A torque control method, device, storage medium, and vehicle controller

Abstract

Embodiments of the present application provide a torque control method and device, a storage medium and a vehicle control unit. The method comprises: generating a request recovery torque when the accelerator pedal opening degree is a first opening degree according to an obtained acceleration curve, a vehicle request torque, a hub resistance and a vehicle force analysis; obtaining the acceleration curve when the accelerator pedal opening degree is the first opening degree according to the request recovery torque when the accelerator pedal opening degree is the first opening degree; generating a mapping relationship of the vehicle request torque according to the acceleration curve when the accelerator pedal opening degree is the first opening degree and the acceleration curve when the vehicle speed is balanced; and performing torque control according to the mapping relationship of the vehicle request torque. In the technical scheme provided by the embodiments of the present application, the mapping relationship of the vehicle request torque is generated according to the acceleration curve when the accelerator pedal opening degree is the first opening degree and the acceleration curve when the vehicle speed is balanced, and the torque control is performed according to the mapping relationship of the vehicle request torque, so that the torque control efficiency is improved and resources can be saved.

Description

Technical Field

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

[0002] The rapid development of new energy vehicles in recent years has led to increasingly higher demands on vehicle range. With a fixed battery capacity and ignoring other electrical appliances, current energy recovery calibrations are mostly based on empirical values, often resulting in either redundant or insufficient energy recovery. Redundant energy recovery: Excessive energy recovery intensity causes the vehicle speed to decrease faster than the driver expects, requiring repeated pressing of the accelerator pedal to reach the target speed. This increases the number of energy conversions and losses, and also affects the vehicle's power performance when the accelerator pedal is open. Insufficient energy recovery: Insufficient energy recovery intensity causes the vehicle speed to decrease slower than the driver expects, leading the driver to press the brake pedal more frequently for deceleration. This results in more energy being lost as heat in the braking system.

[0003] Multiple range tests and calibrations are usually required to bring the range test results close to expectations, which makes the development process cumbersome, reduces the efficiency of torque control, and wastes a lot of resources. Summary of the Invention

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

[0005] On one hand, embodiments of the present invention provide a torque control method, including:

[0006] Based on the obtained acceleration curve, the vehicle's requested torque, the hub resistance, and the vehicle's force analysis, a requested recovery torque is generated with the accelerator pedal opening at the first opening degree.

[0007] Based on the requested recovery torque when the accelerator pedal opening is at the first opening, obtain the acceleration curve when the accelerator pedal opening is at the first opening;

[0008] The mapping relationship of the vehicle's requested torque is generated based on the acceleration curve when the accelerator pedal opening is at the first opening degree and the acceleration curve when the vehicle speed is balanced.

[0009] Torque control is performed based on the mapping relationship of the requested torque of the vehicle.

[0010] Optionally, before generating the requested recovery torque when the vehicle's requested torque is 0 based on the acquired acceleration curve, the vehicle's requested torque, the hub resistance, and the vehicle's force analysis, the following steps are included:

[0011] Calculate the vehicle's acceleration per second based on the obtained road map;

[0012] Generate an acceleration curve based on the acceleration corresponding to the vehicle's movement per second;

[0013] Set the minimum value in the acceleration curve as the acceleration when the accelerator pedal is not depressed.

[0014] Optionally, the first opening is 0, and the step of generating the requested recovery torque with the accelerator pedal opening as the first opening based on the acquired acceleration curve, the requested torque of the whole vehicle, the hub resistance, and the vehicle force analysis includes:

[0015] The first formula is generated based on the acceleration request torque when the accelerator pedal opening is at the second opening, the coupling coefficient, the request recovery torque when the accelerator pedal opening is at the second opening, and the vehicle request torque.

[0016] The second formula is generated based on the obtained vehicle mass, the acceleration per second of vehicle travel, and the net force acting on the vehicle.

[0017] The third formula is generated based on the obtained vehicle driving force, hub resistance, and the resultant force on the vehicle.

[0018] Substituting the hub resistance formula, the second formula, and the third formula into the first formula, and setting 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, a recovery torque with an accelerator pedal opening of 0 is generated.

[0019] Optionally, the accelerator pedal opening at the balanced vehicle speed is a third opening.

[0020] Optionally, the step of generating the mapping relationship of the vehicle's requested torque based on the acceleration curve at the first accelerator pedal opening and the acceleration curve at the equilibrium vehicle speed includes:

[0021] Using the acceleration curve at the first accelerator pedal opening as the lower limit and the acceleration curve at the balanced vehicle speed as the upper limit, request recovery torque is generated within different linearly distributed accelerator pedal opening ranges.

[0022] Based on the requested recovery torque within the linearly distributed accelerator pedal opening range, the pedal opening coupling coefficient relationship, and the pre-stored accelerator pedal calibration relationship, a mapping relationship for the vehicle's requested torque is generated for torque control calibration.

[0023] Optionally, the step of generating a mapping relationship for the vehicle's requested torque based on the requested recovery torque within the linearly distributed accelerator pedal opening intervals, the pedal opening coupling coefficient relationship, and pre-stored accelerator pedal calibration relationships includes:

[0024] The fourth formula is generated based on the coupling coefficient, the acceleration request torque when the accelerator pedal is open to the second degree, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not depressed, and the drag coefficient.

[0025] Based on the acquired multiple vehicle speeds and the accelerator pedal calibration relationship, an acceleration request torque corresponding to each vehicle speed is generated;

[0026] The fourth formula is used to generate coupling coefficients for different pedal openings and vehicle speeds by substituting the vehicle speed corresponding to the arithmetic values ​​between the first and third accelerator pedal openings and the acceleration request torque.

[0027] The mapping relationship of the vehicle's requested torque is generated based on the coupling coefficient between different pedal openings and vehicle speeds.

[0028] Optionally, generating the acceleration request torque corresponding to each vehicle speed based on the acquired multiple vehicle speeds and the accelerator pedal calibration relationship includes:

[0029] The accelerator pedal calibration relationship includes the correspondence between vehicle speed and acceleration request torque, and the acceleration request torque corresponding to each vehicle speed is retrieved based on multiple vehicle speeds.

[0030] On the other hand, embodiments of the present invention provide a torque control device, comprising:

[0031] The first generation module is used to generate the requested recovery torque with the accelerator pedal opening at the first opening based on the acquired acceleration curve, the requested torque of the whole vehicle, the hub resistance, and the force analysis of the vehicle.

[0032] The second generation module is used to obtain the acceleration curve when the accelerator pedal opening is the first opening based on the requested recovery torque when the accelerator pedal opening is the first opening.

[0033] The third generation module is used to generate a mapping relationship of the vehicle's requested torque based on the acceleration curve when the accelerator pedal opening is at the first opening and the acceleration curve when the vehicle speed is balanced.

[0034] The torque control module is used to perform torque control based on the mapping relationship of the requested torque of the vehicle.

[0035] On the other hand, embodiments of the present invention provide a storage medium including a stored program, wherein the program controls the device where the storage medium is located to execute the above-described torque control method during runtime.

[0036] On the other hand, embodiments of the present invention provide a vehicle controller, including a memory and a processor. The memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions. When the program instructions are loaded and executed by the processor, the steps of the above-described torque control method are implemented.

[0037] In the technical solution provided by this invention, a requested recovery torque for an accelerator pedal opening of a first degree is generated based on the acquired acceleration curve, the vehicle's requested torque, the hub resistance, and vehicle force analysis. An acceleration curve for the accelerator pedal opening of the first degree is obtained based on this requested recovery torque. A mapping relationship for the vehicle's requested torque is generated based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed. Torque control is then performed based on this mapping relationship. This technical solution improves torque control efficiency and saves resources by generating a mapping relationship for the vehicle's requested torque based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart of a torque control method provided in an embodiment of the present invention;

[0040] Figure 2 A flowchart illustrating another torque control method provided in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of an acceleration curve provided in an embodiment of the present invention;

[0042] Figure 4 A flowchart for generating a request recovery torque with the accelerator pedal opening at a first opening degree, provided in an embodiment of the present invention;

[0043] Figure 5 This is a flowchart illustrating the mapping relationship for generating the requested torque of a vehicle, provided in an embodiment of the present invention.

[0044] Figure 6 This is a schematic diagram of a torque control device provided in an embodiment of the present invention;

[0045] Figure 7A schematic diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0046] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0048] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0049] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0050] The embodiments of the present invention can be torque control methods for power coupling under the China Light Vehicle Test Cycle (CLTC), World Light Vehicle Test Cycle (WLTC), or New European Driving Cycle (NEDC) conditions.

[0051] One embodiment of the present invention provides a torque control method. Figure 1 A flowchart of a torque control method provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes:

[0052] Step 102: Based on the obtained acceleration curve, vehicle requested torque, hub resistance, and vehicle force analysis, generate the requested recovery torque with the accelerator pedal opening at the first opening.

[0053] In this embodiment of the invention, each step is executed by the vehicle control unit (VCU).

[0054] In this embodiment of the invention, the first opening degree can be 0.

[0055] Step 104: Obtain the acceleration curve when the accelerator pedal opening is the first opening based on the requested recovery torque.

[0056] Step 106: Generate the mapping relationship of the vehicle's requested torque based on the acceleration curve when the accelerator pedal is open at the first opening and the acceleration curve when the vehicle speed is balanced.

[0057] Step 108: Perform torque control based on the mapping relationship of the requested torque of the whole vehicle.

[0058] In the technical solution provided by this invention, a requested recovery torque for an accelerator pedal opening of a first degree is generated based on the acquired acceleration curve, the vehicle's requested torque, the hub resistance, and vehicle force analysis. An acceleration curve for the accelerator pedal opening of the first degree is obtained based on this requested recovery torque. A mapping relationship for the vehicle's requested torque is generated based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed. Torque control is then performed based on this mapping relationship. This technical solution improves torque control efficiency and saves resources by generating a mapping relationship for the vehicle's requested torque based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed.

[0059] One embodiment of the present invention provides another torque control method. Figure 2 A flowchart of another torque control method provided in an embodiment of the present invention is shown below. Figure 2 As shown, the method includes:

[0060] Step 202: Calculate the acceleration of the vehicle per second based on the obtained road map.

[0061] In this embodiment of the invention, each step is executed by the VCU.

[0062] In this embodiment of the invention, a CLTC roadmap can be obtained, and the nth second is denoted as t. n Through formula Calculate the acceleration of the vehicle per second, where a n v is the acceleration of the vehicle per second. n+1 Let v be the speed of the car at the (n+1)th second. n-1 Let t be the speed of the car in the (n-1)th second. n+1 Let t be the time in the (n+1)th second. n-1 It represents the time of the (n-1)th second.

[0063] Step 204: Generate an acceleration curve based on the acceleration per second of vehicle travel.

[0064] Figure 3 This is a schematic diagram of an acceleration curve provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the horizontal axis of the acceleration curve represents time, and the vertical axis represents acceleration. The acceleration curve includes the acceleration corresponding to each time point.

[0065] Step 206: Set the minimum value in the acceleration curve to the acceleration when the accelerator pedal is not depressed.

[0066] In this embodiment of the invention, the minimum value in the acceleration curve can be denoted as a. min (a) min <0 means the acceleration is obtained when the accelerator pedal is not pressed.

[0067] Step 208: Based on the obtained acceleration curve, vehicle requested torque, hub resistance, and vehicle force analysis, generate the requested recovery torque with the accelerator pedal opening at the first opening.

[0068] In this embodiment of the invention, Figure 4 This is a flowchart of generating a requested recovery torque with the accelerator pedal opening at a first opening, provided in an embodiment of the present invention. Step 208 specifically includes:

[0069] Step 2082: Generate the first formula based on the acceleration request torque when the accelerator pedal opening is at the second opening, the coupling coefficient, the request recovery torque when the accelerator pedal opening is at the second opening, and the vehicle request torque.

[0070] In this embodiment of the invention, the second opening degree can be θ.

[0071] In this embodiment of the invention, the first formula includes: , among which, T act T is the required torque for the entire vehicle, and T is the required acceleration torque when the accelerator pedal opening is θ. Rec The requested recovery torque is given when the accelerator pedal opening is θ, and k is the coupling coefficient. It can be that... .

[0072] Step 2084: Generate the second formula based on the obtained vehicle mass, the acceleration per second of vehicle travel, and the net force acting on the vehicle.

[0073] In this embodiment of the invention, the second formula includes: Where F is the net force acting on the vehicle, m is the mass of the vehicle, and a n This represents the acceleration of the vehicle per second.

[0074] Step 2086: Generate the third formula based on the obtained vehicle driving force, hub resistance, and the resultant force on the vehicle.

[0075] In this embodiment of the invention, based on the force analysis during vehicle movement, the third formula includes: Where F is the net force acting on the vehicle, F acc For the driving force of the whole vehicle, F f This represents the resistance of the hub.

[0076] 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 be 0, the vehicle driving force to be 0, and the coupling coefficient to be 1, to generate the request recovery torque when the accelerator pedal opening is the first opening.

[0077] In this embodiment of the invention, the hub resistance formula includes: , of which F f denoted as hub resistance, x as the vehicle's current speed, and a, b, and c as resistance coefficients.

[0078] In this embodiment of the invention, the hub resistance formula, the second formula, and the third formula are substituted into the first formula, and the accelerator pedal opening is set to 0, i.e., T is 0, F acc When F is 0 and k is 1, the vehicle acceleration is determined by F. f With the requested recovery torque provided, and a n =a min Right now: Where r is the vehicle's rolling radius, the formula for the requested recovery torque can be obtained at this point: By substituting each vehicle speed into the above formula for the requested recovery torque, we can obtain the requested recovery torque when the accelerator pedal opening is 0.

[0079] Step 210: Obtain the acceleration curve when the accelerator pedal opening is at the first opening based on the requested recovery torque when the accelerator pedal opening is at the first opening.

[0080] Step 212: Generate the mapping relationship of the vehicle's requested torque based on the acceleration curve when the accelerator pedal is at the first opening and the acceleration curve when the vehicle speed is balanced.

[0081] In this embodiment of the invention, the accelerator pedal opening degree when balancing vehicle speed is the third opening degree, which can be β.

[0082] In this embodiment of the invention, a third opening degree can be set according to the actual situation. For example, the third opening degree can be 20%, where a n =0.

[0083] Specifically, the acceleration curve at the first accelerator pedal opening can be used as the lower limit, and the acceleration curve at the balanced vehicle speed can be used as the upper limit to generate the requested recovery torque within different linearly distributed accelerator pedal opening intervals. Based on the requested recovery torque within different linearly distributed accelerator pedal opening intervals, the pedal opening coupling coefficient relationship, and the pre-stored accelerator pedal calibration relationship, a mapping relationship for the vehicle's requested torque can be generated for torque control calibration.

[0084] In this embodiment of the invention, Figure 5 This is a flowchart illustrating the mapping relationship for generating the requested torque of a vehicle, as provided in an embodiment of the present invention. Figure 5 As shown, step 212 includes:

[0085] Step 2122: Using the acceleration curve at the first accelerator pedal opening as the lower limit and the acceleration curve at the balanced vehicle speed as the upper limit, generate the requested recovery torque within the linearly distributed accelerator pedal opening range.

[0086] In this embodiment of the invention, an upper limit and a lower limit are defined for the coupling coefficient introduced into the accelerator pedal map. The upper limit is the accelerator pedal opening degree when the vehicle acceleration is 0, and the lower limit is the accelerator pedal opening degree being 0.

[0087] Step 2124: Generate the fourth formula based on the coupling coefficient, the acceleration request torque when the accelerator pedal is open to the second degree, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not depressed, and the drag coefficient.

[0088] In this embodiment of the 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 denoted as 'acceleration' when the accelerator pedal is not depressed, 'x' as the vehicle's current speed, and 'a', 'b', and 'c' as drag coefficients.

[0089] Step 2126: Based on the acquired multiple vehicle speeds and the accelerator pedal calibration relationship, generate the acceleration request torque corresponding to each vehicle speed.

[0090] Specifically, the accelerator pedal calibration relationship includes the correspondence between vehicle speed and acceleration request torque, and the acceleration request torque corresponding to each vehicle speed can be queried based on multiple vehicle speeds.

[0091] Step 2128: Substitute the vehicle speed corresponding to the arithmetic values ​​of the different accelerator pedal openings between the first and third openings, and the acceleration request torque into the fourth formula to generate the coupling coefficient under different pedal openings and vehicle speeds.

[0092] In this embodiment of the invention, the acceleration request torque T is obtained by querying the existing accelerator pedal calibration map at different vehicle speeds. After substituting it, the coupling coefficient value λ when the acceleration is 0 can be obtained. Then, the different opening values ​​of the accelerator pedal opening between 0 and β are substituted into the fourth formula to obtain the coupling coefficient value k (0≤k≤0) under different pedal opening and vehicle speed.

[0093] Step 2130: Generate the mapping relationship of the vehicle's requested torque based on the coupling coefficient at different pedal openings and vehicle speeds.

[0094] In this embodiment of the invention, a complete mapping relationship of the vehicle's requested torque can be obtained based on the coupling coefficient between different pedal openings and vehicle speeds. This is to complete the torque control calibration under this method.

[0095] In this embodiment of the invention, unlike the traditional single accelerator pedal map which is only related to vehicle speed and accelerator pedal opening, this method introduces a coupling coefficient into the mapping relationship to obtain... .

[0096] Step 214: Perform torque control based on the mapping relationship of the requested torque of the whole vehicle.

[0097] In the technical solution provided by this invention, a requested recovery torque for an accelerator pedal opening of a first degree is generated based on the acquired acceleration curve, the vehicle's requested torque, the hub resistance, and vehicle force analysis. An acceleration curve for the accelerator pedal opening of the first degree is obtained based on this requested recovery torque. A mapping relationship for the vehicle's requested torque is generated based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed. Torque control is then performed based on this mapping relationship. This technical solution improves torque control efficiency and saves resources by generating a mapping relationship for the vehicle's requested torque based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed.

[0098] The technical solution provided in this invention reduces the number of times the vehicle needs to decelerate using brakes during range testing, while ensuring better vehicle power performance while maintaining the range test results. It also reduces the need to repeatedly press the accelerator pedal to accelerate to the target speed, thus reducing the number of energy conversions and achieving the goal of improving range.

[0099] The technical solution provided in this embodiment of the invention provides a standardized calibration method that saves calibration time and the number of preliminary tests, thereby achieving the goal of saving resources and time.

[0100] In the technical solution provided by the embodiments of the present invention, after calibration, the method can achieve a consistent acceleration or deceleration sensation under the same accelerator pedal opening, which helps the driver adapt to controlling the vehicle more quickly.

[0101] The method in the technical solution provided in this embodiment of the invention is also applicable to more test conditions such as WLTC and NEDC, and is also applicable to different vehicle models, with a wide range of applications.

[0102] One embodiment of the present invention provides a torque control device. Figure 6 This is a schematic diagram of a torque control device provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the device includes: a first generation module 11, a second generation module 12, a third generation module 13, and a torque control module 14.

[0103] The first generation module 11 is used to generate a requested recovery torque with the accelerator pedal opening at the first opening based on the acquired acceleration curve, the requested torque of the whole vehicle, the hub resistance, and the force analysis of the vehicle.

[0104] The second generation module 12 is used to obtain the acceleration curve when the accelerator pedal opening is the first opening based on the requested recovery torque when the accelerator pedal opening is the first opening.

[0105] The third generation module 13 is used to generate a mapping relationship of the vehicle's requested torque based on the acceleration curve when the accelerator pedal opening is at the first opening and the acceleration curve when the vehicle speed is balanced.

[0106] The torque control module 14 is used to perform torque control according to the mapping relationship of the requested torque of the vehicle.

[0107] In this embodiment of the invention, the device further includes: a calculation module 15, a fourth generation module 16, and a setting module 17.

[0108] In this embodiment of the invention, the calculation module 15 is used to calculate the acceleration of the vehicle per second based on the acquired road spectrum map.

[0109] The fourth generation module 16 is used to generate an acceleration curve based on the acceleration corresponding to the vehicle's travel per second.

[0110] Setting module 17 is used to set the minimum value in the acceleration curve as the acceleration when the accelerator pedal is not pressed.

[0111] In this embodiment of the invention, the first generation module 11 is specifically used to generate a first formula based on the obtained acceleration request torque when the accelerator pedal opening is at the second opening, the coupling coefficient, the requested recovery torque when the accelerator pedal opening is at the second opening, and the vehicle request torque; generate a second formula based on the obtained vehicle mass, the acceleration per second of the vehicle, and the resultant force on the vehicle; generate a third formula based on the obtained vehicle driving force, hub resistance, and the resultant force 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 at 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.

[0112] In this embodiment of the invention, the accelerator pedal opening degree when balancing vehicle speed is the third opening degree.

[0113] In this embodiment of the invention, the third generation module 13 is specifically used to generate the requested recovery torque within the linearly distributed accelerator pedal opening intervals by taking the acceleration curve at the first opening as the lower limit and the acceleration curve at the balanced vehicle speed as the upper limit; and to generate the mapping relationship of the whole vehicle requested torque based on the requested recovery torque within the linearly distributed accelerator pedal opening intervals, the pedal opening coupling coefficient relationship, and the pre-stored accelerator pedal calibration relationship, so as to perform torque control calibration.

[0114] In this embodiment of the invention, the third generation 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 at the second opening, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not depressed, and the drag 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 corresponding to the arithmetic values ​​between the first and third openings of the accelerator pedal opening and the acceleration request torque into the fourth formula to generate the coupling coefficient under different pedal openings and vehicle speeds; and generate the mapping relationship of the vehicle request torque based on the coupling coefficients under different pedal openings and vehicle speeds.

[0115] In this embodiment of the invention, the third generation module 13 is specifically used to include the correspondence between vehicle speed and acceleration request torque in the accelerator pedal calibration relationship, and to query the acceleration request torque corresponding to each vehicle speed based on multiple vehicle speeds.

[0116] In the technical solution provided by this invention, a requested recovery torque for an accelerator pedal opening of a first degree is generated based on the acquired acceleration curve, the vehicle's requested torque, the hub resistance, and vehicle force analysis. An acceleration curve for the accelerator pedal opening of the first degree is obtained based on this requested recovery torque. A mapping relationship for the vehicle's requested torque is generated based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed. Torque control is then performed based on this mapping relationship. This technical solution improves torque control efficiency and saves resources by generating a mapping relationship for the vehicle's requested torque based on the acceleration curve for the first degree and the acceleration curve at equilibrium vehicle speed.

[0117] The torque control device provided in this embodiment of the 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 embodiments of the torque control method described above, which will not be repeated here.

[0118] This invention provides a storage medium that includes a stored program. When the program runs, it controls the device where the storage medium is located to execute the steps of the above-described torque control method. For a detailed description, please refer to the embodiments of the above-described torque control method.

[0119] This invention provides a computer device including a memory and a processor. The memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions. When the program instructions are loaded and executed by the processor, they implement the steps of the above-described torque control method. For a detailed description, please refer to the above-described torque control method embodiments.

[0120] Figure 7 A schematic diagram of a computer device provided in an embodiment of the present invention. (See diagram below.) Figure 7 As shown, the computer device 20 in 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 processor 21 executes the computer program 23, it implements the torque control method described in the embodiment. To avoid repetition, these details are not elaborated here. Alternatively, when the processor 21 executes the computer program, it implements the functions of each model / unit in the torque control device described in the embodiment. To avoid repetition, these details are not elaborated here.

[0121] Computer device 20 includes, but is not limited to, processor 21 and memory 22. Those skilled in the art will understand that... Figure 7This is merely an example of computer device 20 and does not constitute a limitation on computer device 20. It may include more or fewer components than shown, or combine certain components, or different components. For example, computer device may also include input / output devices, network access devices, buses, etc.

[0122] The processor 21 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), 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.

[0123] The memory 22 can be an internal storage unit of the computer device 20, such as a hard disk or RAM of the computer device 20. The memory 22 can also be an external storage device of the computer device 20, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device 20. Furthermore, the memory 22 can include both internal and external storage units of the computer device 20. The memory 22 is used to store computer programs and other programs and data required by the computer device. The memory 22 can also be used to temporarily store data that has been output or will be output.

[0124] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0125] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0128] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] 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 within the scope of protection of the present invention.

Claims

1. A torque control method characterized by, The method comprises the following steps: According to the obtained acceleration curve, vehicle request torque, hub resistance and vehicle force analysis, the request recovery torque of the first opening degree of the accelerator pedal is generated; According to the request recovery torque of the first opening degree of the accelerator pedal, the acceleration curve under the first opening degree of the accelerator pedal is obtained; According to the acceleration curve under the first opening degree of the accelerator pedal and the acceleration curve at the balance speed, the mapping relationship of the vehicle request torque is generated; According to the mapping relationship of the vehicle request torque, the torque control is carried out; Before the request recovery torque of the vehicle request torque being 0 is generated according to the obtained acceleration curve, vehicle request torque, hub resistance and vehicle force analysis, the method comprises the following steps: According to the obtained road spectrum diagram, the acceleration corresponding to the vehicle driving per second is calculated; According to the acceleration corresponding to the vehicle driving per second, the acceleration curve is generated; The minimum value in the acceleration curve is set as the acceleration when the accelerator pedal is not stepped on; The first opening degree is 0, and the request recovery torque of the first opening degree of the accelerator pedal is generated according to the obtained acceleration curve, vehicle request torque, hub resistance and vehicle force analysis; According to the obtained acceleration request torque when the accelerator pedal opening degree is the second opening degree, the coupling coefficient, the request recovery torque when the accelerator pedal opening degree is the second opening degree and the vehicle request torque, the first formula is generated; According to the obtained vehicle mass, the acceleration corresponding to the vehicle driving per second and the resultant force of the vehicle, the second formula is generated; According to the obtained vehicle driving force, hub resistance and resultant force of the vehicle, the third formula is generated; The hub resistance formula, the second formula and the third formula are substituted into the first formula, the acceleration request torque when the accelerator pedal opening degree is the second opening degree is 0, the vehicle driving force is 0, and the coupling coefficient is 1, and the request recovery torque of the accelerator pedal opening degree being 0 is generated; The mapping relationship of the vehicle request torque is generated according to the acceleration curve under the first opening degree of the accelerator pedal and the acceleration curve at the balance speed, which comprises the following steps: The acceleration curve under the first opening degree of the accelerator pedal is taken as the lower limit, and the acceleration curve at the balance speed is taken as the upper limit, and the request recovery torque in the accelerator pedal opening degree interval with different linear distributions is generated; According to the request recovery torque in the accelerator pedal opening degree interval with different linear distributions, the pedal opening degree coupling coefficient relationship and the pre-stored accelerator pedal calibration relationship, the mapping relationship of the vehicle request torque is generated for torque control calibration.

2. The method of claim 1, wherein, The accelerator pedal opening degree at the balance speed is the third opening degree.

3. The method of claim 1, wherein, The mapping relationship of the vehicle request torque is generated according to the request recovery torque in the accelerator pedal opening degree interval with different linear distributions, the pedal opening degree coupling coefficient relationship and the pre-stored accelerator pedal calibration relationship, which comprises the following steps: According to the coupling coefficient, the acceleration request torque when the accelerator pedal opening degree is the second opening degree, the vehicle rolling radius, the vehicle mass, the acceleration when the accelerator pedal is not stepped on and the resistance coefficient, the fourth formula is generated; According to the obtained multiple vehicle speeds and the accelerator pedal calibration relationship, the acceleration request torque corresponding to each vehicle speed is generated; According to the vehicle speed corresponding to the equal difference value of the different opening degrees of the accelerator pedal between the first opening degree and the third opening degree and the acceleration request torque, the fourth formula is substituted to generate the coupling coefficient under different pedal opening degrees and vehicle speeds; According to the coupling coefficient under the different pedal opening degrees and vehicle speeds, a mapping relationship of the whole vehicle request torque is generated.

4. The method of claim 3, wherein, According to the obtained multiple vehicle speeds and the acceleration pedal calibration relationship, the acceleration request torque corresponding to each vehicle speed is generated, including: The acceleration pedal calibration relationship includes the corresponding relationship between the vehicle speed and the acceleration request torque, and the acceleration request torque corresponding to each vehicle speed is queried according to multiple vehicle speeds.

5. A torque control device characterized by comprising: Including: The first generation module is configured to generate a request recovery torque when the accelerator pedal opening degree is the first opening degree according to the obtained acceleration curve, the whole vehicle request torque, the hub resistance and the vehicle force analysis; The second generation module is configured to obtain the acceleration curve when the accelerator pedal opening degree is the first opening degree according to the request recovery torque when the accelerator pedal opening degree is the first opening degree; The third generation module is configured to generate a mapping relationship of the whole vehicle request torque according to the acceleration curve when the accelerator pedal opening degree is the first opening degree and the acceleration curve when the balance vehicle speed; The torque control module is configured to perform torque control according to the mapping relationship of the whole vehicle request torque; The calculation module is configured to calculate the corresponding acceleration of the vehicle driving per second according to the obtained road spectrum diagram; The fourth generation module is configured to generate an acceleration curve according to the corresponding acceleration of the vehicle driving per second; The setting module is configured to set the minimum value in the acceleration curve as the acceleration when the accelerator pedal is not stepped on; The first opening degree is 0, and the first generation module is specifically configured to generate a first formula according to the acceleration request torque when the accelerator pedal opening degree is the second opening degree, the coupling coefficient, the request recovery torque when the accelerator pedal opening degree is the second opening degree and the whole vehicle request torque; A second formula is generated according to the obtained whole vehicle mass, the corresponding acceleration of the vehicle driving per second and the resultant force of the vehicle; A third formula is generated according to the obtained whole vehicle driving force, hub resistance and resultant force of the vehicle; The hub resistance formula, the second formula and the third formula are substituted into the first formula, and the acceleration request torque when the accelerator pedal opening degree is the second opening degree is 0, the whole vehicle driving force is 0, and the coupling coefficient is 1, to generate a request recovery torque when the accelerator pedal opening degree is 0; The third generation module is specifically configured to generate the request recovery torque in the accelerator pedal opening degree interval with linearly distributed different opening degrees by taking the acceleration curve when the accelerator pedal opening degree is the first opening degree as the lower limit and the acceleration curve when the balance vehicle speed as the upper limit; According to the request recovery torque in the accelerator pedal opening degree interval with linearly distributed different opening degrees, the pedal opening degree coupling coefficient relationship and the pre-stored acceleration pedal calibration relationship, a mapping relationship of the whole vehicle request torque is generated to perform torque control calibration.

6. A storage medium, characterized by The storage medium includes a stored program, wherein when the program runs, the device where the storage medium is located performs the torque control method in any one of claims 1 to 4.

7. A vehicle control unit comprising a memory for storing information including program instructions, and a processor for controlling execution of the program instructions, characterized in that, The program instructions, when loaded and executed by the processor, implement the steps of the torque control method of any one of claims 1 to 4.

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