Torque control method and device in cruise control mode, vehicle and storage medium

Abstract

The invention provides a torque control method and device for a cruise control mode, a vehicle and a storage medium, and the method comprises the steps that firstly, when the cruise control mode is switched to, the cruise control torque is determined; filtering the constant-speed cruise torque to obtain a filtered constant-speed cruise torque; and finally, the filtered constant-speed cruise torque is adopted to control torque output of the motor. It can be understood that when the constant-speed cruise mode is switched, the constant-speed cruise torque is filtered, the filtered constant-speed cruise torque is adopted to control torque output of the motor, the change of the output torque of the motor can be more gentle, the jerking of the whole vehicle can be relieved, and the driving experience of a user can be improved to a certain degree.

Description

Technical Field

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

[0002] The cruise control system is a system that uses electronic control technology to keep the vehicle moving at a constant speed automatically. The user does not need to control the accelerator pedal to stabilize the speed, which reduces unnecessary speed changes. When the speed needs to be adjusted, the cruise control system generally automatically adjusts the speed by switching the cruise control mode. The cruise control mode usually includes a constant speed mode, an acceleration mode, and a deceleration mode. Users can switch the cruise control mode according to driving needs, which can reduce unnecessary accelerator pedal operations, reduce driving fatigue, and save fuel consumption.

[0003] At present, when switching between cruise control modes, the output torque of the motor may fluctuate due to changes in acceleration, resulting in unstable vehicle power and affecting the user's driving experience. For example, when switching from constant speed mode to acceleration mode, the output torque of the motor may change too quickly due to changes in acceleration, causing fluctuations in the motor torque, which in turn causes the vehicle to feel jerky and affects the user's driving experience.

[0004] It should be pointed out that the information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0005] The present application provides a torque control method, device, vehicle and storage medium for a cruise control mode, so as to solve the problem that the output torque of a motor may fluctuate due to changes in acceleration, which may cause a sense of frustration in the whole vehicle and affect the user's driving experience.

[0006] In a first aspect, an embodiment of the present application provides a torque control method in a cruise control mode, comprising: When switching to cruise control mode, determine the cruise control torque; filtering the cruise control torque to obtain a filtered cruise control torque; The filtered cruise control torque is used to control the torque output of the motor.

[0007] In the embodiment of the present application, during the switching process of the cruise control mode, the change fluctuation of the cruise control torque is relatively large. By filtering the cruise control torque, the fluctuation amplitude of the output torque of the motor can be controlled, so that the change process of the output torque of the motor from before to after the switching is smoother, thereby enabling the vehicle speed to transition smoothly and improving the user's driving experience.

[0008] In a possible implementation, filtering the cruise control torque to obtain the filtered cruise control torque includes: If the current moment is within a preset first timing time, the cruise control torque is filtered to obtain the filtered cruise control torque, and the starting point of the first timing time is the moment of switching to the cruise control mode.

[0009] In the embodiment of the present application, when the cruise control mode is switched, the cruise control torque may fluctuate greatly. In a period of time after the cruise control mode is switched, by filtering the cruise control torque, the problem of large fluctuations in the output torque of the motor can be alleviated, so that the vehicle speed can achieve a smooth transition in this period of time, thereby improving the user's driving experience.

[0010] In a possible implementation, the method further includes: If the current moment is not within the preset first timing time, the torque output of the motor is controlled by the cruise control torque.

[0011] In the embodiment of the present application, after switching to the cruise control mode for a period of time, the cruise control torque is in a stable changing state. Not continuing to filter the cruise control torque may not cause the entire vehicle to jerk. At the same time, it can save calculation and processing volume and improve the response speed of the device.

[0012] In a possible implementation, when switching to the cruise control mode, determining the cruise control torque includes: When switching from the first cruise control mode to the second cruise control mode, the cruise control torque is determined.

[0013] In the embodiment of the present application, when switching between the cruise control modes, the cruise control torque may change too quickly. When switching to the cruise control mode, the cruise control torque can be determined first; then the cruise control torque is filtered, and the filtered cruise control torque is used to control the torque output of the motor, so that the output torque of the motor can change more slowly.

[0014] In a possible implementation, the first cruise control mode and the second cruise control mode are any two of a constant speed mode, an acceleration mode, and a deceleration mode.

[0015] In a possible implementation, when switching to the cruise control mode, determining the cruise control torque includes: When switching from the non-cruise mode to the cruise mode, the cruise torque is determined.

[0016] In the embodiment of the present application, when switching from the non-cruise mode to the cruise mode, the cruise torque may change too quickly. When switching from the non-cruise mode to the cruise mode, the cruise torque may be determined first; then the cruise torque may be filtered, and the filtered cruise torque may be used to control the torque output of the motor, so that the output torque of the motor may change more slowly.

[0017] In a possible implementation, determining the cruise control torque includes: Calculating a first torque according to acceleration resistance and road resistance; Obtaining a second torque, where the second torque is a user required torque; Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain the vehicle speed difference; If the vehicle speed difference is less than or equal to a preset vehicle speed difference threshold, determining that the first torque is a constant speed cruising torque; If the vehicle speed difference is greater than the preset vehicle speed difference threshold, it is determined that the second torque is a cruise control torque.

[0018] In an embodiment of the present application, when the actual vehicle speed is far from the target speed, the torque output of the motor is controlled by the user demand torque, so that the vehicle speed can be quickly increased to the target speed, thereby improving the user's driving experience.

[0019] In a possible implementation, calculating the difference between the actual vehicle speed and the target vehicle speed to obtain the vehicle speed difference includes: Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain an initial vehicle speed difference; The initial vehicle speed difference is filtered to obtain a vehicle speed difference.

[0020] In the implementation of the present application, the difference between the actual vehicle speed and the target vehicle speed is the initial vehicle speed difference. By filtering the initial vehicle speed difference, the change of the vehicle speed difference can be made smoother.

[0021] In a possible implementation manner, filtering the initial vehicle speed difference to obtain the vehicle speed difference includes: If the current moment is within the preset second timing time, filtering the initial vehicle speed difference to obtain the vehicle speed difference; If the current moment is not within the preset second timing time, determining the initial vehicle speed difference as the vehicle speed difference; The starting point of the second timing period is the moment of switching to the cruise control mode.

[0022] In the embodiment of the present application, when switching to the cruise control mode, the speed difference may change too fast. Within a certain period of time, filtering the initial speed difference can make the change of the speed difference more gradual. After switching to the cruise control mode for a period of time, the speed difference is in a stable change state. Not continuing to filter the initial speed difference can save calculation and processing, and improve the response speed of the device.

[0023] In a possible implementation, if the vehicle speed difference is greater than the preset vehicle speed difference threshold, determining that the second torque is a constant speed cruising torque includes: If the cruise control mode is the target cruise control mode, and the vehicle speed difference is greater than the preset vehicle speed difference threshold, then the second torque is determined to be the cruise control torque.

[0024] In a possible implementation, the target cruise control mode is an acceleration mode or a deceleration mode.

[0025] In an embodiment of the present application, when switching to acceleration mode or deceleration mode, and the actual vehicle speed is far from the target speed, the torque output of the motor can be controlled according to the user's required torque, so that the vehicle speed can be quickly increased to the target speed, thereby improving the user's driving experience.

[0026] In a second aspect, an embodiment of the present application provides a torque control device in a cruise control mode, comprising: A torque determination module, used for determining a cruise control torque when switching to a cruise control mode; A torque filtering module, used for filtering the cruise control torque to obtain a filtered cruise control torque; The torque control module is used to control the torque output of the motor using the filtered cruise control torque.

[0027] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a vehicle controller, wherein the vehicle controller is configured to execute any one of the methods described in the first aspect.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the first aspects is implemented.

[0029] It is understandable that the torque control device for the cruise control mode provided in the second aspect, the vehicle provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are used to execute the method provided in the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 A schematic diagram of triggering a cruise control function provided in an embodiment of the present application.

[0032] Figure 2 A schematic diagram of an application scenario provided for an embodiment of the present application.

[0033] Figure 3 A schematic diagram of a cruise control vehicle speed control provided in an embodiment of the present application.

[0034] Figure 4 A flow chart of a torque control method for a cruise control mode provided in an embodiment of the present application.

[0035] Figure 5 A schematic diagram of a cruise control torque filtering process provided in an embodiment of the present application.

[0036] Figure 6 A flowchart of another torque control method for a cruise control mode provided in an embodiment of the present application.

[0037] Figure 7 A schematic diagram of calculating pre-control torque provided in an embodiment of the present application.

[0038] Figure 8 A flowchart of another torque control method for a cruise control mode provided in an embodiment of the present application.

[0039] Fig. 9 A schematic structural diagram of a torque control device for a cruise control mode provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0041] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0042] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0043] 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.

[0044] The cruise control system is a system that uses electronic control technology to keep the vehicle moving at a constant speed automatically. The user does not need to control the accelerator pedal to stabilize the speed, which reduces unnecessary speed changes. When the speed needs to be adjusted, the cruise control system generally automatically adjusts the speed by switching the cruise control mode. The cruise control mode usually includes a constant speed mode, an acceleration mode, and a deceleration mode. In actual applications, users can trigger the cruise control function and switch the cruise control mode according to driving needs.

[0045] Ginseng Figure 1 , is a schematic diagram of a cruise control function triggered according to an embodiment of the present application. Figure 1As shown, the cruise control system usually has three ways to trigger the cruise control function. Trigger mode 1 and trigger mode 2 are both triggered by the steering wheel switch, and the switches on the steering wheel usually include Res / + switch, Set / - switch, On / Off switch and Cancel switch. The Res / + switch can be used to restore the previously set cruising speed or acceleration; the Set / - switch can be used to set the current vehicle speed to the cruising speed or deceleration; the On / Off switch is used to turn on or off the cruise control function; the Cancel switch is used to cancel the current cruise control setting. However, the transmission paths of the trigger signals of the two trigger modes to the vehicle controller are different. Specifically, according to trigger mode 1, the trigger signal for triggering the cruise control function is directly transmitted to the vehicle controller. According to trigger mode 2, the trigger signal for triggering the cruise control function is first transmitted to the brake control system / body control system, and then the brake control system / body control system forwards the trigger signal to the vehicle controller. Trigger mode 3 is triggered by the armrest switch, and the armrest switch usually includes an On / Off switch. According to the armrest switch, the trigger signal for triggering the cruise control function is first transmitted to the gear control system, and then the gear control system forwards the trigger signal to the vehicle controller.

[0046] ABS / ESC / EBS / MCU / BMS are used to detect and ensure the vehicle status. The vehicle controller and each system are equipped with a CAN network for network communication. When the user triggers the cruise control function through any triggering method, the vehicle controller can receive the relevant signal through the CAN bus to achieve cruise control.

[0047] The following is an example of a specific application scenario. Figure 2 , is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 2 As shown, the vehicle 100 includes a cruise control system 101 and a vehicle controller 102. The cruise control system 101 is also equipped with a cruise control switch. When the user switches the cruise control mode according to the cruise control switch, the vehicle controller 102 can receive relevant instructions and signals, and calculate the torque output of the corresponding cruise control torque control motor so that the vehicle maintains the target speed. The target speed is the expected driving speed of the vehicle pre-set by the user according to driving requirements.

[0048] At present, when switching between cruise control modes, the output torque of the motor may fluctuate due to changes in acceleration, resulting in unstable vehicle power and affecting the user's driving experience. For example, when switching from constant speed mode to acceleration mode, the output torque of the motor may change too quickly due to changes in acceleration, causing fluctuations in the motor torque, which in turn causes the vehicle to feel jerky and affects the user's driving experience.

[0049] In view of the above problems, in the embodiment of the present application, the cruise torque when the vehicle switches to the cruise mode is first determined; then the cruise torque is filtered to obtain the filtered cruise torque; finally, the filtered cruise torque is used to control the torque output of the motor. In other words, when the cruise mode is switched, the cruise torque is filtered, and the filtered cruise torque is used to control the torque output of the motor, which can make the output torque of the motor change more smoothly, reduce the whole vehicle setback, and improve the user's driving experience to a certain extent.

[0050] Specifically, a detailed description is given below in conjunction with the accompanying drawings and specific embodiments.

[0051] Before describing the specific embodiment in detail, the control process of the vehicle speed of the cruise control system is introduced first. Figure 3 , is a schematic diagram of a cruise control vehicle speed control provided by an embodiment of the present application. First, determine the target speed of the vehicle; second, measure the actual speed of the vehicle, and compare the actual speed with the target speed to obtain the speed difference; then, according to the speed difference, calculate the control information of the actual speed through PID control, and adjust the actual speed of the vehicle according to the cruise torque; finally, repeat the above steps continuously to make the actual speed of the vehicle close to the target speed.

[0052] See also Figure 4 , is a flow chart of a torque control method for a cruise control mode provided in an embodiment of the present application. The method can be applied to Figure 1 In the application scenario shown, Figure 4 As shown, it mainly includes the following steps.

[0053] Step S201: When switching to the cruise control mode, determining the cruise control torque.

[0054] Before switching to cruise control mode, you need to activate the cruise control function. To activate the cruise control function, the following conditions must be met: the vehicle is in a drivable state and in forward gear; the instrument speed is within the cruise control speed range; the brake pedal is not pressed; and the seat belt is fastened. In actual application, whether the cruise control function is activated can be determined by whether the cruise control sign is displayed on the instrument panel.

[0055] When the cruise control function is activated, switching between cruise control modes may cause the output torque of the motor to change too quickly, which may cause the entire vehicle to jerk and affect the user's driving experience.

[0056] In a possible implementation, when switching from the first cruise control mode to the second cruise control mode, the cruise control torque is determined.

[0057] The first cruise control mode and the second cruise control mode are any two of a constant speed mode, an acceleration mode and a deceleration mode.

[0058] In the embodiment of the present application, the acceleration mode or the deceleration mode can be switched through the Res / + switch or the Set / - switch described above. Specifically, long pressing the Res / + switch can make the target vehicle speed increase continuously, and short pressing the Res / + switch can make the target vehicle speed increase gradually; similarly, long pressing the Set / - switch can make the target vehicle speed decrease continuously, and short pressing the Set / - switch can make the target vehicle speed decrease gradually. If no key operation is performed on the Res / + switch or the Set / - switch, the default is the uniform speed mode.

[0059] For ease of explanation, the cruise control switch key time is used to represent the time from when the user presses the cruise control switch to when the user releases the cruise control switch.

[0060] In order to determine a more accurate operation signal of the cruise control switch, the cruise control switch key press time can be obtained, and the operation form of the cruise control switch can be determined according to the cruise control switch key press time and the preset time threshold. Specifically, if the cruise control switch key press time is less than the preset first time threshold, it can be considered that the key operation of the cruise control switch is invalid; if the cruise control switch key press time is greater than or equal to the preset first time threshold and less than the preset second time threshold, it can be considered that the cruise control switch is short-pressed; if the cruise control switch key press time is greater than or equal to the preset second time threshold and less than the preset third time threshold, it can be considered that the cruise control switch is long-pressed; if the cruise control switch key press time is greater than or equal to the preset third time threshold, it can be considered that the key operation of the cruise control switch is stuck or short-circuited.

[0061] In the embodiment of the present application, when switching to the cruise control mode, the cruise control torque can be determined first; then the cruise control torque is filtered, and the filtered cruise control torque is used to control the torque output of the motor, which can make the output torque of the motor change more smoothly.

[0062] In actual applications, when switching from non-cruise mode to cruise mode, the output torque of the motor may also change too quickly, which may cause the entire vehicle to feel jerky and affect the user's driving experience.

[0063] In a possible implementation, when switching from a non-cruise mode to a cruise mode, the cruise torque is determined.

[0064] In the embodiment of the present application, when switching from the non-cruise mode to the cruise mode, the cruise torque can be determined first; then the cruise torque can be filtered, and the filtered cruise torque is used to control the torque output of the motor, which can make the output torque of the motor change more smoothly.

[0065] Step S202: filtering the cruise control torque to obtain the filtered cruise control torque.

[0066] See also Figure 5 , is a schematic diagram of a cruise control torque filtering process provided by an embodiment of the present application. a represents the output torque of the motor before the cruise control mode is switched, and f represents the output torque of the motor after the cruise control mode is switched, i.e., the cruise control torque. Before the cruise control torque is filtered, the output torque of the motor will immediately change from a to f. After the cruise control torque is filtered, the output torque of the motor will slowly change from a to f.

[0067] Specifically, the filtered cruise control torque can be obtained by selecting the average value or the middle value of the torque output by the motor before the current moment. Figure 5 As shown, the output torque of the motor at time t2 (i.e., the filtered cruise control torque) is obtained based on the torque output by the motor before time t1; similarly, the output torque of the motor at time t3 is obtained based on the torque output by the motor before time t2; and so on, which will not be elaborated in this application.

[0068] In the embodiment of the present application, by filtering the cruise control torque, the output torque of the motor can be made to change more smoothly, the whole vehicle jerking can be reduced, and the user's riding experience can be improved to a certain extent.

[0069] However, after switching to the cruise control mode for a period of time, the cruise control torque may be in a stable changing state. If the cruise control torque continues to be filtered, the filtering effect may not be obvious.

[0070] Therefore, in a possible implementation, if the current moment is within the preset first timing time, the cruise control torque is filtered to obtain the filtered cruise control torque; if the current moment is not within the preset first timing time, the cruise control torque is used to control the torque output of the motor.

[0071] The starting point of the first timing time is the moment of switching to the cruise control mode. That is, the cruise control torque is filtered from the moment of switching to the cruise control mode, and the cruise control torque is filtered for a period of time after switching to the cruise control mode, and the filtered cruise control torque is used to control the torque output of the motor. When the cruise control torque is filtered for a period of time, the cruise control torque is stopped from being filtered.

[0072] In the embodiment of the present application, within a period of time after the cruise control mode is switched, the cruise control torque is filtered to mitigate the problem of large fluctuations in the output torque of the motor, so that the vehicle speed can be smoothly transitioned within this period of time, thereby improving the user's driving experience. After switching to the cruise control mode for a period of time, the cruise control torque is in a stable state of change. If the cruise control torque is not filtered, the whole vehicle may not be jerked, and the amount of calculation and processing can be saved, and the response speed of the device can be improved.

[0073] Step S203: Using the filtered cruise control torque to control the torque output of the motor.

[0074] In the embodiment of the present application, during the switching process of the cruise control mode, the change fluctuation of the cruise control torque is relatively large. By filtering the cruise control torque, the fluctuation amplitude of the output torque of the motor can be controlled, so that the change process of the output torque of the motor from before to after the switching is smoother, thereby enabling the vehicle speed to transition smoothly and improving the user's driving experience.

[0075] In actual applications, users may have strong demands for acceleration or deceleration. For example, when a user wants to overtake a vehicle, the actual vehicle speed is far from the target speed, and the user may need to frequently press buttons to accelerate the vehicle, affecting the driving experience and making it impossible to overtake quickly.

[0076] See also Figure 6 , is a flow chart of another torque control method for a cruise control mode provided by an embodiment of the present application. Figure 6 As shown, this method Figure 4 On the basis of, when switching to the cruise control mode, step S201 specifically includes the following steps.

[0077] Step S2011: Calculate the first torque according to the acceleration resistance and the road resistance.

[0078] In practical applications, the vehicle is hindered by acceleration resistance and road resistance when running, so the vehicle needs to have enough driving force to overcome the resistance and drive the vehicle. At present, the pre-control torque required by the vehicle can be detected by sensors, but it may increase the cost.

[0079] In a possible implementation, the acceleration resistance is determined according to the mass and acceleration of the vehicle.

[0080] Before determining the acceleration resistance of the vehicle, the acceleration corresponding to the user's key operation on the cruise control switch can be obtained according to the user's key operation, so as to provide a more reasonable acceleration for the vehicle.

[0081] Specifically, the corresponding relationship between the user's key operation on the cruise control switch and the acceleration can be preset. For example, when the user long presses the Res / + switch, the acceleration is acceleration A1; when the user short presses the Res / + switch, the acceleration is acceleration A2; and so on, which will not be repeated in this application.

[0082] In the embodiment of the present application, the preset correspondence between the user's key operation on the cruise control switch and the acceleration can be stored in the relevant storage module. When the vehicle controller receives the user's key operation signal, the acceleration corresponding to the user's key operation is quickly obtained in the relevant storage module.

[0083] Road resistance usually includes ramp resistance, rolling resistance, air resistance and internal resistance. Ramp resistance refers to the force generated by the road slope when the vehicle is driving on a ramp. The ramp resistance can be determined based on the vehicle's load and the road slope. Rolling resistance refers to the force generated by the tires contacting the road surface when the vehicle is driving, which hinders the vehicle's forward movement. Internal resistance refers to the friction generated by the pistons and crankshafts in the engine when the vehicle is driving.

[0084] In a possible implementation manner, the first torque may be determined according to acceleration resistance, slope resistance, rolling resistance, air resistance, and internal resistance.

[0085] In practical applications, as described above, the actual vehicle speed can be adjusted toward the target vehicle speed by cruise control torque and PID control. In order to adjust the vehicle speed more accurately, in one possible implementation, the first torque (i.e., pre-control torque) can be determined based on acceleration resistance, ramp resistance, rolling resistance, air resistance, internal resistance, and torque coefficient.

[0086] The torque coefficient is used to increase the proportion of the PID controlled vehicle speed. For example, when the torque coefficient is 0.8, the proportion of the PID controlled vehicle speed is 0.2; when the torque coefficient is 0.7, the proportion of the PID controlled vehicle speed is 0.3; and so on, which will not be repeated in this application.

[0087] See also Figure 7 , which is a schematic diagram of calculating a pre-control torque provided in an embodiment of the present application. First, the acceleration resistance, ramp resistance, rolling resistance, air resistance, and internal resistance can be added together to determine the resistance sum; then the resistance sum is multiplied by the torque coefficient to determine the first torque (i.e., the pre-control torque).

[0088] In the embodiment of the present application, the proportion of PID control can be increased through the torque coefficient, and the vehicle speed can be controlled more accurately through cruise control torque and PID control.

[0089] Step S2012: Obtain a second torque, where the second torque is the torque required by the user.

[0090] The user demand torque is the output torque provided by the user to the motor through the accelerator pedal and the brake pedal. When the user steps on the accelerator pedal and the brake pedal, it can be considered that the user expects to accelerate and decelerate quickly.

[0091] In an embodiment of the present application, when the vehicle controller receives relevant signals of the user stepping on the accelerator pedal and the brake pedal, the user's required torque is determined through the relevant processing module.

[0092] Step S2013: Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain the vehicle speed difference. In the embodiment of the present application, the first torque and the second torque can be switched according to the vehicle speed difference to provide the vehicle with more comfortable power and enhance the user's driving experience.

[0093] However, since the actual vehicle speed changes in real time, the speed difference will also change every time the actual vehicle speed changes. When the actual vehicle speed fluctuates greatly, the speed difference will also fluctuate greatly, which may cause frequent switching between the first torque and the second torque, causing the vehicle to jerk and affect the driving experience. In addition, as mentioned above, PID control is related to the speed difference. If the speed difference fluctuates greatly, the vehicle speed may not transition smoothly.

[0094] Therefore, in a possible implementation, the difference between the actual vehicle speed and the target vehicle speed is calculated to obtain an initial vehicle speed difference; and the initial vehicle speed difference is filtered to obtain a vehicle speed difference.

[0095] In the implementation of the present application, by filtering the initial vehicle speed difference, the change of the vehicle speed difference can be made smoother.

[0096] However, after switching to the cruise control mode for a period of time, the vehicle speed difference is in a stable changing state. If the initial vehicle speed difference continues to be filtered, it may cause the device to respond slowly.

[0097] Therefore, in one possible implementation, if the current moment is within the preset second timing time, the initial vehicle speed difference is filtered to obtain the vehicle speed difference; if the current moment is not within the preset second timing time, the initial vehicle speed difference is determined to be the vehicle speed difference.

[0098] In the embodiment of the present application, the starting point of the second timing time is the moment of switching to the cruise control mode. Within a period of time after the cruise control mode is switched, the change of the speed difference can be made more gradual by filtering the initial vehicle speed difference. After switching to the cruise control mode for a period of time, the speed difference is in a stable change state, and the speed difference is not filtered further, which can save the amount of calculation and processing and improve the response speed of the device.

[0099] Step S2014: if the vehicle speed difference is less than or equal to a preset vehicle speed difference threshold, the first torque is determined to be a cruise control torque; if the vehicle speed difference is greater than the preset vehicle speed difference threshold, the second torque is determined to be a cruise control torque.

[0100] In an embodiment of the present application, when the actual vehicle speed is far from the target speed, the torque output of the motor is controlled by the user demand torque, so that the vehicle speed can be quickly increased to the target speed, thereby improving the user's driving experience.

[0101] In another possible implementation, if the cruise control mode is a target cruise control mode and the vehicle speed difference is greater than a preset vehicle speed difference threshold, the second torque is determined to be the cruise control torque. The target cruise control mode is an acceleration mode or a deceleration mode.

[0102] In the embodiment of the present application, if the cruise control mode is the target cruise control mode and the vehicle speed difference is greater than a preset vehicle speed difference threshold, it can be more accurately determined that the second torque is the cruise control torque.

[0103] In the embodiment of the present application, during the switching process of the cruise control mode, the change fluctuation of the cruise control torque is relatively large. By filtering the cruise control torque, the fluctuation amplitude of the output torque of the motor can be controlled, so that the change process of the output torque of the motor from before to after the switching is smoother, thereby enabling the vehicle speed to transition smoothly and improving the user's driving experience.

[0104] See also Figure 8 , is a flow chart of another torque control method for a cruise control mode provided by an embodiment of the present application. The method mainly includes the following steps.

[0105] Step S301: Activate the cruise control function.

[0106] Step S302: Entering the uniform speed mode.

[0107] Step S303: The user presses a button on the cruise control switch.

[0108] Step S304: Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain an initial vehicle speed difference.

[0109] Step S305: Determine whether the current time is within the second timing period. If the current time is within the second timing period, execute step S306; otherwise, execute step S307.

[0110] Step S306: Filter the initial vehicle speed difference to obtain the vehicle speed difference.

[0111] Step S307: Determine the initial vehicle speed difference as the vehicle speed difference.

[0112] Step S308: Determine vehicle speed difference and acceleration.

[0113] Step S309: Determine whether to switch to the acceleration mode. If not, execute step S310; otherwise, execute step S311.

[0114] Step S310: Determine whether to switch to the deceleration mode; if not, execute step S315; otherwise, execute step S311.

[0115] Step S311: Determine whether the vehicle speed difference is greater than a preset vehicle speed difference threshold. If the vehicle speed difference is greater than the preset vehicle speed difference threshold, execute step S312; otherwise, execute step S315.

[0116] Step S312: Determine whether the current time is within the first timing time. If the current time is within the first timing time, execute step S313; otherwise, execute step S314.

[0117] Step S313: Filter the second torque to obtain the filtered second torque.

[0118] Step S314: using the second torque to control the torque output of the motor.

[0119] Step S315: Determine whether the current time is within the first timing period. If the current time is within the first timing period, execute step S316; otherwise, execute step S317.

[0120] Step S316: Filter the first torque to obtain the filtered first torque.

[0121] Step S317: Use the first torque to control the torque output of the motor.

[0122] The specific contents involved in the examples in the implementation of this application can be found in the description of the above-mentioned embodiments. For the sake of brevity, they will not be repeated here.

[0123] Corresponding to the above method embodiment, the present application also provides a torque control device in a cruise control mode. Fig. 9 , is a schematic diagram of the structure of a torque control device in a cruise control mode provided by an embodiment of the present application. Fig. 9 As shown, the torque control device 400 of the cruise control mode includes: a torque determination module 401, a torque filtering module 402 and a torque control module 403. Specifically, the torque determination module 401 is used to determine the cruise control torque when switching to the cruise control mode; the torque filtering module 402 is used to filter the cruise control torque to obtain the filtered cruise control torque; the torque control module 403 is used to control the torque output of the motor using the filtered cruise control torque.

[0124] The specific contents involved in the embodiments of the present application can be found in the description of the above method embodiments. For the sake of brevity, they will not be elaborated on here.

[0125] Corresponding to the above method embodiment, the present application also provides a vehicle, including: The vehicle controller is configured to execute the method described in the above method embodiment.

[0126] The specific contents involved in the examples in the implementation of this application can be found in the description of the above method embodiments. For the sake of brevity, they will not be repeated here.

[0127] Corresponding to the above embodiment, the embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium may store a program, wherein when the program is running, the device where the computer-readable storage medium is located may be controlled to execute some or all of the steps in the above method embodiment. In a specific implementation, the computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0128] Corresponding to the above-mentioned embodiment, the embodiment of the present application further provides a computer program product, which includes executable instructions. When the executable instructions are executed on a computer, the computer executes some or all of the steps in the above-mentioned method embodiment.

[0129] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0130] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0131] 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.

[0132] In several embodiments provided in the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0133] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A torque control method in a cruise control mode, characterized in that: include: When switching to cruise control mode, determine the cruise control torque; filtering the cruise control torque to obtain a filtered cruise control torque; The filtered cruise control torque is used to control the torque output of the motor.

2. The method according to claim 1, characterized in that The filtering the cruise control torque to obtain the filtered cruise control torque includes: If the current moment is within a preset first timing time, the cruise control torque is filtered to obtain the filtered cruise control torque, and the starting point of the first timing time is the moment of switching to the cruise control mode.

3. The method according to claim 2, characterized in that Also includes: If the current moment is not within the preset first timing time, the torque output of the motor is controlled by the cruise control torque.

4. The method according to claim 1, characterized in that When switching to the cruise control mode, determining the cruise control torque includes: When switching from the first cruise control mode to the second cruise control mode, the cruise control torque is determined.

5. The method according to claim 4, characterized in that The first cruise control mode and the second cruise control mode are any two of a constant speed mode, an acceleration mode and a deceleration mode.

6. The method according to claim 1, characterized in that When switching to the cruise control mode, determining the cruise control torque includes: When switching from the non-cruise mode to the cruise mode, the cruise torque is determined.

7. The method according to claim 1, characterized in that The determining of the cruise control torque includes: Calculating a first torque according to acceleration resistance and road resistance; Obtaining a second torque, where the second torque is a user required torque; Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain the vehicle speed difference; If the vehicle speed difference is less than or equal to a preset vehicle speed difference threshold, determining that the first torque is a constant speed cruising torque; If the vehicle speed difference is greater than the preset vehicle speed difference threshold, it is determined that the second torque is a cruise control torque.

8. The method according to claim 7, characterized in that The step of calculating the difference between the actual vehicle speed and the target vehicle speed to obtain the vehicle speed difference comprises: Calculate the difference between the actual vehicle speed and the target vehicle speed to obtain an initial vehicle speed difference; The initial vehicle speed difference is filtered to obtain a vehicle speed difference.

9. The method according to claim 8, characterized in that The filtering the initial vehicle speed difference to obtain the vehicle speed difference includes: If the current moment is within the preset second timing time, filtering the initial vehicle speed difference to obtain the vehicle speed difference; If the current moment is not within the preset second timing time, determining the initial vehicle speed difference as the vehicle speed difference; The starting point of the second timing period is the moment of switching to the cruise control mode.

10. The method according to claim 7, characterized in that If the vehicle speed difference is greater than the preset vehicle speed difference threshold, determining that the second torque is a constant speed cruise torque includes: If the cruise control mode is the target cruise control mode, and the vehicle speed difference is greater than the preset vehicle speed difference threshold, then the second torque is determined to be the cruise control torque.

11. The method according to claim 10, characterized in that The target cruise control mode is an acceleration mode or a deceleration mode.

12. A torque control device in a cruise control mode, characterized in that: include: A torque determination module, used for determining a cruise control torque when switching to a cruise control mode; A torque filtering module, used for filtering the cruise control torque to obtain a filtered cruise control torque; The torque control module is used to control the torque output of the motor using the filtered cruise control torque.

13. A vehicle, characterized in that: include: A vehicle controller, wherein the vehicle controller is configured to execute the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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