Vehicle torque control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle torque control method, and relates to the field of vehicles. The method comprises the steps that under the condition that gear switching operation of a vehicle is received, a target controller is controlled to be in a forbidden state, and the current demand torque and the current actual torque of the vehicle are obtained; wherein the target controller is used for adjusting the output torque of the vehicle; determining a target compensation torque based on the current demand torque and the current actual torque; and based on the target compensation torque, compensating the current actual torque, and determining a target output torque. According to the method, the motor torque can be stably output in the vehicle mode conversion process by controlling the adjustment strategy of the PI controller on the motor torque.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a method for controlling vehicle torque, a control device, a vehicle and a storage medium in the field of vehicles. Background Art

[0002] During vehicle driving, a proportional-integral controller (PI controller) is usually used to achieve precise control of the motor torque of the drive system to ensure that the actual torque output by the engine or motor can accurately track the target torque required by the driver and maintain the stability of the vehicle system.

[0003] When the vehicle's driving mode or gear information changes, the PI controller cannot be exited normally because the vehicle continues to meet the preset conditions for operation and lacks an effective exit mechanism. This causes the motor torque to have parameter jump problems, which in turn causes abnormal noise in the vehicle and affects its normal driving.

[0004] Therefore, how to maintain smooth output of motor torque during vehicle mode conversion is an urgent problem to be solved. Summary of the invention

[0005] The present application provides a vehicle torque control method, a control device, a vehicle and a storage medium. The method can control the adjustment strategy of the motor torque by controlling the PI controller so that the motor torque is output smoothly during the vehicle mode conversion process.

[0006] In a first aspect, a method for controlling vehicle torque is provided, the method comprising: When receiving a gear shift operation of the vehicle, controlling the target controller to be in a disabled state, and obtaining a current required torque and a current actual torque of the vehicle; wherein the target controller is used to adjust the output torque of the vehicle; Determine the target compensation torque based on the current required torque and the current actual torque; Based on the target compensation torque, the current actual torque is compensated to determine the target output torque.

[0007] In the above technical solution, when the gear switching operation of the vehicle is received, the target controller is controlled to be disabled; and based on the current required torque and the current actual torque of the vehicle, the target compensation torque is determined, and the current actual torque is compensated to obtain the target output torque to control the vehicle. This method sets an exit mechanism for the target controller. When the gear switching operation is detected, the target controller is not used for torque adjustment to avoid the problem of response lag or over-adjustment of the target controller during the gear switching or vehicle mode switching process, resulting in a jump in the motor torque, thereby causing abnormal noise in the system; after disabling the target controller, torque compensation is directly performed according to the actual working conditions to replace the adjustment strategy of the target controller, which can not only avoid the torque fluctuation that may be caused by the torque adjustment of the target controller, but also provide the vehicle with the required compensation torque, further ensuring the stability of the vehicle power output.

[0008] In combination with the first aspect, in some possible implementations, the method further includes: acquiring driving data and pedal opening information of the vehicle; and determining a current required torque and a current theoretical torque of the vehicle based on the driving data and the pedal opening information.

[0009] In the above technical solution, the current required torque and the current theoretical torque corresponding to the current working condition of the vehicle are analyzed in combination with the vehicle's driving data and pedal opening information. The pedal opening directly reflects the driver's demand for vehicle power. By obtaining the pedal opening information and combining it with the driving data to determine the current required torque, the accuracy of the current required torque is improved, so that the vehicle control system can understand the driver's intention more accurately. Combining driving data with the pedal opening to determine the current theoretical torque can improve the accuracy of the current theoretical torque; in the process of controlling the vehicle according to the current required torque and the current theoretical torque, the torque control can be made more in line with the driver's needs and give full play to the vehicle's power performance.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: determining the target state of the target controller based on the current required torque, the current theoretical torque and the current actual torque; when the target state is a normal operating state or a waiting exit state, adjusting the current actual torque based on the target controller, and determining the adjusted current actual torque as the target output torque.

[0011] In the above technical solution, the target state of the target controller is determined according to the current required torque, current theoretical torque and current actual torque of the vehicle; when the target state of the target controller is a normal operating state or a waiting exit state, the target controller is used to adjust the torque and determine the target output torque. By controlling the target controller with accurate torque data, the target controller can more accurately and timely adjust the current actual torque according to the actual operation of the vehicle and the needs of the driver, thereby ensuring that the final output target torque is more accurate and effectively reducing vehicle setbacks caused by torque fluctuations.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target state of the target controller is determined based on the current required torque, the current theoretical torque and the current actual torque, including: when a first difference between the current theoretical torque and the current actual torque is greater than or equal to a first difference threshold, determining that the target state of the target controller is a normal operating state; when a second difference between the current required torque and the current actual torque is greater than or equal to a second difference threshold, determining that the target state of the target controller is a waiting exit state.

[0013] In the above technical solution, when the first difference between the current theoretical torque and the current actual torque is greater than or equal to the first difference threshold, the target controller is set to a normal operating state to ensure that when the actual torque deviates from the theoretical torque to a certain extent, the target controller intervenes quickly to make the actual torque approach the theoretical torque, ensuring that the vehicle power output meets the expected working conditions and achieving precise torque control. When the second difference between the current required torque and the current actual torque is greater than or equal to the second difference threshold, the target controller enters a waiting exit state; if the actual torque is too far from the required torque, the target controller is ready to exit the current control mode so that the system can respond quickly and adjust the torque output to meet the driver's acceleration needs.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when a second difference between the current required torque and the current actual torque is less than a second difference threshold, obtaining a preset delay time; based on the preset delay time, controlling the target controller to be in an exit state.

[0015] In the above technical solution, when it is detected that the second difference between the current required torque and the current actual torque is less than the second difference threshold, the preset delay time is set to allow the target controller to continue to fine-tune the torque within the preset delay time to ensure that the actual torque smoothly reaches the required torque, and then exit the control, effectively avoiding the target controller from exiting immediately, resulting in a sudden change in the motor torque, and then causing the vehicle to feel a sense of frustration, thereby improving the smoothness and comfort of driving.

[0016] In combination with the first aspect and the above-mentioned implementation manners, in some possible implementation manners, the method further includes: when a rising edge of the gear signal is detected, determining that a gear switching operation of the vehicle is received.

[0017] In the above technical solution, in the electronic control system, the rising edge of the signal is a clear and easily identifiable feature point. Using the rising edge of the gear signal to detect the gear switching operation can accurately define the time when the gear switching occurs; thus, the target controller can be controlled more timely, avoiding the problem of sudden torque changes in the vehicle due to untimely torque adjustment caused by recognition delay, and further ensuring the stability of the vehicle's torque output during the gear switching process.

[0018] In combination with the first aspect and the above-mentioned implementation manners, in some possible implementation manners, the method further includes: when the duration for which the target controller is in the disabled state reaches a duration threshold, controlling the target controller to exit the disabled state.

[0019] In the above technical solution, if there is no time limit, after the target controller is disabled due to operations such as gear switching, the controller may not work due to some abnormal conditions, affecting the normal operation of the vehicle. By setting the time threshold, its function can be automatically restored at the appropriate time to ensure that the vehicle torque control system always remains in an operational state; the vehicle can restore the normal torque regulation function as soon as possible to improve the smoothness and comfort of driving.

[0020] In a second aspect, a vehicle torque control device is provided, the control device comprising: A control module, configured to control the target controller to be in a disabled state and obtain a current required torque and a current actual torque of the vehicle when a gear shift operation of the vehicle is received; wherein the target controller is configured to adjust the output torque of the vehicle; A first determination module, configured to determine a target compensation torque based on a current required torque and a current actual torque; The second determination module is used to compensate the current actual torque based on the target compensation torque to determine the target output torque.

[0021] In combination with the second aspect, in some possible implementations, the control device is also used to obtain the vehicle's driving data and pedal opening information; based on the driving data and pedal opening information, determine the vehicle's current required torque and current theoretical torque.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control device is also used to determine the target state of the target controller based on the current required torque, the current theoretical torque and the current actual torque; when the target state is a normal operating state or a waiting exit state, the current actual torque is adjusted based on the target controller, and the adjusted current actual torque is determined as the target output torque.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control device is also used to determine that the target state of the target controller is a normal operating state when the first difference between the current theoretical torque and the current actual torque is greater than or equal to a first difference threshold; and to determine that the target state of the target controller is a waiting exit state when the second difference between the current required torque and the current actual torque is greater than or equal to a second difference threshold.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control device is also used to obtain a preset delay time when a second difference between the current required torque and the current actual torque is less than a second difference threshold; based on the preset delay time, the target controller is controlled to be in an exit state.

[0025] In combination with the second aspect and the above-mentioned implementations, in some possible implementations, the control device is also used to determine that a gear switching operation of the vehicle is received when a rising edge of the gear signal is detected.

[0026] In combination with the second aspect and the above-mentioned implementation manner, in some possible implementation manners, the control device is also used to control the target controller to exit the disabled state when the duration of the target controller in the disabled state reaches a duration threshold.

[0027] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0028] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0029] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of a scenario provided by an embodiment of the present application; Figure 2 is a schematic flow chart of a vehicle torque control method provided in an embodiment of the present application; Figure 3 is a schematic flow chart of another vehicle torque control method provided in an embodiment of the present application; Figure 4 is a structural schematic diagram of a vehicle torque control device provided in an embodiment of the present application; Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0032] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0033] In the control process of the vehicle power system, the front axle torque drivability filter system is usually used, such as the Sigma Delta Filter Module (SDFM system); the front axle torque drivability filter system is used to process and optimize the torque transmitted to the front axle to improve the vehicle's drivability and comfort.

[0034] In the prior art, the implementation process of the front axle torque drivability filter system uses a proportional-integral controller (PI controller) to achieve precise control of the vehicle motor torque. As a control algorithm, the PI controller continuously calculates the error between the target motor torque and the actual motor torque in the front axle torque drivability filter system, and adjusts the control signal according to the error, so that the actual motor torque continuously approaches the target motor torque.

[0035] The control process of the PI controller includes proportional control and integral control; in the proportional control process, the motor torque output is quickly adjusted according to the deviation between the target torque value and the current actual torque; in the integral control process, the error generated over a long period of time is eliminated through the accumulated deviation value to ensure that the torque output is consistent with the target torque value and avoid continuous deviation of the motor torque; after the above two control links, the proportional term output and the integral term output are added to obtain the final output of the PI controller; after that, the output signal is transmitted to the motor drive circuit, and the drive circuit adjusts the motor input voltage, current and other parameters according to the output signal to adjust the motor torque output. As the actual motor torque gradually approaches the target motor torque, the error gradually decreases, and the output of the proportional term and the integral term will also change accordingly, until the actual torque is equal to the target torque and the error is zero. At this time, the output of the PI controller remains stable, so that the motor torque is stable near the target value.

[0036] During the torque regulation process of the PI controller, due to the different working conditions corresponding to different driving modes and different gears, the adjustment strategies and target values ​​of the corresponding PI controllers are different. When changes in the vehicle's driving mode and gear are detected, if the control parameters of the PI controller are not adjusted in time according to the new driving mode and gear, the vehicle's torque speed value may continue to meet the conditions for activating the PI controller for torque regulation. The process lacks an effective exit mechanism to allow the PI controller to exit control; and in this process, when there is a large torque deviation in the system, the integral term of the PI controller may be over-accumulated and enter the integral saturation state; when the system working conditions change, due to the influence of integral saturation, the PI controller cannot respond in time, making it impossible for the PI controller to exit control through the normal signal rising edge, which will cause the motor torque to jump, and then cause problems such as abnormal noise in the motor system.

[0037] In view of the problems existing in the above-mentioned prior art, the embodiments of the present application provide a vehicle torque control method, a control device, a vehicle and a storage medium. When the gear switching operation of the vehicle is detected, the target controller for adjusting the output torque of the vehicle, that is, the PI controller is controlled to be in a disabled state; at the same time, the current required torque and the current actual torque of the vehicle are obtained; according to the current required torque and the current actual torque, the target compensation torque is determined; the current actual torque is compensated according to the target compensation torque to determine the final target output torque. This method controls the adjustment strategy of the PI controller for the motor torque, so that the motor torque is output smoothly when the vehicle mode is switched, eliminating the problems of torque jump and abnormal noise of the system.

[0038] Figure 1 This is a schematic diagram of a scenario provided by an embodiment of the present application. Figure 1As shown, for a hybrid vehicle 100, it is equipped with a generator 101, an engine 102, a drive motor 103 and other drive devices; through the above drive devices, multiple driving modes of the vehicle 100 can be realized. These modes may include pure electric mode (Electric Vehicles, EV), pure fuel mode, hybrid mode (Hybrid Electric Vehicle, HEV) and hybrid mode, etc.; the hybrid mode includes parallel mode and series mode. In the series mode, the engine 102 is used to drive the generator 101 to operate, and part of the generated electric energy is used to charge the vehicle battery, and part is directly supplied to the drive motor 103, and the drive motor 103 drives the vehicle to travel; in the parallel mode, the engine 102 and the drive motor 103 can both be used to directly drive the vehicle to travel. At this time, the vehicle controller needs to control the working state of the engine 102 and the drive motor 103 according to the actual driving conditions.

[0039] Combine the following Figures 2 to 3 The vehicle torque control method provided in the embodiment of the present application is described in detail.

[0040] Figure 2 This is a schematic flow chart of a method for controlling vehicle torque provided by an embodiment of the present application. It should be understood that the method can be applied to a vehicle; or, to a processor in a vehicle; or, to a chip in a processor mounted in a vehicle.

[0041] For example, Figure 2 As shown, the method 200 includes: S201, when receiving a gear switching operation of the vehicle, controlling the target controller to be in a disabled state, and obtaining the current required torque and the current actual torque of the vehicle; wherein the target controller is used to adjust the output torque of the vehicle.

[0042] In the embodiment of the present application, the target controller is used to refer to a proportional integral controller, that is, a PI controller; wherein the PI controller is a control algorithm for adjusting the output torque of the vehicle during the vehicle motor torque control process so that the output torque of the vehicle is close to the target torque value. Controlling the target controller in a disabled state indicates that the target controller is not used for torque adjustment within a preset time period.

[0043] For example, for a vehicle equipped with a front axle torque drivability filtering system, a PI controller is usually used to adjust the motor torque during the torque control process to meet different driving requirements. If the driving mode of the vehicle changes during this process, for example, the vehicle switches from a hybrid mode to a direct drive mode, the gear switching operation of the vehicle will be detected accordingly, and the target controller is controlled to be in a disabled state, that is, when the gear switching operation is received, the target controller is not used to adjust and control the output torque of the vehicle. In addition, while controlling the PI controller to be in a disabled state, the current required torque and the current actual torque of the vehicle under the current working condition are obtained, so as to control the torque of the vehicle according to the current required torque and the current actual torque.

[0044] In one implementation, when a rising edge of a gear signal is detected, it is determined that a gear switching operation of the vehicle is received.

[0045] For example, during vehicle driving, the driver can shift up by manually operating the vehicle's gear lever or gear paddles and other gear control devices, at which time the rising edge of the gear signal can be detected; or, when the vehicle's power mode or driving mode is switched, for example, when a hybrid vehicle switches from hybrid mode to engine direct drive mode, the engine speed needs to be increased to provide more power. At this time, the system may also automatically shift up according to the mode switching instruction and current power demand, resulting in a rising edge of the gear signal; in this case, it can also be determined that the vehicle's gear switching operation has been received.

[0046] For example, assuming that the vehicle's gears include S0, S1 and S2, the rising edge is generated when the gear signal switches from a low level to a high level. During vehicle driving, each gear signal can be monitored to determine whether there is a rising edge of the gear signal, and then determine whether there is a gear switching operation.

[0047] In the embodiment of the present application, in the electronic control system, the rising edge of the signal is a clear and easily identifiable feature point. The rising edge of the gear signal is used to detect the gear switching operation, which can accurately define the time when the gear switching occurs; thus, the target controller can be controlled more timely, avoiding the problem of sudden torque changes in the vehicle due to untimely torque adjustment caused by recognition delay, and further ensuring the stability of the vehicle's torque output during the gear switching process.

[0048] In one implementation, a state machine logic is introduced, which is used to indicate the state of a PI controller in a drive system, which may include a disabled state; when a gear switching operation is detected, the state indicated by the state machine can be switched to a disabled state, that is, the PI controller is controlled to be in a disabled state.

[0049] In one implementation, the manner of controlling the PI controller to be in a disabled state may include: cutting off the output of the control signal and setting special parameters.

[0050] Exemplarily, when a gear switching operation is detected, the output signal of the PI controller is directly set to 0 or its connection with the subsequent actuator is disconnected; alternatively, both the proportional coefficient and the integral coefficient of the PI controller are set to 0; when the PI controller is in a working state, when it is detected that the motor parameters of the vehicle (such as torque and speed, etc.) meet the preset conditions, the torque will be adjusted through the PI controller; and when the PI controller is in a disabled state, even if the motor parameters of the vehicle meet the preset conditions, the PI controller will not be activated for torque adjustment.

[0051] Optionally, the process of acquiring the current actual torque of the vehicle may include a direct measurement method and an indirect estimation method.

[0052] For example, a torque sensor may be installed on the vehicle power transmission path, and the installation location may include the engine output shaft, the transmission input shaft or output shaft, and the rotating shaft, etc.; the current actual torque of the vehicle is directly obtained through the torque sensor. Alternatively, the actual torque can be estimated based on the engine's air intake, throttle opening, speed and other parameters combined with the engine's universal characteristic curve; for the motor, the current actual torque can be estimated based on the motor's current, voltage and speed parameters combined with the motor's efficiency model; or, by establishing a vehicle's dynamics model, taking into account factors such as the vehicle's mass, acceleration, driving resistance (such as air resistance, rolling resistance, slope resistance, etc.), the actual torque of the vehicle can be estimated.

[0053] In one implementation, driving data and pedal opening information of the vehicle are acquired; based on the driving data and the pedal opening information, the current required torque and the current theoretical torque of the vehicle are determined.

[0054] Among them, the vehicle's driving data may include engine speed, vehicle speed, driving conditions and driving mode, etc.; the pedal opening information may include accelerator pedal opening information and brake pedal opening information.

[0055] For example, a correspondence can be pre-set between the vehicle's driving data and pedal opening information and the required torque; in the process of determining the current required torque, the larger the accelerator pedal opening, the higher the required torque; when the brake pedal operation is detected, the required torque is reduced accordingly; when the vehicle is driving at a low speed, such as when the vehicle starts or driving in congested road conditions, a large torque is required to overcome static inertia and rolling resistance; and when driving at high speed, although the driving resistance mainly comes from air resistance, a certain torque is still required to maintain a high speed. When the vehicle is driving on a sloped road, gravity will exert an additional force on the vehicle; when going uphill, the vehicle needs to overcome the component of gravity along the slope, and the required torque will increase significantly; when going downhill, the component of gravity along the slope helps the vehicle move forward, and the required torque will decrease or even be zero.

[0056] In addition, when the vehicle is towing a trailer or loading heavy objects, the required torque can also be adjusted according to the towing weight and cargo capacity; for vehicles with multiple driving modes, such as economy mode, sports mode and snow mode, the required torque can also be adjusted according to the current driving mode; for example, in economy mode, the system will limit the required torque to optimize fuel economy; in sports mode, the required torque will be increased to provide stronger power output.

[0057] For example, the current theoretical torque of the vehicle can be determined based on the external characteristic curve of the engine; after obtaining the engine speed of the vehicle, the maximum torque that the engine can output at the current speed can be determined in combination with the external characteristic curve, that is, the current theoretical torque; in addition, common transmission systems in vehicles include manual transmissions, automatic transmissions, continuously variable transmissions, etc., and different types of transmission systems have different efficiencies; after determining the output torque of the engine, the current theoretical torque transmitted to the wheel end can also be determined in combination with the efficiency of the transmission system.

[0058] In the embodiment of the present application, the current demand torque and the current theoretical torque corresponding to the current working condition of the vehicle are analyzed in combination with the vehicle's driving data and pedal opening information. The pedal opening directly reflects the driver's demand for vehicle power. By obtaining the pedal opening information and combining it with the driving data to determine the current demand torque, the accuracy of the current demand torque is improved, so that the vehicle control system can understand the driver's intention more accurately. Combining driving data with the pedal opening to determine the current theoretical torque can improve the accuracy of the current theoretical torque; in the process of controlling the vehicle according to the current demand torque and the current theoretical torque, the torque control can be made more in line with the driver's needs and give full play to the vehicle's power performance.

[0059] S202: Determine a target compensation torque based on the current required torque and the current actual torque.

[0060] For example, the current required torque of the vehicle can reflect the driving demand of the driver; after obtaining the current required torque and the current actual torque of the vehicle, the target compensation torque that the vehicle needs to compensate can be determined based on the current required torque and the current actual torque.

[0061] Optionally, the difference between the current required torque and the current actual torque is calculated, and the difference is determined as the target compensation torque for compensating the vehicle. Alternatively, a correspondence between the current required torque, the current actual torque and the target compensation torque is preset, and the target compensation torque is determined based on the correspondence.

[0062] S203: Based on the target compensation torque, the current actual torque is compensated to determine the target output torque.

[0063] For example, after determining the target compensation torque based on the current required torque and current actual distortion of the vehicle, the electronic control unit (ECU) needs to compensate the current actual torque based on the target compensation torque to obtain a target output torque, and control the motor to output the target output torque to control the vehicle's driving.

[0064] Among them, different types of vehicles may have different ECUs responsible for this task. Common ECU types include engine control module (ECM), transmission control unit (TCU), power control unit (PCU) and independently set torque control module.

[0065] It should be understood that after the gear switching operation is detected, the control target controller is in a disabled state, which indicates that the PI controller control algorithm is not used to calculate and adjust the motor torque; after the PI controller is disabled, the relevant control unit or control module in the vehicle can still perform compensation calculation and control on the vehicle's motor torque according to the vehicle's operating parameters to maintain the vehicle's smooth driving.

[0066] For example, in the process of torque compensation for the vehicle, it is necessary to determine the torque distribution strategy in combination with the current power mode of the vehicle. For example, when the vehicle is in series mode, the engine is used to drive the generator to generate electricity, and then control the motor to drive the vehicle. At this time, the compensation torque is only used to compensate the motor for torque; when the power mode of the vehicle is parallel mode, both the engine and the motor can directly drive the wheels, so the target compensation torque needs to be distributed to determine the target output torque of the engine and the motor respectively.

[0067] In one implementation, in the process of compensating the current actual torque according to the target compensation torque, a gradient smoothing method is adopted to adjust the current actual torque with a preset gradient change to output the target output torque.

[0068] Exemplarily, when a gear switching operation is detected, the vehicle's current gear information and the vehicle's current power mode can be obtained, and a preset gradient value that meets the current driving condition can be determined based on the above parameters, and the preset gradient value is used to limit the maximum allowable change in torque; after determining the target compensation torque, the relationship between the target compensation torque and the preset gradient value can be compared; when the absolute value of the target compensation torque is less than or equal to the preset gradient value, the current actual torque can be directly adjusted to the target output torque; when the target compensation torque is greater than the preset gradient value, the current actual torque is controlled to increase or decrease with the preset gradient value as the change amplitude according to the positivity of the target compensation torque.

[0069] In one implementation, the duration that the target controller is in the disabled state is obtained; when the duration reaches a preset duration threshold, the target controller is controlled to exit the disabled state; after the target controller exits the disabled state, the state of the target controller can be re-determined in combination with the current torque parameters of the vehicle.

[0070] Optionally, the setting of the duration threshold may be adjusted according to different usage scenarios and operating conditions of the vehicle; this embodiment of the present application is not limited to this.

[0071] Optionally, when the vehicle is detected to be powered off, the target controller is reset, that is, the state value of the PI controller is cleared, so that the PI controller exits the disabled state. Alternatively, when it is detected that the motor torque of the vehicle is in a stable state, the PI controller is controlled to exit the disabled state.

[0072] For example, when a vehicle is stuck on a muddy road and needs to frequently switch gears to get out of trouble, it may be necessary to appropriately extend the preset duration of the target controller disabled state to ensure smooth gear switching operations; while under normal driving conditions, a shorter preset duration is used to ensure that the system can quickly return to normal. Flexible adjustment of the duration threshold can enable the vehicle to better adapt to various complex and changing driving environments.

[0073] In the embodiment of the present application, after the target controller is disabled due to operations such as gear switching, if there is no time limit, the controller may not work due to some abnormal conditions, affecting the normal operation of the vehicle. By setting the time threshold, its function can be automatically restored at an appropriate time to ensure that the vehicle torque control system always remains in an operational state; the vehicle can restore the normal torque regulation function as soon as possible to improve the smoothness and comfort of driving.

[0074] In summary, in the embodiment of the present application, when the gear switching operation of the vehicle is received, the target controller is controlled to be disabled; and based on the current required torque and the current actual torque of the vehicle, the target compensation torque is determined, and the current actual torque is compensated to obtain the target output torque to control the vehicle. This method sets an exit mechanism for the target controller. When the gear switching operation is detected, the target controller is not used for torque adjustment to avoid the problem of response lag or over-adjustment of the target controller during the gear switching or vehicle mode switching process, resulting in a jump in the motor torque, thereby causing abnormal noise in the system; after disabling the target controller, torque compensation is directly performed according to the actual working conditions, thereby replacing the adjustment strategy of the target controller, which can not only avoid the torque fluctuation that may be caused by the torque adjustment of the target controller, but also provide the vehicle with the required compensation torque, further ensuring the stability of the vehicle power output.

[0075] Figure 3 is a schematic flow chart of another method for controlling vehicle torque provided in an embodiment of the present application. It should be understood that the method can be applied to a vehicle; or, to a processor in a vehicle; or, to a chip in a processor mounted in a vehicle.

[0076] For example, Figure 3 As shown, the method 300 includes: S301, obtaining the vehicle's driving data, pedal opening information and current actual torque.

[0077] Among them, the vehicle's driving data may include engine speed, vehicle speed, driving conditions and driving mode, etc.; the pedal opening information may include accelerator pedal opening information and brake pedal opening information.

[0078] Exemplarily, after detecting that the vehicle is powered on, the vehicle's driving data, pedal opening information, and the current actual torque of the vehicle's motor are acquired in real time.

[0079] S302, determining the current required torque and the current theoretical torque of the vehicle based on the driving data and the pedal opening information.

[0080] For example, the pedal opening information can be used to indicate the driver's actual driving needs; after obtaining the vehicle's driving data and pedal opening information, the corresponding current required torque can be determined based on driving data such as vehicle speed, driving mode, driving conditions, and pedal opening information; based on the vehicle's engine speed, the theoretical value of the motor torque corresponding to the current speed, that is, the current theoretical torque, can be determined.

[0081] Optionally, the implementation of S301 and S302 can refer to Figure 2 The relevant description of S201 in the present application embodiment will not be repeated here.

[0082] S303, determining a target state of the target controller based on the current required torque, the current theoretical torque and the current actual torque.

[0083] In an embodiment of the present application, the target controller is used to refer to a proportional integral controller, that is, a PI controller; wherein the PI controller is a control algorithm used to adjust the output torque of the vehicle during the vehicle motor torque control process so that the output torque of the vehicle is close to the target torque value.

[0084] For example, during the torque control process of a vehicle, a PI controller is usually used to adjust the motor torque; after determining the current required torque, current theoretical torque and current actual torque of the vehicle, the target state of the PI controller can be determined based on the above parameters.

[0085] In one implementation, based on the current required torque, the current theoretical torque and the current actual torque, the process of determining the target state of the target controller may include: when a first difference between the current theoretical torque and the current actual torque is greater than or equal to a first difference threshold, determining that the target state of the target controller is a normal operating state; when a second difference between the current required torque and the current actual torque is greater than or equal to a second difference threshold, determining that the target state of the target controller is a waiting exit state.

[0086] Exemplarily, the current theoretical torque indicates the ideal torque value that the vehicle's motor can achieve under the current operating conditions, and the first difference between the current theoretical torque and the current actual torque is calculated; when the first difference is greater than or equal to the first difference threshold, it can be determined that the target state of the target controller is a normal operating state.

[0087] Exemplarily, the current required torque is used to indicate the torque value that the vehicle needs to output under the current operating conditions. The current required torque is related to factors such as driver behavior and operating conditions. The second difference between the current required torque and the current actual torque is calculated; when the second difference is greater than or equal to the second difference threshold, it can be determined that the target state of the target controller is the waiting exit state.

[0088] Optionally, a state machine logic is introduced, which is used to indicate the state of the PI controller in the drive system, which may include a disabled state, a normal operating state, and a waiting exit state, etc.; when it is detected that the motor torque meets corresponding conditions, the state indicated by the state machine can be switched.

[0089] In the embodiment of the present application, when the first difference between the current theoretical torque and the current actual torque is greater than or equal to the first difference threshold, the target controller is set to a normal operating state to ensure that when the actual torque deviates from the theoretical torque to a certain extent, the target controller intervenes quickly to make the actual torque approach the theoretical torque, ensuring that the vehicle power output meets the expected working conditions and achieving precise torque control. When the second difference between the current required torque and the current actual torque is greater than or equal to the second difference threshold, the target controller enters a waiting exit state; if the actual torque is too far from the required torque, the target controller is ready to exit the current control mode so that the system can respond quickly and adjust the torque output to meet the driver's acceleration needs.

[0090] S304: When the target state is a normal operating state or a waiting exit state, the current actual torque is adjusted based on the target controller, and the adjusted current actual torque is determined as the target output torque.

[0091] For example, when the target state of the target controller is a normal operating state, it indicates that the actual torque value output by the system is significantly different from the theoretical torque value, and the current actual torque needs to be adjusted to make the motor output torque closer to the ideal state to exert the vehicle's power performance. When the target state of the target controller is a waiting exit state, it indicates that the actual torque output by the vehicle does not reach the torque value required by the driver. In order to make the vehicle output torque meet the driving power requirements, the current actual torque also needs to be adjusted. Therefore, when it is detected that the target state of the target controller is a normal operating state or a waiting exit state, the current actual torque is adjusted in real time using a PI controller to determine the current target output torque of the vehicle; and then the vehicle's motor system can be controlled according to the target output torque.

[0092] Exemplarily, the mathematical expression corresponding to the process of torque regulation control using a PI controller is shown in Formula 1: ; (Formula 1) In the above formula 1, is the proportionality coefficient; is the integration coefficient; is the system error, that is , is the target torque value, is the current torque value.

[0093] For example, in the process of torque regulation by PI controller, the target torque value of PI controller under the current working condition is determined according to the running state of the vehicle (such as vehicle speed, gear position, etc.), the driver's intention (such as accelerator pedal opening and brake pedal opening, etc.), the motor characteristics of the vehicle and the driving mode of the vehicle; and the current actual torque being output by the vehicle is determined through various sensors on the vehicle; and then the proportional term is used to calculate the target torque value of PI controller under the current working condition. The output is adjusted proportionally according to the torque error, through the integral term Eliminate the steady-state error of the system and continuously adjust the output by integrating the error so that the error between the output torque and the target torque is reduced.

[0094] In the embodiment of the present application, the target state of the target controller is determined according to the current required torque, the current theoretical torque and the current actual torque of the vehicle; when the target state of the target controller is a normal operating state or a waiting exit state, the target controller is used to adjust the torque and determine the target output torque. The target controller is controlled by accurate torque data, so that the target controller can adjust the current actual torque more accurately and timely according to the actual operation of the vehicle and the needs of the driver, thereby ensuring that the final output target torque is more accurate and effectively reducing the vehicle setback caused by torque fluctuations.

[0095] S305: When the second difference between the current required torque and the current actual torque is less than the second difference threshold, obtain a preset delay time.

[0096] For example, when the target state of the target controller is a normal operating state and a waiting exit state, the target controller will be used to adjust the torque; when it is detected that the second difference between the current required torque and the current actual torque is less than the second difference threshold, it indicates that the current output torque of the vehicle has matched the driver's demand, and the torque adjustment can be performed without the target controller. Since the PI controller accumulates errors during the control process, causing the output torque to change continuously, if the target controller is directly controlled to exit the control, the integral term will suddenly become 0, and the overall output of the controller will reduce some compensation, which may cause a large jump in the motor torque, resulting in unstable motor speed or impact on mechanical components. Therefore, it is necessary to process the exit process, and first obtain the preset delay time.

[0097] Exemplarily, the preset delay duration may be determined according to the actual operating conditions of the vehicle, and its value may be 5 ms to 50 ms, etc.; this is not limited in the embodiments of the present application.

[0098] S306, based on the preset delay time, controlling the target controller to be in an exit state.

[0099] After the preset delay time is obtained, the target controller can be controlled to enter the exit state based on the preset delay time. For example, within the preset delay time, the PI controller is still in the working state. As time goes by, the system will gradually stabilize, and the error signal obtained by the PI controller will gradually decrease and approach 0. At this time, the accumulation speed of the integral term will slow down, and the impact on the output torque will gradually decrease. After waiting for the preset delay time, the target controller is controlled to exit, which can avoid the significant impact of the integral term on the output torque.

[0100] In one implementation, a timer is set. When the second difference between the current required torque and the current actual torque is less than the second difference threshold, the vehicle controller receives a reset signal from the SR trigger. At this time, the timer is started. When the timer reaches a preset delay time, a disable action is executed to put the target controller into an exit state.

[0101] It should be understood that the disabled state and the exit state of the target controller are two different states, corresponding to different strategies. In the disabled state, even if it is detected that the parameters of the current working condition meet the conditions for starting the target controller, the target controller will not be activated for torque adjustment; while in the exit state, when it is detected that the parameters of the current working condition meet the conditions for starting the target controller, the target controller will be activated for torque adjustment.

[0102] Optionally, during the torque control process of the vehicle, additional safety checkpoints can be added to monitor parameters such as the vehicle's motor speed, motor torque or control duration. When an abnormality is detected in a parameter, the delayed operation of the target controller is terminated in a timely manner, and emergency measures are taken to handle the fault.

[0103] In an embodiment of the present application, when it is detected that the second difference between the current required torque and the current actual torque is less than the second difference threshold, the preset delay time is set to allow the target controller to continue to fine-tune the torque within the preset delay time to ensure that the actual torque smoothly reaches the required torque, and then exit the control, thereby effectively avoiding the target controller from exiting immediately, causing a sudden change in the motor torque, and then causing the vehicle to experience a sense of frustration, thereby improving the smoothness and comfort of driving.

[0104] S307, when receiving the gear switching operation of the vehicle, controlling the target controller to be in a disabled state.

[0105] Exemplarily, during the process of using a PI controller for torque regulation, if a gear switching operation of the vehicle is detected, the target controller is controlled to be in a disabled state, that is, within a preset time period, even if the vehicle driving parameters meet the conditions for torque regulation, torque regulation is not performed through the target controller.

[0106] Optionally, the implementation of S307 can refer to Figure 2 The relevant description of S201 in the present application embodiment will not be repeated here.

[0107] S308: Determine a target compensation torque based on the current required torque and the current actual torque.

[0108] Exemplarily, while the control target controller is in a disabled state, a target compensation torque required for torque compensation in the current operating condition is determined based on the current required torque and actual torque of the vehicle.

[0109] Optionally, the implementation of S308 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0110] S309: Based on the target compensation torque, the current actual torque is compensated to determine the target output torque.

[0111] Exemplarily, after the target compensation torque is determined, the current actual torque is compensated according to the target compensation torque to determine the target output torque; and then the motor system of the vehicle can be controlled according to the target output torque.

[0112] Optionally, when the time the target controller is in the disabled state reaches a preset time threshold, the target controller is controlled to exit the disabled state; after exiting the disabled state, if it is detected that the motor torque of the vehicle meets the torque condition, the target controller can be used to perform torque adjustment.

[0113] Optionally, the implementation of S309 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0114] In summary, in the embodiment of the present application, the current required torque is determined by obtaining driving data and pedal opening information, so that the vehicle can accurately perceive the driver's power demand; the target controller state is determined by using the current required torque, theoretical torque and actual torque, and the actual torque is accurately controlled in normal operation or waiting for exit state to reduce the fluctuation and setback of power output; when the difference between the required torque and the actual torque is less than the threshold, a preset delay time is introduced before the target controller is exited to avoid sudden interruption of torque control, ensure smooth transition of power output, and further improve driving comfort. When the gear switching operation is detected, the target controller is disabled to prevent the malfunction of the target controller at the moment of gear switching from causing a jump in the motor torque, causing abnormal noise in the system, protecting the transmission system from abnormal torque shock, and ensuring the stability of the motor torque output during the gear switching process; when the gear is switched, the target compensation torque is determined based on the required torque and the actual torque, and the actual torque is compensated to ensure smooth power connection before and after the gear switch.

[0115] Combination of the above Figures 1 to 3 The vehicle torque control method provided by the embodiment of the present application is described in detail; Figure 4 and Figure 5 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0116] Figure 4 It is a structural schematic diagram of a vehicle torque control device provided in an embodiment of the present application.

[0117] For example, Figure 4 As shown, the control device 400 includes: The control module 401 is used to control the target controller to be in a disabled state and obtain the current required torque and the current actual torque of the vehicle when receiving the gear switching operation of the vehicle; wherein the target controller is used to adjust the output torque of the vehicle; A first determination module 402 is used to determine a target compensation torque based on a current required torque and a current actual torque; The second determination module 403 is used to compensate the current actual torque based on the target compensation torque to determine the target output torque.

[0118] In combination with the second aspect, in some possible implementations, the control device 400 is also used to obtain the vehicle's driving data and pedal opening information; based on the driving data and pedal opening information, determine the vehicle's current required torque and current theoretical torque.

[0119] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control device 400 is also used to determine the target state of the target controller based on the current required torque, the current theoretical torque and the current actual torque; when the target state is a normal operating state or a waiting exit state, the current actual torque is adjusted based on the target controller, and the adjusted current actual torque is determined as the target output torque.

[0120] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control device 400 is also used to determine that the target state of the target controller is a normal operating state when the first difference between the current theoretical torque and the current actual torque is greater than or equal to the first difference threshold; and to determine that the target state of the target controller is a waiting exit state when the second difference between the current required torque and the current actual torque is greater than or equal to the second difference threshold.

[0121] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control device 400 is also used to obtain a preset delay time when a second difference between the current required torque and the current actual torque is less than a second difference threshold; based on the preset delay time, the target controller is controlled to be in an exit state.

[0122] In combination with the second aspect and the above-mentioned implementations, in some possible implementations, the control device 400 is further used to determine that a gear switching operation of the vehicle is received when a rising edge of the gear signal is detected.

[0123] In combination with the second aspect and the above-mentioned implementations, in some possible implementations, the control device 400 is further used to control the target controller to exit the disabled state when the duration of the target controller in the disabled state reaches a duration threshold.

[0124] It should be noted that the above-mentioned vehicle torque control device is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0125] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0126] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of 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 the present application.

[0127] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0128] For example, Figure 5 As shown, the vehicle 100 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 503, and the processor 502 is used to call and execute the executable program code 503 to perform a vehicle torque control method.

[0129] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle torque control method provided in an embodiment of the present application.

[0130] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in the current implementation.

[0131] In the case of dividing each functional module according to each function, the device may also include a control module, a first determination module, a second determination module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0132] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle torque control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0133] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0134] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0135] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle torque control method provided in the above embodiments.

[0136] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle torque control method provided in the above embodiment.

[0137] Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, digital versatile disks (DVD), compact disc read-only memory (CD-ROM), microdrives and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0138] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle torque control method provided in the above embodiment.

[0139] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0140] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In the current application, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0141] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in the current implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling vehicle torque, characterized in that: The method comprises: When receiving a gear shift operation of the vehicle, controlling the target controller to be in a disabled state, and obtaining a current required torque and a current actual torque of the vehicle; wherein the target controller is used to adjust the output torque of the vehicle; determining a target compensation torque based on the current required torque and the current actual torque; Based on the target compensation torque, the current actual torque is compensated to determine the target output torque.

2. The method according to claim 1, characterized in that The method further comprises: Acquiring driving data and pedal opening information of the vehicle; The current required torque and the current theoretical torque of the vehicle are determined based on the driving data and the pedal opening information.

3. The method according to claim 2, characterized in that The method further comprises: Determining a target state of the target controller based on the current required torque, the current theoretical torque, and the current actual torque; When the target state is a normal operating state or a waiting exit state, the current actual torque is adjusted based on the target controller, and the adjusted current actual torque is determined as the target output torque.

4. The method according to claim 3, characterized in that The determining the target state of the target controller based on the current required torque, the current theoretical torque and the current actual torque includes: In a case where a first difference between the current theoretical torque and the current actual torque is greater than or equal to a first difference threshold, determining that the target state of the target controller is the normal operating state; When a second difference between the current required torque and the current actual torque is greater than or equal to a second difference threshold, the target state of the target controller is determined to be the waiting exit state.

5. The method according to claim 4, characterized in that The method further comprises: When the second difference between the current required torque and the current actual torque is less than the second difference threshold, obtaining a preset delay time; Based on the preset delay time, the target controller is controlled to be in an exit state.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: When a rising edge of a shift signal is detected, it is determined that the shift switching operation of the vehicle is received.

7. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the time duration for which the target controller is in the disabled state reaches a time duration threshold, the target controller is controlled to exit the disabled state.

8. A vehicle torque control device, characterized in that: The control device comprises: A control module, configured to control a target controller to be in a disabled state and obtain a current required torque and a current actual torque of the vehicle when a gear shift operation of the vehicle is received; wherein the target controller is configured to adjust an output torque of the vehicle; A first determination module, configured to determine a target compensation torque based on the current required torque and the current actual torque; The second determination module is used to compensate the current actual torque based on the target compensation torque to determine the target output torque.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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