, or a combination of both to form part or all of a vehicle, and the vehicle can be as follows Figure 8 Vehicle shown. See Figure 7 The device includes: a first acquisition module 701, a power limitation module 702 and a torque determination module 703.

[0235] A first acquisition module 701 is used to acquire the battery pack discharge power of the target vehicle in response to a start instruction of a target mode for the target vehicle;

[0236] A power limiting module 702 is used to limit the driving power of the target vehicle based on the battery pack discharge power and the power limiting coefficient to obtain a target available power, wherein the power limiting coefficient is used to represent the ratio between the driving power after the limitation and the driving power before the limitation;

[0237] The torque determination module 703 is used to determine the motor drive torque based on the target available power, the current motor speed of the drive motor and the target output torque. The target output torque is the torque that the drive motor of the target vehicle can output at the current motor speed. The motor drive torque is the maximum output torque of the drive motor after limitation to drive the target vehicle.

[0238] Optionally, the device further comprises:

[0239] A second acquisition module is used to acquire the fault limit power when the target vehicle has a fault;

[0240] The power limiting module 702 is used to:

[0241] Determining a first reference power based on the battery pack discharge power and the power limit coefficient;

[0242] A minimum value between the first reference power and the fault limit power is determined as the target available power.

[0243] Optionally, the device further comprises:

[0244] A third acquisition module is used to acquire the power consumption of the accessories of the target vehicle;

[0245] The power limiting module 702 is used to:

[0246] The target available power is determined based on the battery pack discharge power, power limit factor, fault limit power, and accessory power consumption.

[0247] Optionally, the power limiting module 702 is configured to:

[0248] Determining a first reference power based on the battery pack discharge power and the power limit coefficient;

[0249] Determine the minimum value of the first reference power and the power limit coefficient as the second reference power;

[0250] The target available power is obtained by subtracting the power consumed by the accessories from the second reference power.

[0251] Optionally, the device further comprises:

[0252] A fourth acquisition module, used to acquire a target driving efficiency of the driving motor;

[0253] The power limiting module 702 is used to:

[0254] Determining a first reference power based on the battery pack discharge power and the power limit coefficient;

[0255] The target available power is obtained by multiplying the first reference power by the target driving efficiency.

[0256] Optionally, the power limiting module 702 is configured to:

[0257] Multiply the battery pack discharge power by the power limit coefficient to get the target available power.

[0258] Optionally, the fourth acquisition module is used for:

[0259] determining a reference drive efficiency based on a current motor speed of the drive motor;

[0260] Determine the efficiency correction factor based on the coolant temperature at the outlet of the drive motor;

[0261] Multiply the reference driving efficiency by the efficiency correction factor to obtain the target driving efficiency.

[0262] Optionally, the target output torque includes a first output torque and a second output torque, the first output torque being a maximum output torque of the drive motor at a current motor speed determined based on the voltage of the battery pack, and the second output torque being a maximum output torque at a current motor speed indicated by a positive external characteristic of the drive motor, and the torque determination module 703 is used to:

[0263] determining a third output torque based on the target available power and the current motor speed;

[0264] A minimum value among the first output torque, the second output torque, and the third output torque is determined as the motor drive torque.

[0265] In an embodiment of the present application, when the target mode of the target vehicle is turned on, the battery pack discharge power of the target vehicle can be obtained first, and then the drive power of the target vehicle can be limited based on the battery pack discharge power and the power limit coefficient to obtain the target available power, that is, the maximum power used to drive the target vehicle. Subsequently, a motor drive torque is determined based on the target available power, the current motor speed of the drive motor and the target output torque, that is, the maximum output torque of the drive motor after the restriction is determined to drive the target vehicle. In this way, the present application limits the drive power and then limits the output torque of the drive motor when the target mode of the target vehicle is turned on, so that the output torque of the drive motor of the subsequent target vehicle during driving does not exceed the maximum output torque after the restriction, so that the speed of the vehicle during driving can be limited by limiting the drive power, thereby reducing the probability of vehicle accidents, so as to reduce the phenomenon of vehicle damage and avoid the loss of the owner's property as much as possible.

[0266] It should be noted that: when the torque determination device provided in the above embodiment limits the maximum output torque of the drive motor after the target mode is turned on, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0267] The functional units and modules in the above embodiments 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, and the above integrated units may be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present application.

[0268] The torque determination device and the torque determination method provided in the above embodiments belong to the same concept. The specific working process of the units and modules in the above embodiments and the technical effects brought about can be found in the method embodiment part and will not be repeated here.

[0269] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0270] For example, Figure 8 As shown, the vehicle 800 includes: a memory 81 and a processor 80, wherein the memory 81 stores an executable program code 82, and the processor 80 is used to call and execute the executable program code 82 to perform the above-mentioned torque determination method.

[0271] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0272] In the case of dividing each functional module according to each function, the vehicle may include: a first acquisition module, a power limiting module and a torque determination module. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0273] The vehicle provided in this embodiment is used to execute the above-mentioned torque determination method, and thus can achieve the same effect as the above-mentioned implementation method.

[0274] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing corresponding program codes and data.

[0275] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0276] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement the above-mentioned torque determination method in the above-mentioned embodiment.

[0277] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement the above-mentioned torque determination method in the above-mentioned embodiment.

[0278] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the method provided above and will not be repeated here.

[0279] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0280] In the 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 device embodiments described above are schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 devices or units, which can be electrical, mechanical or other forms.

[0281] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining torque, characterized in that: The method comprises: In response to a start instruction of a target mode for a target vehicle, obtaining a battery pack discharge power of the target vehicle; Based on the battery pack discharge power and the power limitation coefficient, the driving power of the target vehicle is limited to obtain a target available power, wherein the power limitation coefficient is used to represent the ratio between the driving power after limitation and the driving power before limitation; The motor driving torque is determined based on the target available power, the current motor speed of the driving motor and the target output torque. The target output torque is the torque that the driving motor of the target vehicle can output at the current motor speed. The motor driving torque is the maximum output torque of the driving motor after limitation to drive the target vehicle.

2. The method according to claim 1, characterized in that The method further comprises: When the target vehicle has a fault, obtaining a fault limiting power; The limiting the driving power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power includes: Determining a first reference power based on the battery pack discharge power and a power limit coefficient; A minimum value between the first reference power and the fault limit power is determined as the target available power.

3. The method according to claim 2, characterized in that The method further comprises: Obtaining power consumption of accessories of the target vehicle; The limiting the driving power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power includes: The target available power is determined based on the battery pack discharge power, the power limit coefficient, the fault limit power, and the accessory consumption power.

4. The method according to claim 3, characterized in that The determining the target available power based on the battery pack discharge power, the power limit coefficient, the fault limit power and the accessory consumption power includes: Determining the first reference power based on the battery pack discharge power and the power limit coefficient; Determine a minimum value between the first reference power and the power limit coefficient as a second reference power; The target available power is obtained by subtracting the power consumed by the accessory from the second reference power.

5. The method according to claim 1, characterized in that The limiting the driving power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power includes: The target available power is obtained by multiplying the battery pack discharge power by the power limit coefficient.

6. The method according to claim 1, characterized in that The method further comprises: Acquiring a target driving efficiency of the driving motor; The limiting the driving power of the target vehicle based on the battery pack discharge power and the power limit coefficient to obtain the target available power includes: Determining a first reference power based on the battery pack discharge power and a power limit coefficient; The target available power is obtained by multiplying the first reference power by the target driving efficiency.

7. The method according to claim 6, characterized in that The obtaining of the target driving efficiency of the driving motor includes: Determining a reference driving efficiency based on a current motor speed of the driving motor; Determining an efficiency correction factor based on a coolant temperature at a water outlet of the drive motor; The reference driving efficiency is multiplied by the efficiency correction coefficient to obtain the target driving efficiency.

8. The method according to claim 1, characterized in that The target output torque includes a first output torque and a second output torque, wherein the first output torque is the maximum output torque of the drive motor at the current motor speed determined based on the voltage of the battery pack, and the second output torque is the maximum output torque at the current motor speed indicated by the motor positive external characteristic of the drive motor, and the target output torque is based on the target available power, the current motor speed of the drive motor, and includes: determining a third output torque based on the target available power and the current motor speed; A minimum value among the first output torque, the second output torque, and the third output torque is determined as the motor driving torque.

9. A torque determination device, characterized in that: The device comprises: A first acquisition module, configured to acquire a battery pack discharge power of a target vehicle in response to a start instruction of a target mode for the target vehicle; a power limiting module, configured to limit the driving power of the target vehicle based on the battery pack discharge power and a power limiting coefficient to obtain a target available power, wherein the power limiting coefficient is used to represent a ratio between the driving power after limitation and the driving power before limitation; The torque determination module is used to determine the motor drive torque based on the target available power, the current motor speed of the drive motor and the target output torque. The target output torque is the torque that can be output by the drive motor of the target vehicle at the current motor speed. The motor drive torque is the maximum output torque of the drive motor after limitation to drive the target vehicle.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method according to any one of claims 1 to 8.

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