Torque control method and device, storage medium and vehicle control unit

Abstract

The embodiment of the invention provides a torque control method and device, a storage medium and a vehicle control unit. The method comprises the steps that according to an obtained acceleration curve, a whole vehicle request torque, rotating hub resistance and vehicle stress analysis, a request recovery torque with the accelerator pedal opening degree being a first opening degree is generated; acquiring an acceleration curve under the condition that the accelerator pedal opening degree is the first opening degree according to the request recovery torque under the condition that the accelerator pedal opening degree is the first opening degree; according to the acceleration curve when the opening degree of the accelerator pedal is the first opening degree and the acceleration curve when the vehicle speed is balanced, the mapping relation of the whole vehicle request torque is generated; and torque control is conducted according to the mapping relation of the whole vehicle request torque. In the technical scheme provided by the embodiment of the invention, the mapping relation of the whole vehicle request torque is generated according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced, and the torque control is performed according to the mapping relation of the whole vehicle request torque, so that the torque control efficiency is improved, and resources can be saved.

Description

Technical Field

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

[0002] New energy vehicles have developed rapidly in recent years, and the requirements for vehicle endurance have become increasingly higher. When the battery power is constant and other electrical appliances are not considered, the current calibration of energy recovery is mostly based on experience, and there are usually problems of redundant or insufficient energy recovery. Redundant energy recovery: The energy recovery intensity is too high, causing the vehicle speed to decrease faster than the driver expects. In order to reach the target speed, the accelerator pedal must be repeatedly pressed, resulting in an increase in the number of energy conversions and losses, and also affecting the vehicle's power performance when the accelerator pedal is opened at a small angle. Insufficient energy recovery: The energy recovery intensity is too low, causing the vehicle speed to decrease more slowly than the driver expects, causing the driver to decelerate more by pressing the brake pedal, so that the energy will be lost more in the braking system as heat energy.

[0003] It usually takes multiple endurance tests and calibrations to make the endurance test results close to expectations, which makes the development process complicated, the torque control efficiency is low, and a lot of resources are wasted. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a torque control method, device, storage medium and vehicle controller to improve torque control efficiency and save resources.

[0005] On the one hand, an embodiment of the present invention provides a torque control method, comprising: Generate a requested recovery torque with an accelerator pedal opening of a first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis; acquiring an acceleration curve when the accelerator pedal opening is the first opening according to the requested recovery torque when the accelerator pedal opening is the first opening; Generating a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced; Torque control is performed according to the mapping relationship of the vehicle requested torque.

[0006] Optionally, before generating the requested recovery torque when the vehicle requested torque is 0 according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis, the method includes: Calculate the acceleration of the vehicle per second according to the acquired road spectrum; Generate an acceleration curve according to the acceleration corresponding to each second of the vehicle's travel; The minimum value in the acceleration curve is set as the acceleration when the accelerator pedal is not depressed.

[0007] Optionally, the first opening is 0, and generating the requested recovery torque with the accelerator pedal opening being the first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis includes: Generate a first formula according to the acquired acceleration request torque when the accelerator pedal opening is the second opening, the coupling coefficient, the requested recovery torque when the accelerator pedal opening is the second opening, and the vehicle request torque; A second formula is generated based on the obtained vehicle mass, the acceleration of the vehicle per second, and the resultant force on the vehicle; The third formula is generated according to the obtained vehicle driving force, hub resistance and the resultant force acting on the vehicle; Substitute the hub resistance formula, the second formula and the third formula into the first formula, and set the acceleration request torque when the accelerator pedal opening is the second opening to 0, the vehicle driving force to 0, and the coupling coefficient to 1, to generate the requested recovery torque when the accelerator pedal opening is 0.

[0008] Optionally, the accelerator pedal opening when the vehicle speed is balanced is a third opening.

[0009] Optionally, generating a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced includes: The acceleration curve when the accelerator pedal opening is at a first opening is used as a lower limit, and the acceleration curve when the vehicle speed is balanced is used as an upper limit, to generate a requested recovery torque within a linearly distributed different accelerator pedal opening range; A mapping relationship of the vehicle requested torque is generated according to the requested recovery torque in the linearly distributed different accelerator pedal opening ranges, the pedal opening coupling coefficient relationship and the pre-stored accelerator pedal calibration relationship to perform torque control calibration.

[0010] Optionally, the mapping relationship of the vehicle requested torque is generated according to the relationship between the requested recovery torque and the pedal opening coupling coefficient in the linearly distributed different accelerator pedal opening intervals and a pre-stored accelerator pedal calibration relationship, including: A fourth formula is generated according to the coupling coefficient, the acceleration request torque when the accelerator pedal opening is the second opening, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not depressed, and the drag coefficient; generating an acceleration request torque corresponding to each vehicle speed according to the acquired multiple vehicle speeds and the accelerator pedal calibration relationship; Substituting the vehicle speed and the acceleration request torque corresponding to different accelerator pedal openings between the first opening and the third opening into the fourth formula to generate a coupling coefficient at different pedal openings and vehicle speeds; A mapping relationship of the vehicle requested torque is generated according to the coupling coefficients at different pedal openings and vehicle speeds.

[0011] Optionally, generating the acceleration request torque corresponding to each vehicle speed according to the acquired multiple vehicle speeds and the accelerator pedal calibration relationship includes: The accelerator pedal calibration relationship includes a correspondence between a vehicle speed and an acceleration request torque, and the acceleration request torque corresponding to each vehicle speed is queried according to the plurality of vehicle speeds.

[0012] On the other hand, an embodiment of the present invention provides a torque control device, comprising: A first generating module is used to generate a requested recovery torque with an accelerator pedal opening of a first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis; a second generating module, configured to obtain an acceleration curve when the accelerator pedal opening is the first opening according to the requested recovery torque when the accelerator pedal opening is the first opening; A third generating module is used to generate a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced; The torque control module is used to perform torque control according to the mapping relationship of the vehicle requested torque.

[0013] On the other hand, an embodiment of the present invention provides a storage medium, which includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the above-mentioned torque control method.

[0014] On the other hand, an embodiment of the present invention provides a vehicle controller, including a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the program instructions implement the steps of the above-mentioned torque control method when loaded and executed by the processor.

[0015] In the technical solution provided by the embodiment of the present invention, a requested recovery torque with an accelerator pedal opening of a first opening is generated according to the acquired acceleration curve, the requested torque of the whole vehicle, the hub resistance and the vehicle force analysis; an acceleration curve with an accelerator pedal opening of the first opening is acquired according to the requested recovery torque with an accelerator pedal opening of the first opening; a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed; and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle. In the technical solution provided by the embodiment of the present invention, a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed, and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle, which improves the efficiency of torque control and can save resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A flow chart of a torque control method provided by one embodiment of the present invention; Figure 2 A flow chart of another torque control method provided by an embodiment of the present invention; Figure 3 A schematic diagram of an acceleration curve provided by an embodiment of the present invention; Figure 4 A flowchart of generating a request recovery torque when the accelerator pedal opening is a first opening provided by an embodiment of the present invention; Figure 5 A flow chart of generating a mapping relationship of a vehicle requested torque provided by an embodiment of the present invention; Figure 6 A schematic diagram of a torque control device provided by an embodiment of the present invention; Figure 7 A schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0019] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0021] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0022] The embodiment of the present invention may be a torque control method for power coupling under a China Light Vehicle Test Cycle (CLTC) operating condition, a World Light Vehicle Test Cycle (WLTC) operating condition, or a New European Driving Cycle (NEDC) operating condition.

[0023] An embodiment of the present invention provides a torque control method. Figure 1 A flow chart of a torque control method provided by an embodiment of the present invention is as follows: Figure 1 As shown, the method includes: Step 102: Generate a requested recovery torque with an accelerator pedal opening of a first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance, and the vehicle force analysis.

[0024] In the embodiment of the present invention, each step is executed by a vehicle control unit (VCU for short).

[0025] In the embodiment of the present invention, the first opening degree may be 0.

[0026] Step 104 : acquiring an acceleration curve when the accelerator pedal opening is the first opening according to the request recovery torque when the accelerator pedal opening is the first opening.

[0027] Step 106 : Generate a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced.

[0028] Step 108: Perform torque control according to the mapping relationship of the vehicle requested torque.

[0029] In the technical solution provided by the embodiment of the present invention, a requested recovery torque with an accelerator pedal opening of a first opening is generated according to the acquired acceleration curve, the requested torque of the whole vehicle, the hub resistance and the vehicle force analysis; an acceleration curve with an accelerator pedal opening of the first opening is acquired according to the requested recovery torque with an accelerator pedal opening of the first opening; a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed; and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle. In the technical solution provided by the embodiment of the present invention, a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed, and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle, which improves the efficiency of torque control and can save resources.

[0030] An embodiment of the present invention provides another torque control method. Figure 2 A flowchart of another torque control method provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the method includes: Step 202: Calculate the acceleration of the vehicle per second according to the acquired road map.

[0031] In the embodiment of the present invention, each step is executed by the VCU.

[0032] In the embodiment of the present invention, a CLTC spectrum diagram can be obtained, and the nth second is recorded as t n , through the formula Calculate the acceleration of the vehicle per second, where a n is the acceleration of the vehicle per second, v n+1 is the vehicle speed at the n+1 second, v n-1 is the vehicle speed at the n-1 second, t n+1 is the time of the n+1th second, t n-1 is the time of the n-1th second.

[0033] Step 204: Generate an acceleration curve according to the acceleration of the vehicle per second.

[0034] Figure 3 A schematic diagram of an acceleration curve provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the abscissa in the acceleration curve is time, and the ordinate is acceleration. The acceleration curve includes the acceleration corresponding to each time.

[0035] Step 206: Set the minimum value in the acceleration curve as the acceleration when the accelerator pedal is not depressed.

[0036] In the embodiment of the present invention, the minimum value in the acceleration curve can be recorded as a min (a min <0), that is, the acceleration when the accelerator pedal is not depressed.

[0037] Step 208: Generate a requested recovery torque with an accelerator pedal opening of a first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance, and the vehicle force analysis.

[0038] In the embodiment of the present invention, Figure 4 The flowchart of generating a request recovery torque when the accelerator pedal opening is a first opening is provided in an embodiment of the present invention, and step 208 specifically includes: Step 2082: Generate a first formula according to the acquired acceleration request torque when the accelerator pedal opening is the second opening, the coupling coefficient, the requested recovery torque when the accelerator pedal opening is the second opening, and the vehicle request torque.

[0039] In the embodiment of the present invention, the second opening degree may be θ.

[0040] In the embodiment of the present invention, the first formula includes: , where T act is the vehicle requested torque, T is the acceleration requested torque when the accelerator pedal opening is θ, T Rec is the requested recovery torque when the accelerator pedal opening is θ, and k is the coupling coefficient. .

[0041] Step 2084: Generate a second formula based on the obtained vehicle mass, the acceleration of the vehicle per second, and the resultant force acting on the vehicle.

[0042] In the embodiment of the present invention, the second formula includes: , where F is the resultant force on the vehicle, m is the mass of the vehicle, and a n is the acceleration of the vehicle per second.

[0043] Step 2086: Generate a third formula based on the acquired vehicle driving force, hub resistance, and resultant force acting on the vehicle.

[0044] In the embodiment of the present invention, according to the force analysis of the vehicle during driving, the third formula includes: , where F is the resultant force on the vehicle, F acc is the driving force of the vehicle, F f is the hub resistance.

[0045] Step 2088, substitute the hub resistance formula, the second formula and the third formula into the first formula, and set the acceleration request torque when the accelerator pedal opening is the second opening to 0, the vehicle driving force to 0, the coupling coefficient to 1, and generate the request recovery torque when the accelerator pedal opening is the first opening.

[0046] In the embodiment of the present invention, the formula of the hub resistance includes: , where F f is the hub resistance, x is the current speed of the vehicle, and a, b, c are all resistance coefficients.

[0047] In the embodiment of the present invention, the hub resistance formula, the second formula and the third formula are substituted into the first formula, and the accelerator pedal opening at this time is set to 0, that is, T is 0, and F acc is 0, k is 1, and the vehicle acceleration is F f with the requested recovery torque provided, and a n =a min Right now: , where r is the rolling radius of the vehicle, the formula for the requested recovery torque at this time can be obtained: , each vehicle speed can be substituted into the above-mentioned requested recovery torque formula to obtain the requested recovery torque when the accelerator pedal opening is 0.

[0048] Step 210: Obtain an acceleration curve when the accelerator pedal opening is the first opening according to the requested recovery torque when the accelerator pedal opening is the first opening.

[0049] Step 212: Generate a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced.

[0050] In the embodiment of the present invention, the accelerator pedal opening when the vehicle speed is balanced is the third opening, and the third opening may be β.

[0051] In the embodiment of the present invention, the third opening can be set according to actual conditions. For example, the third opening can be 20%. n =0.

[0052] Specifically, the acceleration curve when the accelerator pedal opening is a first opening can be used as the lower limit, and the acceleration curve when the vehicle speed is balanced can be used as the upper limit to generate the requested recovery torque within the accelerator pedal opening intervals with different linear distributions; based on the requested recovery torque within the accelerator pedal opening intervals with different linear distributions, the relationship between the pedal opening coupling coefficient, and the pre-stored accelerator pedal calibration relationship, a mapping relationship of the vehicle's requested torque is generated to perform torque control calibration.

[0053] In the embodiment of the present invention, Figure 5 A flowchart of generating a mapping relationship of a vehicle request torque according to an embodiment of the present invention is shown in FIG. Figure 5 As shown, step 212 includes: Step 2122: Taking the acceleration curve when the accelerator pedal opening is the first opening as the lower limit and the acceleration curve when the vehicle speed is balanced as the upper limit, the requested recovery torque within the accelerator pedal opening ranges with different linear distributions is generated.

[0054] In the embodiment of the present invention, the upper limit and lower limit of the coupling coefficient introduced into the accelerator pedal map are defined, that is, the upper limit is a certain accelerator pedal opening when the acceleration of the vehicle is 0, and the lower limit is that the accelerator pedal opening is 0.

[0055] Step 2124: Generate a fourth formula according to the coupling coefficient, the acceleration request torque when the accelerator pedal opening is the second opening, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not depressed, and the drag coefficient.

[0056] In the embodiment of the present invention, the fourth formula includes: , where k is the coupling coefficient, T is the acceleration request torque when the accelerator pedal opening is θ, r is the vehicle rolling radius, m is the vehicle mass, and a min is the acceleration when the accelerator pedal is not depressed, x is the current speed of the vehicle, and a, b, and c are all drag coefficients.

[0057] Step 2126: Generate an acceleration request torque corresponding to each vehicle speed according to the acquired multiple vehicle speeds and accelerator pedal calibration relationship.

[0058] Specifically, the accelerator pedal calibration relationship includes a correspondence between a vehicle speed and an acceleration request torque, and the acceleration request torque corresponding to each vehicle speed can be queried according to a plurality of vehicle speeds.

[0059] Step 2128: Substitute the vehicle speed corresponding to different arithmetic values ​​of the accelerator pedal opening between the first opening and the third opening and the acceleration request torque into the fourth formula to generate a coupling coefficient at different pedal openings and vehicle speeds.

[0060] In the embodiment of the present invention, different vehicle speeds are obtained by querying the existing accelerator pedal calibration map to obtain the acceleration request torque T at this time. After substituting it, the coupling coefficient value λ when the acceleration is 0 can be obtained, and then the different accelerator pedal openings between 0~β are substituted into the fourth formula to obtain the coupling coefficient value k (0≤k≤0) at different pedal openings and vehicle speeds.

[0061] Step 2130: Generate a mapping relationship of the vehicle requested torque according to the coupling coefficients at different pedal openings and vehicle speeds.

[0062] In the embodiment of the present invention, the complete mapping relationship of the vehicle request torque can be obtained according to the coupling coefficient under different pedal opening degrees and vehicle speeds. , to complete the torque control calibration under this method.

[0063] In the embodiment of the present invention, unlike the traditional single accelerator pedal map which is only related to the vehicle speed and the accelerator pedal opening, the method introduces the coupling coefficient into the mapping relationship to obtain .

[0064] Step 214: Perform torque control according to the mapping relationship of the vehicle requested torque.

[0065] In the technical solution provided by the embodiment of the present invention, a requested recovery torque with an accelerator pedal opening of a first opening is generated according to the acquired acceleration curve, the requested torque of the whole vehicle, the hub resistance and the vehicle force analysis; an acceleration curve with an accelerator pedal opening of the first opening is acquired according to the requested recovery torque with an accelerator pedal opening of the first opening; a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed; and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle. In the technical solution provided by the embodiment of the present invention, a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed, and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle, which improves the efficiency of torque control and can save resources.

[0066] The technical solution provided by the embodiment of the present invention reduces the number of times the vehicle relies on braking to decelerate during the endurance test, and ensures better vehicle dynamic performance while ensuring the endurance test results. It reduces the situation of repeatedly pressing the accelerator pedal to accelerate to the target vehicle speed, reduces the number of energy form conversions, and thus achieves the goal of improving endurance.

[0067] The technical solution provided by the embodiment of the present invention provides a standardized calibration method, which saves calibration time and the number of surveys, thereby achieving the purpose of saving resources and time.

[0068] In the technical solution provided by the embodiment of the present invention, after calibration, the method can achieve consistent acceleration or deceleration sensation at the same accelerator pedal opening, which helps the driver to adapt to controlling the vehicle more quickly.

[0069] The method in the technical solution provided in the embodiment of the present invention is also applicable to more test conditions such as WLTC and NEDC, and is also applicable to vehicles of different models, and has a wide range of applications.

[0070] An embodiment of the present invention provides a torque control device. Figure 6 A schematic diagram of a torque control device provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, the device includes: a first generating module 11, a second generating module 12, a third generating module 13 and a torque control module 14.

[0071] The first generating module 11 is used for generating a requested recovery torque with an accelerator pedal opening of a first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis.

[0072] The second generating module 12 is used for obtaining an acceleration curve when the accelerator pedal opening is the first opening according to the requested recovery torque when the accelerator pedal opening is the first opening.

[0073] The third generating module 13 is used to generate a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced.

[0074] The torque control module 14 is used to perform torque control according to the mapping relationship of the vehicle requested torque.

[0075] In the embodiment of the present invention, the device further includes: a calculation module 15 , a fourth generation module 16 and a setting module 17 .

[0076] In the embodiment of the present invention, the calculation module 15 is used to calculate the acceleration corresponding to the vehicle's travel per second according to the acquired road map.

[0077] The fourth generating module 16 is used to generate an acceleration curve according to the acceleration corresponding to each second of the vehicle's travel.

[0078] The setting module 17 is used to set the minimum value in the acceleration curve as the acceleration when the accelerator pedal is not depressed.

[0079] In an embodiment of the present invention, the first generating module 11 is specifically used to generate a first formula based on the acquired acceleration request torque when the accelerator pedal opening is the second opening, the coupling coefficient, the requested recovery torque when the accelerator pedal opening is the second opening, and the requested torque of the whole vehicle; generate a second formula based on the acquired vehicle mass, the corresponding acceleration of the vehicle per second, and the resultant force acting on the vehicle; generate a third formula based on the acquired vehicle driving force, the hub resistance, and the resultant force acting on the vehicle; substitute the hub resistance formula, the second formula, and the third formula into the first formula, and set the acceleration request torque when the accelerator pedal opening is the second opening to 0, the vehicle driving force to 0, and the coupling coefficient to 1, to generate the requested recovery torque when the accelerator pedal opening is 0.

[0080] In the embodiment of the present invention, the accelerator pedal opening when the vehicle speed is balanced is a third opening.

[0081] In the embodiment of the present invention, the third generating module 13 is specifically used to use the acceleration curve when the accelerator pedal opening is a first opening as the lower limit and the acceleration curve when the vehicle speed is balanced as the upper limit, to generate a requested recovery torque within an accelerator pedal opening interval with different linear distributions; based on the requested recovery torque within the accelerator pedal opening interval with different linear distributions, the relationship between the pedal opening coupling coefficient and the pre-stored accelerator pedal calibration relationship, a mapping relationship of the vehicle requested torque is generated to perform torque control calibration.

[0082] In an embodiment of the present invention, the third generating module 13 is specifically used to generate a fourth formula based on the coupling coefficient, the acceleration request torque when the accelerator pedal opening is the second opening, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not pressed, and the resistance coefficient; generate the acceleration request torque corresponding to each vehicle speed based on the acquired multiple vehicle speeds and the accelerator pedal calibration relationship; substitute the vehicle speed and the acceleration request torque corresponding to different arithmetic values ​​of the accelerator pedal opening between the first opening and the third opening into the fourth formula to generate the coupling coefficient at different pedal openings and vehicle speeds; generate the mapping relationship of the vehicle request torque based on the coupling coefficient at different pedal openings and vehicle speeds.

[0083] In the embodiment of the present invention, the third generating module 13 is specifically used for including the correspondence between the vehicle speed and the acceleration request torque in the accelerator pedal calibration relationship, and querying the acceleration request torque corresponding to each vehicle speed according to the plurality of vehicle speeds.

[0084] In the technical solution provided by the embodiment of the present invention, a requested recovery torque with an accelerator pedal opening of a first opening is generated according to the acquired acceleration curve, the requested torque of the whole vehicle, the hub resistance and the vehicle force analysis; an acceleration curve with an accelerator pedal opening of the first opening is acquired according to the requested recovery torque with an accelerator pedal opening of the first opening; a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed; and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle. In the technical solution provided by the embodiment of the present invention, a mapping relationship of the requested torque of the whole vehicle is generated according to the acceleration curve with an accelerator pedal opening of the first opening and the acceleration curve at a balanced vehicle speed, and torque control is performed according to the mapping relationship of the requested torque of the whole vehicle, which improves the efficiency of torque control and can save resources.

[0085] The torque control device provided by the embodiment of the present invention can be used to achieve the above Figure 1 or Figure 2 For a detailed description of the torque control method, please refer to the above-mentioned embodiment of the torque control method, which will not be repeated here.

[0086] An embodiment of the present invention provides a storage medium, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the embodiment of the above-mentioned torque control method. For a specific description, please refer to the embodiment of the above-mentioned torque control method.

[0087] An embodiment of the present invention provides a computer device, including a memory and a processor, the memory is used to store information including program instructions, the processor is used to control the execution of the program instructions, and when the program instructions are loaded and executed by the processor, the steps of the embodiment of the above-mentioned torque control method are implemented. For a specific description, please refer to the embodiment of the above-mentioned torque control method.

[0088] Figure 7 A schematic diagram of a computer device provided by an embodiment of the present invention. Figure 7 As shown, the computer device 20 of this embodiment includes: a processor 21, a memory 22, and a computer program 23 stored in the memory 22 and executable on the processor 21. When the computer program 23 is executed by the processor 21, the method for applying to the torque control in the embodiment is implemented. To avoid repetition, it is not described one by one here. Alternatively, when the computer program is executed by the processor 21, the functions of each model / unit in the torque control device in the embodiment are implemented. To avoid repetition, it is not described one by one here.

[0089] The computer device 20 includes, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will appreciate that Figure 7 It is only an example of the computer device 20 and does not constitute a limitation of the computer device 20. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device may also include input and output devices, network access devices, buses, etc.

[0090] The processor 21 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0091] The memory 22 may be an internal storage unit of the computer device 20, such as a hard disk or memory of the computer device 20. The memory 22 may also be an external storage device of the computer device 20, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device 20. Further, the memory 22 may also include both an internal storage unit of the computer device 20 and an external storage device. The memory 22 is used to store computer programs and other programs and data required by the computer device. The memory 22 may also be used to temporarily store data that has been output or is to be output.

[0092] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0093] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0094] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0096] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A torque control method, characterized in that: include: Generate a requested recovery torque with an accelerator pedal opening of a first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis; acquiring an acceleration curve when the accelerator pedal opening is the first opening according to the requested recovery torque when the accelerator pedal opening is the first opening; Generating a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced; Torque control is performed according to the mapping relationship of the vehicle requested torque.

2. The method according to claim 1, characterized in that Before generating the requested recovery torque when the vehicle requested torque is 0 according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis, the method includes: Calculate the acceleration of the vehicle per second according to the acquired road spectrum; Generate an acceleration curve according to the acceleration corresponding to each second of the vehicle's travel; The minimum value in the acceleration curve is set as the acceleration when the accelerator pedal is not depressed.

3. The method according to claim 1, characterized in that: The first opening is 0, and the generating of the requested recovery torque with the accelerator pedal opening being the first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis includes: Generate a first formula according to the acquired acceleration request torque when the accelerator pedal opening is the second opening, the coupling coefficient, the requested recovery torque when the accelerator pedal opening is the second opening, and the vehicle request torque; A second formula is generated based on the obtained vehicle mass, the acceleration of the vehicle per second, and the resultant force on the vehicle; The third formula is generated according to the obtained vehicle driving force, hub resistance and the resultant force acting on the vehicle; Substitute the hub resistance formula, the second formula and the third formula into the first formula, and set the acceleration request torque when the accelerator pedal opening is the second opening to 0, the vehicle driving force to 0, and the coupling coefficient to 1, to generate the requested recovery torque when the accelerator pedal opening is 0.

4. The method according to claim 1, characterized in that: The accelerator pedal opening when the vehicle speed is balanced is the third opening.

5. The method according to claim 1, characterized in that The mapping relationship of generating the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced includes: The acceleration curve when the accelerator pedal opening is at a first opening is used as a lower limit, and the acceleration curve when the vehicle speed is balanced is used as an upper limit, to generate a requested recovery torque within a linearly distributed different accelerator pedal opening range; A mapping relationship of the vehicle requested torque is generated according to the requested recovery torque in the linearly distributed different accelerator pedal opening ranges, the pedal opening coupling coefficient relationship and the pre-stored accelerator pedal calibration relationship to perform torque control calibration.

6. The method according to claim 5, characterized in that The mapping relationship of the vehicle requested torque is generated according to the relationship between the requested recovery torque and the pedal opening coupling coefficient in the different linearly distributed accelerator pedal opening intervals and the pre-stored accelerator pedal calibration relationship, including: A fourth formula is generated according to the coupling coefficient, the acceleration request torque when the accelerator pedal opening is the second opening, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not depressed, and the drag coefficient; generating an acceleration request torque corresponding to each vehicle speed according to the acquired multiple vehicle speeds and the accelerator pedal calibration relationship; Substituting the vehicle speed and the acceleration request torque corresponding to different accelerator pedal openings between the first opening and the third opening into the fourth formula to generate a coupling coefficient at different pedal openings and vehicle speeds; A mapping relationship of the vehicle requested torque is generated according to the coupling coefficients at different pedal openings and vehicle speeds.

7. The method according to claim 6, characterized in that The generating, according to the acquired multiple vehicle speeds and the accelerator pedal calibration relationship, an acceleration request torque corresponding to each vehicle speed includes: The accelerator pedal calibration relationship includes a correspondence between a vehicle speed and an acceleration request torque, and the acceleration request torque corresponding to each vehicle speed is queried according to the plurality of vehicle speeds.

8. A torque control device, characterized in that: include: A first generating module is used to generate a requested recovery torque with an accelerator pedal opening of a first opening according to the acquired acceleration curve, the vehicle requested torque, the hub resistance and the vehicle force analysis; a second generating module, configured to obtain an acceleration curve when the accelerator pedal opening is the first opening according to the requested recovery torque when the accelerator pedal opening is the first opening; A third generating module is used to generate a mapping relationship of the vehicle requested torque according to the acceleration curve when the accelerator pedal opening is the first opening and the acceleration curve when the vehicle speed is balanced; The torque control module is used to perform torque control according to the mapping relationship of the vehicle requested torque.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the torque control method according to any one of claims 1 to 7.

10. A vehicle controller, comprising a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, characterized in that: When the program instructions are loaded and executed by the processor, the steps of the torque control method described in any one of claims 1 to 7 are implemented.

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