Torque zero-crossing control method and device, medium and equipment

Abstract

The invention provides a torque zero-crossing control method and device, a medium and equipment. The torque zero-crossing control method comprises the steps that a sudden change signal of a vehicle accelerator pedal is obtained; based on the abrupt change signal, the initial torque of the vehicle before abrupt change and the target torque after abrupt change are obtained; calculating a first intermediate torque and a second intermediate torque of the vehicle based on the transition torque; controlling a driving mechanism of the vehicle to output torque according to a separation stage, a transition stage and a combination stage; when the torque direction of a driving mechanism of a vehicle changes suddenly, a transition torque is determined according to vehicle state information, a first intermediate torque and a second intermediate torque are calculated, and the torque sudden change process of the driving mechanism of the vehicle is divided into a separation stage, a transition stage and a combination stage. And the torque change slope of the transition stage is set to be smaller than the torque change slopes of the separation stage and the combination stage, so that the phenomena of torque zero-crossing impact, tooth knocking and the like are relieved as much as possible on the premise of ensuring the timeliness of the sudden change of the torque of the vehicle driving mechanism.

Description

Technical Field

[0001] The present application relates to the technical field of torque zero-crossing control of a drive mechanism, and in particular to a method, device, medium and equipment for controlling torque zero-crossing. Background Art

[0002] New energy vehicles have good economy, and one of the important reasons is that they use the reverse torque of the motor to realize braking kinetic energy recovery when coasting or braking. During the driving process of new energy vehicles, the direction of the motor torque will change in the process of the accelerator pedal changing from loose to pressed (from zero to full) and from pressed to loose (from full to zero), and the torque will pass through zero. Due to the meshing characteristics of the motor gear, when the rotation direction of the motor gear changes from forward to reverse or from reverse to forward, the contact surface of the gear will cross the gear gap and transition from one tooth surface to another. If the torque passes through zero too quickly, it will cause the tooth surface that transmits the torque to collide quickly, resulting in a knocking sound, accompanied by the impact of the whole vehicle, which will affect the reliability and drivability of the whole vehicle. Therefore, there is a need for a method to effectively alleviate the knocking phenomenon of the motor and other drive mechanisms when the torque passes through zero. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a method, device, medium and equipment for controlling torque zero crossing.

[0004] According to one aspect of the present application, a torque zero-crossing control method is provided, comprising: obtaining a mutation signal of a vehicle accelerator pedal; wherein the mutation signal indicates a change in the opening of the vehicle accelerator pedal from zero to open or from open to zero during driving of the vehicle; based on the mutation signal, obtaining the initial torque of the vehicle before the mutation and the target torque after the mutation; wherein the directions of the initial torque and the target torque are opposite; based on the transition torque, calculating the first intermediate torque and the second intermediate torque of the vehicle; wherein the transition torque is determined according to the state information of the vehicle, the transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque are increased or decreased in sequence; controlling the driving mechanism of the vehicle to output torque according to a separation stage, a transition stage and a coupling stage; wherein the separation stage changes from the initial torque to the first intermediate torque, the transition stage changes from the first intermediate torque to the second intermediate torque, and the coupling stage changes from the second intermediate torque to the target torque, and the torque change slope of the separation stage and the torque change slope of the coupling stage are greater than the torque change slope of the transition stage.

[0005] In one embodiment, before calculating the first intermediate torque and the second intermediate torque of the vehicle based on the transition torque, the torque zero-crossing control method further includes: determining the transition torque according to the oil temperature and rotation speed of the driving mechanism of the vehicle.

[0006] In one embodiment, determining the transition torque based on the oil temperature and speed of the vehicle's drive mechanism includes: calibrating a relationship table between the oil temperature, speed and drag resistance of the vehicle's drive mechanism based on a vehicle bench test or a vehicle operating condition; and querying the relationship table to obtain the drag resistance of the vehicle at the current oil temperature and current speed as the transition torque.

[0007] In one embodiment, the calculation of the first intermediate torque and the second intermediate torque of the vehicle based on the transition torque includes: calculating the first intermediate torque and the second intermediate torque based on the transition torque and a preset torque difference; wherein the torque difference between the first intermediate torque and the transition torque is equal to the first preset torque difference, and the torque difference between the second intermediate torque and the transition torque is equal to the second preset torque difference.

[0008] In one embodiment, before the driving mechanism of the vehicle is controlled to output torque according to the separation phase, transition phase and engagement phase, the torque zero-crossing control method further includes: calculating the torque change slope of the transition phase based on the first intermediate torque, the second intermediate torque and a preset transition duration.

[0009] In one embodiment, controlling the driving mechanism of the vehicle to output torque according to the separation phase, the transition phase and the engagement phase includes: controlling the driving mechanism of the vehicle to output torque according to a quadratic parabola in the separation phase.

[0010] In one embodiment, controlling the driving mechanism of the vehicle to output torque according to the separation phase, the transition phase and the engagement phase includes: controlling the driving mechanism of the vehicle to output torque according to a linear curve in the transition phase and the engagement phase.

[0011] According to another aspect of the present application, a torque zero-crossing control device is provided, comprising: a mutation signal acquisition module, used to acquire a mutation signal of a vehicle accelerator pedal; wherein the mutation signal indicates a change in the opening of the vehicle accelerator pedal from zero to open or from open to zero during driving; a target torque acquisition module, used to acquire the initial torque of the vehicle before the mutation and the target torque after the mutation based on the mutation signal; wherein the directions of the initial torque and the target torque are opposite; an intermediate torque calculation module, used to calculate the first intermediate torque and the second intermediate torque of the vehicle based on the transition torque; wherein the transition torque is determined according to the state information of the vehicle, and the transition torque is determined according to the state information of the vehicle. The transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque increase or decrease in sequence; an output torque control module is used to control the vehicle's driving mechanism to output torque according to a separation phase, a transition phase and a coupling phase; wherein the separation phase changes from the initial torque to the first intermediate torque, the transition phase changes from the first intermediate torque to the second intermediate torque, and the coupling phase changes from the second intermediate torque to the target torque, and the torque change slope of the separation phase and the torque change slope of the coupling phase are greater than the torque change slope of the transition phase.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above-mentioned methods.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor is used to execute any of the above-described methods.

[0014] The present application provides a method, device, medium and equipment for controlling torque zero crossing, which obtains a mutation signal of a vehicle accelerator pedal; wherein the mutation signal indicates that the opening degree of the vehicle accelerator pedal changes from zero to open or from open to zero during driving; based on the mutation signal, obtains the initial torque of the vehicle before the mutation and the target torque after the mutation; wherein the initial torque and the target torque are in opposite directions; based on the transition torque, calculates the first intermediate torque and the second intermediate torque of the vehicle; wherein the transition torque is determined according to the state information of the vehicle, the transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque increase or decrease in sequence; controls the vehicle's driving mechanism to output torque according to the separation stage, the transition stage and the coupling stage; wherein the separation stage changes from the initial torque to the first intermediate torque , the transition stage changes from the first intermediate torque to the second intermediate torque, and the coupling stage changes from the second intermediate torque to the target torque, the torque change slope of the separation stage and the torque change slope of the coupling stage are greater than the torque change slope of the transition stage; that is, when the torque direction of the vehicle's driving mechanism suddenly changes, the initial torque before the sudden change and the target torque after the sudden change are obtained, the transition torque is determined according to the vehicle state information and the first intermediate torque and the second intermediate torque are calculated, the torque mutation process of the vehicle driving mechanism is divided into a separation stage, a transition stage and a coupling stage according to the initial torque, the first intermediate torque, the second intermediate torque and the target torque, and the torque change slope of the transition stage is set to be less than the torque change slope of the separation stage and the coupling stage, and the impact of torque zero crossing, tooth knocking and the like are alleviated as much as possible under the premise of ensuring the timeliness of the torque mutation of the vehicle driving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a flowchart of a method for controlling torque zero-crossing provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a schematic diagram of the control curve structure of torque zero crossing provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the structure of a torque zero-crossing control device provided by an exemplary embodiment of the present application.

[0019] Figure 4It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0020] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0021] Figure 1 FIG. 1 is a flow chart of a method for controlling torque zero-crossing provided by an exemplary embodiment of the present application. Figure 1 As shown, the torque zero-crossing control method includes the following steps: Step 110: Obtain a sudden change signal of the vehicle accelerator pedal.

[0022] The mutation signal indicates that the opening of the vehicle accelerator pedal changes from zero to full or from full to zero during the driving process. The driving mechanism such as the drive motor, generator or engine may change the direction of its output torque suddenly due to the sudden change of driving conditions during the process of outputting torque, such as Figure 2 The figure shows the process of the accelerator pedal opening changing from zero (first half) and zero to zero (second half) during the driving process of the vehicle, including the curve of the accelerator pedal opening changing with time, the curve of the output torque of the drive mechanism changing with time under the existing control strategy (the original output torque curve), and the curve of the output torque of the drive mechanism changing with time under the control strategy of this application (the output torque curve of this application), wherein the horizontal axis is the time axis, and the vertical axis is the accelerator pedal opening or output torque corresponding to each curve (the value of the vertical axis is only for exemplary trend display, and its specific value and unit are not limited). For example, when the drive motor is driving the vehicle (at this time the driver steps on the accelerator pedal, that is, the accelerator pedal opening is greater than zero), if the driver releases the accelerator pedal (such as Figure 2 The first half of the accelerator pedal opening curve shown is the change curve of the accelerator pedal from zero to zero). Due to the energy-saving control strategy, the drive motor will reverse to recover kinetic energy, and the rotation direction (torque direction) of the drive motor will change, that is, the output torque of the drive motor will change rapidly from positive to negative (such as Figure 2 At this time, the output torque of the drive motor changes too quickly, which causes the tooth surface of the transmission gear to switch too quickly, resulting in tooth knocking.

[0023] Step 120: Based on the mutation signal, obtain the initial torque of the vehicle before the mutation and the target torque after the mutation.

[0024] The initial torque and the target torque are in opposite directions. After obtaining a sudden change signal of the vehicle accelerator pedal, the present application obtains the initial torque of the vehicle before the sudden change based on the sudden change signal (such as Figure 2 The output torque curve of the present application is shown in the first half of A0 or the second half of A4) and the target torque after the mutation (such as Figure 2 The output torque curve of the present application is shown as A3 in the first half or A7 in the second half).

[0025] Step 130 : Calculate a first intermediate torque and a second intermediate torque of the vehicle based on the transition torque.

[0026] The transition torque is determined according to the vehicle state information, and the transition torque is between the first intermediate torque (such as Figure 2 The output torque curve of the present application shown in the front half A1 or the rear half A5) and the second intermediate torque (such as Figure 2 The output torque curve of the present application is shown in the front half of A2 or the rear half of A6), the initial torque, the first intermediate torque, the second intermediate torque and the target torque increase or decrease in sequence. The present application determines the transition torque according to the current state information of the vehicle, and based on the transition torque, calculates the first intermediate torque and the second intermediate torque of the vehicle during the torque zero crossing control process to achieve segmented control of the torque zero crossing.

[0027] Step 140: Control the driving mechanism of the vehicle to output torque according to the separation phase, transition phase and engagement phase.

[0028] Among them, the separation stage changes from the initial torque to the first intermediate torque, the transition stage changes from the first intermediate torque to the second intermediate torque, and the coupling stage changes from the second intermediate torque to the target torque, and the torque change slope of the separation stage and the torque change slope of the coupling stage are greater than the torque change slope of the transition stage. After calculating the first intermediate torque and the second intermediate torque, the present application divides the torque zero-crossing process of the driving mechanism into three processes: the separation stage, the transition stage, and the coupling stage according to the initial torque, the first intermediate torque, the second intermediate torque, and the target torque, and sets the torque change slope of the transition stage (the stage including the transition torque) to be less than the torque change slope of the separation stage and the torque change slope of the coupling stage, so as to achieve the driving mechanism to slowly pass through the transition stage and quickly pass through the separation stage and the coupling stage, while ensuring the rapid response of the torque zero-crossing and alleviating the phenomenon of tooth knocking when the torque zero-crossing is as much as possible.

[0029] The present application provides a method for controlling torque zero crossing, which obtains a mutation signal of a vehicle accelerator pedal; wherein the mutation signal indicates that the opening of the vehicle accelerator pedal changes from zero to open or from open to zero during driving; based on the mutation signal, obtain the initial torque of the vehicle before the mutation and the target torque after the mutation; wherein the initial torque and the target torque are in opposite directions; based on the transition torque, calculate the first intermediate torque and the second intermediate torque of the vehicle; wherein the transition torque is determined according to the state information of the vehicle, the transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque increase or decrease in sequence; control the vehicle's driving mechanism to output torque according to the separation stage, the transition stage and the coupling stage; wherein the separation stage changes from the initial torque to the first intermediate torque, and the transition stage changes from the initial torque to the first intermediate torque. The torque change in the separation stage is from the first intermediate torque to the second intermediate torque, and in the engagement stage is from the second intermediate torque to the target torque, the torque change slope in the separation stage and the torque change slope in the engagement stage are greater than the torque change slope in the transition stage; that is, when the torque direction of the vehicle's driving mechanism suddenly changes, the initial torque before the sudden change and the target torque after the sudden change are obtained, the transition torque is determined according to the vehicle state information, and the first intermediate torque and the second intermediate torque are calculated, and the torque sudden change process of the vehicle's driving mechanism is divided into a separation stage, a transition stage and a engagement stage according to the initial torque, the first intermediate torque, the second intermediate torque and the target torque, and the torque change slope in the transition stage is set to be less than the torque change slope in the separation stage and the engagement stage, so as to alleviate the impact of torque zero crossing, tooth knocking and the like as much as possible under the premise of ensuring the timeliness of the torque sudden change of the vehicle's driving mechanism.

[0030] In one embodiment, before step 130 , the torque zero-crossing control method may further include: determining the transition torque according to the oil temperature and rotation speed of the driving mechanism of the vehicle.

[0031] The present application determines the transition torque according to the current oil temperature and rotational speed of the driving mechanism, and determines the most appropriate transition torque in combination with the current state information of the driving mechanism, and then obtains the appropriate first intermediate torque and second intermediate torque, thereby determining a transition stage with an appropriate range to ensure that phenomena such as tooth knocking in the transition stage can be effectively alleviated.

[0032] In one embodiment, the specific method for determining the above-mentioned transition torque can be: based on the whole vehicle bench test or the whole vehicle operating condition calibration, a relationship table between the oil temperature, speed and drag resistance of the vehicle's drive mechanism is obtained; the relationship table is queried to obtain the vehicle's drag resistance at the current oil temperature and the current speed and used as the transition torque.

[0033] The present application can perform a full MAP scan of the whole vehicle through a high and low temperature powertrain bench test to determine a relationship table between the oil temperature, speed and drag resistance of the drive mechanism, or can obtain a relationship table between the oil temperature, speed and drag resistance of the drive mechanism by calibrating the working conditions one by one under the working conditions of the whole vehicle, and perform a relationship table query based on the current oil temperature and current speed of the drive mechanism during actual operation to obtain the drag resistance under the current oil temperature and current speed conditions (that is, the minimum torque required to be output by the drive mechanism to overcome the resistance during the driving process), and use the drag resistance as the transition torque of the vehicle, that is, the drag resistance in the current state of the vehicle is used as the torque zero crossing point, replacing the conventional zero torque point, so as to improve the control accuracy and effect of the torque zero crossing.

[0034] In one embodiment, the specific implementation method of the above step 130 can be: based on the transition torque and the preset torque difference, calculate the first intermediate torque and the second intermediate torque; wherein the torque difference between the first intermediate torque and the transition torque is equal to the first preset torque difference, and the torque difference between the second intermediate torque and the transition torque is equal to the second preset torque difference.

[0035] The present application calculates the first intermediate torque and the second intermediate torque based on the transition torque by setting a preset torque difference, wherein the torque difference between the first intermediate torque and the transition torque is equal to the first preset torque difference, and the torque difference between the second intermediate torque and the transition torque is equal to the second preset torque difference, wherein the first preset torque difference and the second preset torque difference may be equal or different. Figure 2 Taking the first half of the output torque curve of the present application as an example for explanation, the present application can obtain the first intermediate torque and the second intermediate torque respectively by setting the first preset torque difference and the second preset torque difference, and adding and subtracting the corresponding preset torque differences on the basis of the transition torque (the torque corresponding to the drag resistance), that is, obtaining a transition stage including a transition torque.

[0036] In one embodiment, before step 140 , the torque zero-crossing control method may further include: calculating a torque change slope in the transition phase based on the first intermediate torque, the second intermediate torque and a preset transition duration.

[0037] After calculating the first intermediate torque and the second intermediate torque, the present application calculates the torque change slope of the transition stage in combination with the preset transition time (e.g., 300 milliseconds). For example, the calculation formula of the torque change slope of the transition stage may be: Torque change slope of the transition stage = |first intermediate torque-second intermediate torque|÷preset transition time. It should be understood that since the first intermediate torque and the second intermediate torque in the present application can be calculated based on the transition torque and the first preset torque difference and the second preset torque difference, the present application may also directly determine the torque change slope of the transition stage based on the preset torque difference, that is, the torque change slope of the transition stage = (first preset torque difference + second preset torque difference)÷preset transition time.

[0038] In one embodiment, the specific implementation of the above step 140 may be: controlling the driving mechanism of the vehicle to output torque according to a quadratic parabola during the separation phase.

[0039] After determining the first intermediate torque, the present application determines the separation stage of the driving mechanism according to the initial torque and the first intermediate torque (with the initial torque and the first intermediate torque as the starting torque and the end torque, respectively), and controls the output torque of the driving mechanism according to a quadratic parabola to achieve fast and smooth output torque of the driving mechanism during the separation stage.

[0040] In one embodiment, the specific implementation of the above step 140 may be: controlling the driving mechanism of the vehicle to output torque according to a linear curve during the transition phase and the engagement phase.

[0041] After determining the first intermediate torque and the second intermediate torque, the present application determines the transition stage of the driving mechanism according to the first intermediate torque and the second intermediate torque, and determines the engagement stage of the driving mechanism according to the second intermediate torque and the target torque, and controls the output torque of the driving mechanism according to a linear curve according to the torque change slope in the transition stage and the torque change slope in the engagement stage (for example, a preset value), so as to achieve a slow output torque of the driving mechanism in the transition stage and a fast output torque in the engagement stage, thereby alleviating the impact of torque zero crossing, tooth knocking and other phenomena while ensuring the efficiency of torque zero crossing control.

[0042] Figure 3 Schematic diagram of the structure of a torque zero control device provided by an exemplary embodiment of the present application. Figure 3As shown, the torque zero control device 30 includes: a mutation signal acquisition module 31, used to acquire the mutation signal of the vehicle accelerator pedal; wherein the mutation signal indicates that the opening of the vehicle accelerator pedal changes from zero to open or from open to zero during the driving process of the vehicle; a target torque acquisition module 32, used to acquire the initial torque of the vehicle before the mutation and the target torque after the mutation based on the mutation signal; wherein the initial torque and the target torque are in opposite directions; an intermediate torque calculation module 33, used to calculate the first intermediate torque and the second intermediate torque of the vehicle based on the transition torque; wherein the transition torque is determined according to the state information of the vehicle, the transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque increase or decrease in sequence; an output torque control module 34, used to control the driving mechanism of the vehicle to output torque according to the separation stage, the transition stage and the combination stage; wherein the separation stage changes from the initial torque to the first intermediate torque, the transition stage changes from the first intermediate torque to the second intermediate torque, and the combination stage changes from the second intermediate torque to the target torque, and the torque change slope of the separation stage and the torque change slope of the combination stage are greater than the torque change slope of the transition stage.

[0043] The present application provides a torque zero-crossing control device, which obtains a sudden change signal of a vehicle accelerator pedal through a sudden change signal acquisition module 31; wherein the sudden change signal indicates that the opening degree of the vehicle accelerator pedal changes from zero to open or from open to zero during the driving process of the vehicle; the target torque acquisition module 32 obtains the initial torque of the vehicle before the sudden change and the target torque after the sudden change based on the sudden change signal; wherein the initial torque and the target torque are in opposite directions; the intermediate torque calculation module 33 calculates the first intermediate torque and the second intermediate torque of the vehicle based on the transition torque; wherein the transition torque is determined according to the state information of the vehicle, the transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque increase or decrease in sequence; the output torque control module 34 controls the vehicle's drive mechanism to output torque according to the separation stage, the transition stage and the coupling stage; wherein the separation The torque changes from the initial torque to the first intermediate torque in the separation stage, from the first intermediate torque to the second intermediate torque in the transition stage, and from the second intermediate torque to the target torque in the coupling stage. The torque change slope in the separation stage and the torque change slope in the coupling stage are greater than the torque change slope in the transition stage; that is, when the torque direction of the vehicle's driving mechanism suddenly changes, the initial torque before the sudden change and the target torque after the sudden change are obtained, the transition torque is determined according to the vehicle state information, and the first intermediate torque and the second intermediate torque are calculated. The torque mutation process of the vehicle driving mechanism is divided into a separation stage, a transition stage, and a coupling stage according to the initial torque, the first intermediate torque, the second intermediate torque, and the target torque, and the torque change slope in the transition stage is set to be less than the torque change slope in the separation stage and the coupling stage. Under the premise of ensuring the timeliness of the torque mutation of the vehicle driving mechanism, the impact of torque zero crossing, tooth knocking, and the like are alleviated as much as possible.

[0044] In one embodiment, the torque zero-crossing control device 30 may be further configured to determine the transition torque according to the oil temperature and rotation speed of the driving mechanism of the vehicle.

[0045] In one embodiment, the above-mentioned torque zero-crossing control device 30 can be further configured as: based on the whole vehicle bench test or the whole vehicle working condition, calibrate the relationship table between the oil temperature, speed and drag resistance of the vehicle's driving mechanism; query the relationship table to obtain the vehicle's drag resistance at the current oil temperature and current speed as the transition torque.

[0046] In one embodiment, the intermediate torque calculation module 33 can be further configured to calculate the first intermediate torque and the second intermediate torque based on the transition torque and the preset torque difference; wherein the torque difference between the first intermediate torque and the transition torque is equal to the first preset torque difference, and the torque difference between the second intermediate torque and the transition torque is equal to the second preset torque difference.

[0047] In one embodiment, the torque zero-crossing control device 30 may be further configured to calculate a torque change slope in the transition phase based on the first intermediate torque, the second intermediate torque and a preset transition duration.

[0048] In one embodiment, the output torque control module 34 may be further configured to control the driving mechanism of the vehicle to output torque according to a quadratic parabola during the separation phase.

[0049] In one embodiment, the output torque control module 34 may be further configured to control the driving mechanism of the vehicle to output torque according to a linear curve during the transition phase and the engagement phase.

[0050] Below, reference Figure 4 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0051] Figure 4 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0052] like Figure 4 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0053] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0054] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0055] In one example, the electronic device 10 may further include: an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0056] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0057] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0058] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0059] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0060] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0061] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0062] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0063] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0064] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0065] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0066] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0067] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0068] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling torque zero crossing, characterized in that: include: Acquire a mutation signal of the vehicle accelerator pedal; wherein the mutation signal indicates that the opening of the vehicle accelerator pedal changes from zero to full or from full to zero during the driving process of the vehicle; Based on the mutation signal, obtaining the initial torque of the vehicle before the mutation and the target torque after the mutation; wherein the directions of the initial torque and the target torque are opposite; Based on the transition torque, a first intermediate torque and a second intermediate torque of the vehicle are calculated; wherein the transition torque is determined according to the state information of the vehicle, the transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque are increased or decreased in sequence; The driving mechanism of the vehicle is controlled to output torque according to a separation phase, a transition phase and a coupling phase; wherein the separation phase changes from the initial torque to the first intermediate torque, the transition phase changes from the first intermediate torque to the second intermediate torque, and the coupling phase changes from the second intermediate torque to the target torque, and the torque change slope of the separation phase and the torque change slope of the coupling phase are greater than the torque change slope of the transition phase.

2. The torque zero-crossing control method according to claim 1, characterized in that: Before calculating the first intermediate torque and the second intermediate torque of the vehicle based on the transition torque, the torque zero-crossing control method further includes: The transition torque is determined according to the oil temperature and the rotation speed of the driving mechanism of the vehicle.

3. The torque zero-crossing control method according to claim 2, characterized in that: Determining the transition torque according to the oil temperature and the rotation speed of the driving mechanism of the vehicle comprises: A table of the relationship between the oil temperature, the rotation speed and the drag resistance of the driving mechanism of the vehicle calibrated based on a vehicle bench test or a vehicle operating condition; The relationship table is queried to obtain the drag resistance of the vehicle at the current oil temperature and the current speed and used as the transition torque.

4. The torque zero-crossing control method according to claim 1, characterized in that: The calculating the first intermediate torque and the second intermediate torque of the vehicle based on the transition torque comprises: The first intermediate torque and the second intermediate torque are calculated based on the transition torque and the preset torque difference; wherein the torque difference between the first intermediate torque and the transition torque is equal to the first preset torque difference, and the torque difference between the second intermediate torque and the transition torque is equal to the second preset torque difference.

5. The torque zero-crossing control method according to claim 1, characterized in that: Before controlling the driving mechanism of the vehicle to output torque according to the separation phase, the transition phase and the engagement phase, the torque zero-crossing control method further includes: The torque change slope of the transition phase is calculated based on the first intermediate torque, the second intermediate torque and a preset transition time.

6. The method for controlling torque zero crossing according to claim 1, characterized in that: The control of the driving mechanism of the vehicle to output torque according to the separation phase, the transition phase and the combination phase includes: The driving mechanism of the vehicle is controlled to output torque according to a quadratic parabola during the separation phase.

7. The torque zero-crossing control method according to claim 1, characterized in that: The control of the driving mechanism of the vehicle to output torque according to the separation phase, the transition phase and the combination phase includes: The driving mechanism of the vehicle is controlled to output torque according to a linear curve during the transition phase and the coupling phase.

8. A torque zero-crossing control device, characterized in that: include: A mutation signal acquisition module is used to acquire a mutation signal of a vehicle accelerator pedal; wherein the mutation signal indicates that the opening of the vehicle accelerator pedal changes from zero to full or from full to zero during the driving process of the vehicle; a target torque acquisition module, configured to acquire an initial torque of the vehicle before the mutation and a target torque after the mutation based on the mutation signal; wherein the initial torque and the target torque are in opposite directions; an intermediate torque calculation module, configured to calculate a first intermediate torque and a second intermediate torque of the vehicle based on a transition torque; wherein the transition torque is determined according to state information of the vehicle, the transition torque is between the first intermediate torque and the second intermediate torque, and the initial torque, the first intermediate torque, the second intermediate torque and the target torque are increased or decreased in sequence; The output torque control module is used to control the driving mechanism of the vehicle to output torque according to a separation phase, a transition phase and a coupling phase; wherein the separation phase changes from the initial torque to the first intermediate torque, the transition phase changes from the first intermediate torque to the second intermediate torque, and the coupling phase changes from the second intermediate torque to the target torque, and the torque change slope of the separation phase and the torque change slope of the coupling phase are greater than the torque change slope of the transition phase.

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

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method described in any one of claims 1 to 7.

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