A torque zero-crossing control method, device, medium and equipment

Abstract

The application provides a torque zero-crossing control method, device, medium and equipment. A mutation signal of an accelerator pedal of a vehicle is obtained. Based on the mutation signal, an initial torque before the mutation and a target torque after the mutation of the vehicle are obtained. Based on the transition torque, a first intermediate torque and a second intermediate torque of the vehicle are calculated. The driving mechanism of the vehicle is controlled to output torque in a separation stage, a transition stage and a combination stage. That is, when the torque direction of the driving mechanism of the vehicle is mutated, 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 driving mechanism of the vehicle is divided into the separation stage, the transition stage and the 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. Under the premise of ensuring the timeliness of the torque mutation of the driving mechanism of the vehicle, the impact of torque zero-crossing and the knocking phenomenon are relieved as much as possible.

Description

Technical Field

[0001] This application relates to the field of torque zero-crossing control technology for drive mechanisms, specifically to a torque zero-crossing control method, device, medium, and equipment. Background Technology

[0002] One key reason for the good fuel economy of new energy vehicles is their ability to recover kinetic energy during coasting or braking by reversing the motor's torque. During operation, the direction of the motor's torque changes when the accelerator pedal is released (from zero to positive) and released (from positive to zero), resulting in a torque zero-crossing condition. Due to the meshing characteristics of motor gears, when the rotation direction of the motor gears changes from forward to reverse or vice versa, the gear contact surface crosses the gear gap, transitioning from one tooth surface to another. If the torque zero-crossing occurs too quickly, it causes rapid collisions between the torque-transmitting tooth surfaces, producing a knocking sound and accompanied by a vehicle-wide impact, thus affecting the vehicle's reliability and drivability. Therefore, an effective method is needed to mitigate the knocking phenomenon in the motor and other drive mechanisms when the torque crosses zero. Summary of the Invention

[0003] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a method, apparatus, medium, and device for controlling torque zero crossing.

[0004] According to one aspect of this application, a torque zero-crossing control method is provided, comprising: acquiring a sudden change signal of a vehicle accelerator pedal; wherein the sudden change signal indicates a change in the opening of the vehicle accelerator pedal from zero to positive or from positive to zero during vehicle operation; acquiring, based on the sudden change signal, an initial torque of the vehicle before the sudden change and a target torque after the sudden change; wherein the initial torque and the target torque are in opposite directions; calculating, based on a transition torque, a first intermediate torque and a second intermediate torque of the vehicle; wherein the transition torque is determined according to the state information of the vehicle, the transition torque is located 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 sequentially; controlling the drive mechanism of the vehicle to output torque according to a separation stage, a transition stage and a engagement 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, the engagement 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 engagement 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 based on the oil temperature and rotational speed of the vehicle's drive mechanism.

[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 vehicle operating condition; querying the relationship table to obtain the drag resistance of the vehicle at the current oil temperature and current speed, and using it as the transition torque.

[0007] In one embodiment, calculating 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 drive mechanism controlling the vehicle outputs 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 drive mechanism of the vehicle to output torque according to the separation phase, the transition phase, and the engagement phase includes controlling the drive mechanism of the vehicle to output torque according to a quadratic parabola during the separation phase.

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

[0011] According to another aspect of this application, a torque zero-crossing control device is provided, comprising: a sudden change signal acquisition module, configured to acquire a sudden change signal of a vehicle accelerator pedal; wherein the sudden change signal represents a change in the opening of the vehicle accelerator pedal from zero to positive or from positive to zero during vehicle operation; a target torque acquisition module, configured to acquire, based on the sudden change signal, an initial torque of the vehicle before the sudden change and a target torque after the sudden change; wherein the initial torque and the target torque are in opposite directions; and an intermediate torque calculation module, configured to calculate, based on a transition torque, a first intermediate torque and a second intermediate torque of the vehicle; wherein the transition torque is determined according to the state information of the vehicle, and the transition torque is calculated based on the transition torque. The transition torque is located 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 sequentially; the output torque control module is used to control the drive mechanism of the vehicle to output torque according to the separation stage, the transition stage, and the engagement 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 engagement 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 engagement stage are greater than the torque change slope of the transition stage.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing any of the methods described above.

[0013] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform any of the methods described above.

[0014] This application provides a torque zero-crossing control method, device, medium, and equipment. It acquires a sudden change signal from the accelerator pedal of a vehicle; wherein the sudden change signal represents the change in the accelerator pedal opening from zero to positive or vice versa during vehicle operation; based on the sudden change signal, it acquires the initial torque before the sudden change and the target torque after the sudden change; wherein the initial torque and the target torque are in opposite directions; based on the transition torque, it calculates the first intermediate torque and the second intermediate torque of the vehicle; wherein the transition torque is determined according to the vehicle's state information and lies 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 sequentially; it controls the vehicle's drive mechanism to output torque according to a separation phase, a transition phase, and an engagement phase; wherein the separation phase changes from the initial torque to the first intermediate torque. The transition phase involves a change from the first intermediate torque to the second intermediate torque, and the engagement phase involves a change from the second intermediate torque to the target torque. The torque change slopes in the separation and engagement phases are greater than those in the transition phase. Specifically, when the torque direction of the vehicle's drive mechanism changes abruptly, the initial torque before the change and the target torque after the change are obtained. The transition torque is determined based on the vehicle's state information, and the first and second intermediate torques are calculated. Based on the initial torque, the first intermediate torque, the second intermediate torque, and the target torque, the torque change process of the vehicle's drive mechanism is divided into a separation phase, a transition phase, and an engagement phase. Furthermore, the torque change slope in the transition phase is set to be less than that in the separation and engagement phases. This approach aims to mitigate the impact and tooth knocking phenomena caused by the torque crossing to zero while ensuring the timeliness of the torque change in the vehicle's drive mechanism. Attached Figure Description

[0015] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 This is a flowchart illustrating a torque zero-crossing control method provided in an exemplary embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the control curve structure for torque zero crossing provided in an exemplary embodiment of this application.

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

[0019] Figure 4This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0020] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0021] Figure 1 This is a schematic flowchart of a torque zero-crossing control method provided in an exemplary embodiment of this application. Figure 1 As shown, the torque zero-crossing control method includes the following steps:

[0022] Step 110: Obtain the sudden change signal of the vehicle's accelerator pedal.

[0023] Among them, the abrupt change signal represents the change in the accelerator pedal opening from zero to positive or vice versa during vehicle operation. Drive mechanisms such as drive motors, generators, or engines may experience abrupt changes in the direction of their output torque due to sudden changes in driving conditions, such as... Figure 2 The diagram illustrates the change in accelerator pedal opening from on to zero (first half) and from zero to on (second half) during vehicle operation. This includes curves showing the accelerator pedal opening over time, the output torque of the drive mechanism under the existing control strategy over time (original output torque curve), and the output torque of the drive mechanism under the control strategy of this application over time (output torque curve of this application). The horizontal axis represents time, and the vertical axis represents the accelerator pedal opening or output torque corresponding to each curve (the values ​​on the vertical axis are only illustrative trends and are not limited to specific values ​​or units). For example, when the drive motor is driving the vehicle (at which time the driver is pressing the accelerator pedal, i.e., the accelerator pedal opening is greater than zero), if the driver releases the accelerator pedal (e.g., ... Figure 2 The first half of the accelerator pedal opening curve shown represents the change in accelerator pedal position from positive to zero. Due to an 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, meaning the output torque of the drive motor will rapidly change from positive to negative (e.g., ...). Figure 2 The first half of the original output torque curve is shown. At this time, the output torque of the drive motor changes too quickly, which will cause the tooth surface of the transmission gear to switch too quickly, resulting in tooth knocking.

[0024] Step 120: Based on the mutation signal, obtain the vehicle's initial torque before the mutation and the target torque after the mutation.

[0025] The initial torque and the target torque are in opposite directions. This application, after obtaining the abrupt change signal from the vehicle's accelerator pedal, obtains the vehicle's initial torque before the change (e.g., ...) based on this signal. Figure 2 The output torque curve of this application, shown as either A0 in the first half or A4 in the second half, and the target torque after the abrupt change (e.g., ... Figure 2 The output torque curve of this application is shown as either A3 in the first half or A7 in the second half.

[0026] Step 130: Based on the transition torque, calculate the first intermediate torque and the second intermediate torque of the vehicle.

[0027] The transition torque is determined based on the vehicle's state information, and the transition torque is located at the first intermediate torque (e.g., Figure 2 The output torque curve of this application shows the first half (A1) or the second half (A5) and the second intermediate torque (e.g., Figure 2 Between A2 in the first half and A6 in the second half of the output torque curve shown in this application, the initial torque, the first intermediate torque, the second intermediate torque, and the target torque increase or decrease sequentially. This application determines the transition torque based on the current state information of the vehicle, and calculates the first intermediate torque and the second intermediate torque of the vehicle during the torque zero-crossing control process based on the transition torque, so as to achieve segmented control of torque zero crossing.

[0028] Step 140: Control the vehicle's drive mechanism to output torque according to the separation phase, transition phase and engagement phase.

[0029] The process involves three stages: a separation stage where the initial torque changes to a first intermediate torque, a transition stage where the first intermediate torque changes to a second intermediate torque, and a engagement stage where the second intermediate torque changes to the target torque. The torque change slopes in the separation and engagement stages are greater than those in the transition stage. After calculating the first and second intermediate torques, this application divides the torque zero-crossing process of the drive mechanism into three stages: a separation stage, a transition stage, and an engagement stage, based on the initial torque, the first intermediate torque, the second intermediate torque, and the target torque. Furthermore, the torque change slope in the transition stage (including the transition torque) is set to be less than that in the separation and engagement stages. This allows the drive mechanism to slowly pass through the transition stage and quickly pass through the separation and engagement stages, ensuring a rapid response at zero torque while minimizing phenomena such as tooth knocking during torque zero-crossing.

[0030] This application provides a torque zero-crossing control method, which acquires a sudden change signal from the accelerator pedal of a vehicle; wherein the sudden change signal represents the change in the opening of the accelerator pedal from zero to positive or from positive to zero during vehicle operation; based on the sudden change signal, the method acquires the initial torque before the sudden change and the target torque after the sudden change; wherein the initial torque and the target torque are in opposite directions; based on the transition torque, the method calculates the first intermediate torque and the second intermediate torque of the vehicle; wherein the transition torque is determined according to the vehicle's state information and is located 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 sequentially; and controls the vehicle's drive mechanism to output torque according to a separation stage, a transition stage, and an engagement stage; wherein the separation stage changes from the initial torque to the first intermediate torque, and the transition stage... The torque change phase changes from the first intermediate torque to the second intermediate torque, and the torque change phase changes from the second intermediate torque to the target torque. The torque change slopes in the separation phase and the coupling phase are greater than the torque change slope in the transition phase. That is, when the torque direction of the vehicle's drive mechanism changes abruptly, the initial torque before the change and the target torque after the change are obtained. The transition torque is determined based on the vehicle state information, and the first intermediate torque and the second intermediate torque are calculated. Based on the initial torque, the first intermediate torque, the second intermediate torque, and the target torque, the torque change process of the vehicle's drive mechanism is divided into the separation phase, the transition phase, and the coupling phase. The torque change slope in the transition phase is set to be less than the torque change slopes in the separation phase and the coupling phase. While ensuring the timeliness of the torque change in the vehicle's drive mechanism, the impact of torque crossing zero and tooth knocking phenomena are mitigated as much as possible.

[0031] In one embodiment, prior to step 130, the above-mentioned torque zero-crossing control method may further include: determining the transition torque based on the oil temperature and rotational speed of the vehicle's drive mechanism.

[0032] This application determines the transition torque based on the current oil temperature and speed of the drive mechanism, and then determines the most suitable transition torque by combining the current state information of the drive mechanism, thereby obtaining a suitable first intermediate torque and a second intermediate torque, and thus determining a suitable transition stage to ensure that phenomena such as tooth knocking during the transition stage can be effectively alleviated.

[0033] In one embodiment, the specific method for determining the aforementioned transition torque may be: based on a table of relationships between the oil temperature, speed, and drag resistance of the vehicle's drive mechanism calibrated by a vehicle bench test or vehicle operating condition test; the drag resistance of the vehicle at the current oil temperature and current speed is obtained by querying the table and used as the transition torque.

[0034] This application can determine the relationship table between the oil temperature, speed and drag resistance of the drive mechanism by performing a full MAP scan of the whole vehicle through high and low temperature powertrain bench tests. Alternatively, it can obtain the relationship table between the oil temperature, speed and drag resistance of the drive mechanism by calibrating under each working condition of the whole vehicle. In actual operation, the relationship table is queried based on the current oil temperature and current speed of the drive mechanism to obtain the drag resistance under the current oil temperature and current speed conditions (i.e., the minimum torque required for the drive mechanism to overcome resistance during the drive process). The drag resistance is used as the transition torque of the vehicle, that is, the drag resistance of the vehicle in the current state is used as the torque zero crossing point, replacing the conventional zero torque point, so as to improve the control accuracy and effect of torque zero crossing.

[0035] In one embodiment, step 130 can be implemented as follows: 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.

[0036] This application calculates a first intermediate torque and a second intermediate torque based on a transition torque by setting a preset torque difference. 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. The first preset torque difference and the second preset torque difference may or may not be equal. Figure 2 Taking the first half of the output torque curve of this application as an example, this application can obtain the first intermediate torque and the second intermediate torque by setting a first preset torque difference and a second preset torque difference, adding and subtracting the corresponding preset torque difference on the basis of the transition torque (the torque corresponding to the drag resistance), thus obtaining a transition stage containing the transition torque.

[0037] In one embodiment, before step 140, the above-mentioned torque zero-crossing control method may further include: calculating the torque change slope during the transition phase based on the first intermediate torque, the second intermediate torque, and the preset transition time.

[0038] After calculating the first and second intermediate torques, this application calculates the torque change slope during the transition phase by combining a preset transition time (e.g., 300 milliseconds). For example, the formula for calculating the torque change slope during the transition phase can be: Torque change slope during the transition phase = |First intermediate torque - Second intermediate torque| ÷ Preset transition time. It should be understood that since the first and second intermediate torques in this application can be calculated based on the transition torque and the first and second preset torque differences, this application can also directly determine the torque change slope during the transition phase based on the preset torque differences, i.e., Torque change slope during the transition phase = (First preset torque difference + Second preset torque difference) ÷ Preset transition time.

[0039] In one embodiment, step 140 can be implemented by controlling the vehicle's drive mechanism to output torque in a quadratic parabola during the separation phase.

[0040] After determining the first intermediate torque, this application determines the separation stage of the drive mechanism based on the initial torque and the first intermediate torque (with the initial torque and the first intermediate torque being the starting torque and the ending torque, respectively), and controls the output torque of the drive mechanism according to a quadratic parabola to achieve a fast and smooth output torque of the drive mechanism during the separation stage.

[0041] In one embodiment, step 140 can be implemented by controlling the vehicle's drive mechanism to output torque according to a linear curve during the transition and engagement phases.

[0042] After determining the first intermediate torque and the second intermediate torque, this application determines the transition stage of the drive mechanism, the engagement stage of the drive mechanism, and the engagement stage of the drive mechanism based on the first intermediate torque and the second intermediate torque, and controls the output torque of the drive mechanism according to the torque change slope of the transition stage and the torque change slope of the engagement stage (e.g., a preset value) according to a linear curve, so as to realize that the output torque of the drive mechanism is slow in the transition stage and fast in the engagement stage, thereby mitigating the impact and tooth knocking phenomena of torque zero crossing while ensuring the torque zero crossing control efficiency.

[0043] Figure 3 This is a schematic diagram of the structure of a torque zero-crossing control device provided in an exemplary embodiment of this application. Figure 3As shown, the torque zero-crossing control device 30 includes: a sudden change signal acquisition module 31, used to acquire a sudden change signal of the vehicle's accelerator pedal; wherein, the sudden change signal indicates the change in the opening of the vehicle's accelerator pedal from zero to positive or from positive to zero during vehicle operation; a target torque acquisition module 32, used to acquire 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; 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 vehicle's state information, and the transition torque is located 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 sequentially; and an output torque control module 34, used to control the vehicle's drive mechanism to output torque according to the separation stage, the transition stage, and the engagement 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 engagement 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 engagement stage are greater than the torque change slope of the transition stage.

[0044] This application provides a torque zero-crossing control device, which acquires the sudden change signal of the vehicle's accelerator pedal through a sudden change signal acquisition module 31; wherein, the sudden change signal represents the change in the opening of the vehicle's accelerator pedal from zero to positive or from positive to zero during vehicle operation; a target torque acquisition module 32 acquires 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; an 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 vehicle's state information, and the transition torque is located 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 sequentially; an output torque control module 34 controls the vehicle's drive mechanism to output torque according to the separation stage, the transition stage, and the engagement stage; wherein, the separation... The torque change process of the vehicle's drive mechanism is divided into three stages: a separation stage, a transition stage, and a engagement stage. The initial torque 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 engagement stage changes from the second intermediate torque to the target torque. The torque change slopes in the separation and engagement stages are greater than those in the transition stage. Specifically, when the torque direction of the vehicle's drive mechanism changes abruptly, the initial torque before the change and the target torque after the change are obtained. The transition torque is determined based on the vehicle's state information, and the first and second intermediate torques are calculated. Based on the initial torque, the first intermediate torque, the second intermediate torque, and the target torque, the torque change process of the vehicle's drive mechanism is divided into a separation stage, a transition stage, and an engagement stage. The torque change slope in the transition stage is set to be less than that in the separation and engagement stages. This approach aims to mitigate the impact and knocking phenomena caused by the torque crossing to zero while ensuring the timeliness of the torque change in the vehicle's drive mechanism.

[0045] In one embodiment, the aforementioned torque zero-crossing control device 30 may be further configured to determine the transition torque based on the oil temperature and rotational speed of the vehicle's drive mechanism.

[0046] In one embodiment, the aforementioned torque zero-crossing control device 30 may be further configured to: calibrate a relationship table between the oil temperature, speed and drag resistance of the vehicle's drive mechanism based on a vehicle bench test or vehicle operating condition; query the relationship table to obtain the drag resistance of the vehicle at the current oil temperature and current speed and use it as the transition torque.

[0047] In one embodiment, the intermediate torque calculation module 33 can be further configured to: calculate a first intermediate torque and a 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.

[0048] In one embodiment, the aforementioned torque zero-crossing control device 30 may be further configured to: calculate the torque change slope during the transition phase based on the first intermediate torque, the second intermediate torque, and the preset transition time.

[0049] In one embodiment, the output torque control module 34 may be further configured to control the vehicle's drive mechanism to output torque according to a quadratic parabola during the separation phase.

[0050] In one embodiment, the output torque control module 34 may be further configured to control the vehicle's drive mechanism to output torque according to a linear curve during the transition and engagement phases.

[0051] Below, for reference Figure 4 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0052] Figure 4 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0053] like Figure 4 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0054] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0055] 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, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0056] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0057] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0058] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0059] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0060] Of course, for the sake of simplicity, Figure 4 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0061] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0062] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0063] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0064] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0065] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0066] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0067] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0068] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0069] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A control method of torque zero-crossing, characterized by, The method comprises: acquiring a mutation signal of a vehicle accelerator pedal; wherein the mutation signal represents a change in the opening degree of the vehicle accelerator pedal from zero to non-zero or from non-zero to zero during vehicle driving; based on the mutation signal, acquiring an initial torque before the mutation and a target torque after the mutation of the vehicle; wherein the directions of the initial torque and the target torque are opposite; based on the whole vehicle bench test or the whole vehicle working condition calibration, acquiring a relationship table between the oil temperature, the rotation speed and the drag resistance of the driving mechanism of the vehicle; querying the relationship table to obtain the drag resistance of the vehicle under the current oil temperature and the current rotation speed and taking it as a transition torque; based on the transition torque, calculating a first intermediate torque and a 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 sequentially increased or decreased; controlling the driving mechanism of the vehicle to output torque in a separation stage, a transition stage and a combination stage; wherein the torque in the separation stage changes from the initial torque to the first intermediate torque, the torque in the transition stage changes from the first intermediate torque to the second intermediate torque, the torque in the combination stage changes from the second intermediate torque to the target torque, and the torque change slope in the separation stage and the torque change slope in the combination stage are greater than the torque change slope in the transition stage.

2. The control method of torque zero-crossing according to claim 1, characterized by, The method further comprises: based on the transition torque and a preset torque difference, calculating 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 a first preset torque difference, and the torque difference between the second intermediate torque and the transition torque is equal to a second preset torque difference.

3. The control method of torque zero-crossing according to claim 1, characterized by, Before the controlling the driving mechanism of the vehicle to output torque in the separation stage, the transition stage and the combination stage, the control method further comprises: based on the first intermediate torque, the second intermediate torque and a preset transition time length, calculating the torque change slope in the transition stage.

4. The control method of torque zero-crossing according to claim 1, characterized by, The controlling the driving mechanism of the vehicle to output torque in the separation stage, the transition stage and the combination stage comprises: controlling the driving mechanism of the vehicle to output torque in a quadratic parabola in the separation stage.

5. The control method of torque zero-crossing according to claim 1, characterized by, The controlling the driving mechanism of the vehicle to output torque in the separation stage, the transition stage and the combination stage comprises: controlling the driving mechanism of the vehicle to output torque in a linear curve in the transition stage and the combination stage.

6. A control device for torque zero-crossing, characterized by, The method comprises: a mutation signal acquisition module, configured to acquire a mutation signal of a vehicle accelerator pedal; wherein the mutation signal represents a change in the opening degree of the vehicle accelerator pedal from zero to non-zero or from non-zero to zero during vehicle driving; a target torque acquisition module, configured to acquire an initial torque before the mutation and a target torque after the mutation of the vehicle based on the mutation signal; wherein the directions of the initial torque and the target torque are opposite; An intermediate torque calculation module is 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 sequentially increased or decreased; An output torque control module is configured to control the drive mechanism of the vehicle to output torque in a separation stage, a transition stage and a 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; The torque zero-crossing control device is further configured to: obtain a relationship table of oil temperature, speed and drag resistance of the drive mechanism of the vehicle based on a whole vehicle bench test or a whole vehicle working condition calibration; query the relationship table to obtain the drag resistance of the vehicle at the current oil temperature and the current speed as the transition torque.

7. 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 in any one of claims 1-5.

8. An electronic device, comprising: comprise: a processor; a memory for storing instructions executable by the processor; the processor is configured to execute the method in any one of claims 1-5.

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