Torque adjusting method and device and vehicle

Abstract

The invention provides a torque adjusting method and device and a vehicle. The method can be applied to the field of intelligent driving. The method comprises the following steps: acquiring a request torque value; determining an intervention torque value according to the fluctuation amplitude of the rotating speed of the motor; and controlling a driving motor according to the request torque value and the intervention torque value. The embodiment of the invention can be applied to an intelligent automobile or an electric automobile, and when the automobile runs on some special road surfaces, the torque intervention is performed, so that the slip rate of the wheels is favorably inhibited from being increased, and the triggering probability of a TCS, an ABS or a DTC is reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and more specifically, to a torque adjustment method, device, and vehicle. Background Art

[0002] When a vehicle passes through an abnormal paved road surface, the wheels may be off the ground or in a slipping state. At this time, the wheels are affected by the driving torque or the energy recovery torque, which will cause the wheel speed and speed deviation to increase, resulting in the slip ratio or the sliding ratio breaking through a certain threshold, thereby prematurely triggering the traction control system (TCS), the antilock brake system (ABS), or the dynamic traction control (DTC). Summary of the Invention

[0003] The present application provides a torque adjustment method, device, and vehicle. When the vehicle is driving on certain special road surfaces, torque intervention is performed, which helps to inhibit the increase of the slip ratio, thereby reducing the triggering probability of TCS, ABS, or DTC.

[0004] In a first aspect, a torque adjustment method is provided. The method includes: obtaining a requested torque value; determining a first intervention torque value according to the fluctuation amplitude of the motor speed; and controlling a drive motor according to the requested torque value and the first intervention torque value.

[0005] When the vehicle is driving or recovering energy, too large a fluctuation amplitude of the motor speed will cause the wheel speed to fluctuate. If the deviation between the wheel speed and the vehicle speed increases, the slip ratio or the sliding ratio will reach the triggering threshold prematurely. Based on the above technical solution, by controlling the drive motor through the requested torque and the intervention torque determined by the fluctuation amplitude of the motor speed, the fluctuation of the motor speed during driving or energy recovery of the vehicle can be inhibited. Equivalently acting on the wheels, the fluctuation of the wheel speed can be inhibited, thereby inhibiting the slip ratio or the sliding ratio and reducing the triggering probability of TCS, ABS, or DTC.

[0006] When TCS, ABS, or DTC is triggered, the vehicle will significantly reduce the driving torque, resulting in user complaints about the power jerks of the vehicle and long-term power limitation; or, the vehicle will exit the energy recovery state, resulting in the driver being unable to use energy recovery for a period of time. For drivers who are accustomed to using energy recovery to control deceleration, the sudden exit of energy recovery and the long-term non-restoration will affect the handling safety and may even lead to the occurrence of rear-end accidents.

[0007] Based on the above technical solution, by reducing the triggering probability of TCS, ABS or DTC, it is possible to avoid the user feeling the power jerks or the vehicle surging forward after the triggering of TCS, ABS or DTC.

[0008] In some possible implementation manners, a mapping relationship between a fluctuation amplitude and an intervention torque value is stored in the vehicle. Determining a first intervention torque value according to the fluctuation amplitude of the motor speed includes: determining the first intervention torque value according to the fluctuation amplitude of the motor speed and this mapping relationship.

[0009] In some possible implementation manners, the fluctuation amplitude and the intervention torque value may satisfy a preset function or formula, where the fluctuation amplitude may be used as an input and the intervention torque value may be used as an output.

[0010] Combined with the first aspect, in certain implementation manners of the first aspect, determining the first intervention torque value according to the fluctuation amplitude of the motor speed includes: determining the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed.

[0011] Based on the above technical solution, by the requested torque and the intervention torque determined by the fluctuation amplitude and the fluctuation frequency of the motor speed, controlling the vehicle to perform driving or energy recovery can suppress the speed fluctuation of the motor and also suppress the wheel speed fluctuation of the wheels, thereby helping to suppress the slip ratio or the skid ratio and reducing the triggering probability of TCS, ABS or DTC.

[0012] In some possible implementation manners, a mapping relationship between a fluctuation frequency, a fluctuation amplitude and an intervention torque value is stored in the vehicle. Determining the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed includes: determining the first intervention torque value according to the fluctuation frequency, the fluctuation amplitude of the motor speed and this mapping relationship.

[0013] Combined with the first aspect, in certain implementation manners of the first aspect, determining the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed includes: determining the road surface type where the vehicle is currently located according to the fluctuation frequency and the fluctuation amplitude; determining the first intervention torque value according to the road surface type.

[0014] Based on the above technical solution, the road surface type can be determined by the fluctuation frequency and the fluctuation amplitude of the motor speed, and thus the intervention torque value can be determined according to the road surface type. In this way, when the vehicle is in different road surface types, the intervention torque value suitable for the current road surface type can be flexibly adjusted. In this way, it helps to achieve precise control of the drive motor, and can effectively suppress the slip ratio or the skid ratio for different road surface types, and reduce the triggering probability of TCS, ABS or DTC.

[0015] In some possible implementation manners, when the fluctuation frequency is low and the fluctuation amplitude is high, the road surface type can be determined as a slippery road surface; or when the fluctuation frequency is high and the fluctuation amplitude is low, the road surface type can be determined as a bumpy road surface.

[0016] In some possible implementation manners, a mapping relationship between the road surface type and the intervention torque value is stored in the vehicle. Determining the first intervention torque value according to the road surface type includes: determining the first intervention torque value according to the road surface type and the mapping relationship.

[0017] In some possible implementation manners, the intervention torque value corresponding to a slippery road surface is greater than the intervention torque value corresponding to a bumpy road section.

[0018] Combined with the first aspect, in some implementation manners of the first aspect, the method further includes: determining a second intervention torque value according to the equivalent rotational inertia at the wheel end; where controlling the drive motor according to the requested torque value and the first intervention torque value includes: determining a third intervention torque value according to the first intervention torque value and the second intervention torque value; and controlling the drive motor according to the requested torque value and the third intervention torque value.

[0019] Based on the above technical solution, by determining the third intervention torque value through the equivalent rotational inertia at the wheel end, the fluctuation frequency, and the fluctuation amplitude, the correction of the requested torque value can be made more accurate, and the suppression effect on the wheel speed fluctuation is further improved.

[0020] In some possible implementation manners, the third intervention torque value can be the average value of the first intervention torque value and the second intervention torque value.

[0021] In some possible implementation manners, the third intervention torque value can be the smaller torque value between the first intervention torque value and the second intervention torque value.

[0022] Combined with the first aspect, in some implementation manners of the first aspect, the method further includes: obtaining the first road surface type where the vehicle is currently located; determining a first weighting value and a second weighting value according to the first road surface type, where the first weighting value is the weighting value corresponding to the first intervention torque value, and the second weighting value is the weighting value determined for the second intervention torque value; where determining the third intervention torque value according to the first intervention torque value and the second intervention torque value includes: determining the third intervention torque value according to the first intervention torque value, the second intervention torque value, the first weighting value, and the second weighting value.

[0023] Based on the above technical solution, for different road surface types, different weighting values can be configured for the first intervention torque and the second intervention torque, so that the weighting values are more in line with the current road surface type, which helps to achieve precise control of the torque value of the drive motor. For different road surface types, the slip ratio or the skid ratio can be effectively suppressed, and the triggering probability of TCS, ABS or DTC can be reduced.

[0024] In some possible implementation manners, the mapping relationship between the road surface type, the weighting value corresponding to the first intervention torque value and the weighting value corresponding to the second intervention torque value is stored in the vehicle. According to the first road surface type, the first weighting value and the second weighting value are determined, including: determining the first weighting value and the second weighting value according to the first road surface type and the mapping relationship.

[0025] Combined with the first aspect, in some implementation manners of the first aspect, the obtaining of the first road surface type where the vehicle is currently located includes: determining the first road surface type according to the fluctuation frequency and the fluctuation amplitude of the motor speed, and / or, the equivalent rotational inertia at the wheel end.

[0026] Exemplarily, when the equivalent rotational inertia at the wheel end is located in (0.6, 1.7), it can be determined that the current road surface type is a slippery section; when the equivalent rotational inertia at the wheel end is located in (0.15, 0.33), it can be determined that the current road surface type is a bumpy section.

[0027] Combined with the first aspect, in some implementation manners of the first aspect, the obtaining of the first road surface type where the vehicle is currently located includes: receiving the information of the first road surface type sent by the autonomous driving controller.

[0028] Based on the above technical solution, the data collected by the out-of-cockpit sensor (such as a camera) can be combined to determine the current road surface type.

[0029] Combined with the first aspect, in some implementation manners of the first aspect, when the first road surface type indicates that the vehicle is on a slippery road surface, the first weighting value is less than the second weighting value; or, when the first road surface type indicates that the vehicle is on a bumpy road surface, the first weighting value is greater than the second weighting value.

[0030] Based on the above technical solution, through the analysis of different road surface types, it can be seen that when the vehicle is on a slippery road surface, the first weighting value is less than the second weighting value, which can make the fluctuations of the motor speed and the wheel speed smaller when the vehicle passes through the slippery road surface; when the vehicle is on a bumpy road surface, the first weighting value is greater than the second weighting value, which can make the fluctuations of the motor speed and the wheel speed smaller when the vehicle passes through the bumpy road surface. In this way, for different road surface types, by setting different weighting values for the first intervention torque value and the second intervention torque value, the slip ratio or the skid ratio of the vehicle on its corresponding road surface type can be effectively suppressed, and the triggering probability of TCS, ABS or DTC can be reduced.

[0031] Combined with the first aspect, in some implementation manners of the first aspect, the requested torque is a driving requested torque, and the controlling the driving motor according to the requested torque value and the first intervention torque value includes: controlling the driving motor to perform driving according to the driving requested torque value and the first intervention torque value.

[0032] Combined with the first aspect, in some implementation manners of the first aspect, the requested torque is an energy recovery torque, and the controlling the driving motor according to the requested torque value and the first intervention torque value includes: controlling the driving motor to perform energy recovery according to the energy recovery torque value and the first intervention torque value.

[0033] In a second aspect, a torque adjustment device is provided. The device includes: an acquisition unit for acquiring a requested torque value; a determination unit for determining a first intervention torque value according to the fluctuation amplitude of the motor speed; and a control unit for controlling a driving motor according to the requested torque value and the first intervention torque value.

[0034] Combined with the second aspect, in some implementation manners of the second aspect, the determination unit is configured to: determine the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed.

[0035] Combined with the second aspect, in some implementation manners of the second aspect, the determination unit is configured to: determine the road surface type where the vehicle is currently located according to the fluctuation frequency and the fluctuation amplitude; and determine the first intervention torque value according to the road surface type.

[0036] Combined with the second aspect, in some implementation manners of the second aspect, the determination unit is further configured to determine a second intervention torque value according to the equivalent rotational inertia of the wheel end; the determination unit is further configured to: determine a third intervention torque value according to the first intervention torque value and the second intervention torque value; and the control unit is configured to control the driving motor according to the requested torque value and the third intervention torque value.

[0037] In combination with the second aspect, in some implementations of the second aspect, the obtaining unit is further configured to obtain the first road surface type where the vehicle is currently located; the determining unit is configured to: determine a first weighting value and a second weighting value according to the first road surface type, where the first weighting value is the weighting value corresponding to the first intervention torque value, and the second weighting value is the weighting value determined for the second intervention torque value; determine the third intervention torque value according to the first intervention torque value, the second intervention torque value, the first weighting value, and the second weighting value.

[0038] In combination with the second aspect, in some implementations of the second aspect, the determining unit is configured to: determine the first road surface type according to the fluctuation frequency and the fluctuation amplitude of the motor speed, and / or, the equivalent rotational inertia at the wheel end.

[0039] In combination with the second aspect, in some implementations of the second aspect, the obtaining unit is configured to: receive the information of the first road surface type sent by the autonomous driving controller.

[0040] In combination with the second aspect, in some implementations of the second aspect, when the first road surface type indicates that the vehicle is on a slippery road surface, the first weighting value is less than the second weighting value; or, when the first road surface type indicates that the vehicle is on a bumpy road surface, the first weighting value is greater than the second weighting value.

[0041] In a third aspect, a torque adjustment device is provided, the device includes a processing unit and a storage unit, where the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes any possible method in the first aspect.

[0042] In a fourth aspect, a torque adjustment system is provided, the system includes a motor controller and a drive motor, where the motor controller includes any possible device in the second aspect or the third aspect; or, the system includes a vehicle controller, a motor controller, and a drive motor, where the vehicle controller includes any possible device in the second aspect or the third aspect.

[0043] In a fifth aspect, a vehicle is provided, the vehicle includes any possible device in the second aspect, or includes the device described in the third aspect, or includes the system described in the fourth aspect.

[0044] In a sixth aspect, a computer program product is provided, the computer program product includes: computer program code, when the computer program code runs on a computer, it causes the computer to execute any possible method in the first aspect.

[0045] It should be noted that the above computer program code can be stored in whole or in part on the first storage medium. The first storage medium can be packaged together with the processor or separately packaged from the processor. The embodiments of the present application do not make specific limitations in this regard.

[0046] In a seventh aspect, a computer-readable medium is provided. The computer-readable medium stores program code. When the computer program code runs on a computer, the computer is caused to execute any one of the possible methods in the first aspect above.

[0047] In an eighth aspect, an embodiment of the present application provides a chip system. The chip system includes a processor for calling a computer program or computer instruction stored in a memory, so that the processor executes any one of the possible methods in the first aspect above.

[0048] In combination with the eighth aspect, in a possible implementation, the processor is coupled to the memory through an interface.

[0049] In combination with the eighth aspect, in a possible implementation, the chip system further includes a memory, and a computer program or computer instruction is stored in the memory. Description of the Drawings

[0050] Figure 1 It is a schematic functional block diagram of a vehicle provided by an embodiment of the present application.

[0051] Figure 2 It is a schematic flowchart of a torque adjustment method provided by an embodiment of the present application.

[0052] Figure 3 It is a schematic block diagram of a system architecture provided by an embodiment of the present application.

[0053] Figure 4 It is another schematic block diagram of a system architecture provided by an embodiment of the present application.

[0054] Figure 5 It is a schematic flowchart of a torque adjustment method provided by an embodiment of the present application.

[0055] Figure 6 It is a schematic block diagram of a torque adjustment device provided by an embodiment of the present application. Detailed Embodiments

[0056] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B can mean A or B; "and / or" herein is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. These three situations.

[0057] In the embodiments of the present application, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no restrictive effect on the position, order, priority, quantity, content, etc. of the described objects. The use of prefix words such as ordinal numbers for distinguishing described objects in the embodiments of the present application does not constitute a restriction on the described objects. The statements of the described objects shall refer to the descriptions in the context of the claims or embodiments, and shall not constitute redundant restrictions due to the use of such prefix words. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0058] Figure 1 It is a schematic functional block diagram of a vehicle 100 provided by an embodiment of the present application. The vehicle 100 may include a perception system 120, a display device 130, and a computing platform 150. Among them, the perception system 120 may include one or more sensors for sensing information about the environment around the vehicle 100. For example, the perception system 120 may include a positioning system, and the positioning system may be a global positioning system (GPS), or a Beidou system or other positioning systems. The perception system 120 may also include one or more of an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0059] Some or all functions of vehicle 100 may be controlled by computing platform 150. Computing platform 150 may include one or more processors, such as processors 151 to 15n (n is a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, a processor may be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP), etc.; in another implementation, a processor may achieve certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of a processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of a processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, computing platform 150 may further include a memory for storing instructions, and some or all of processors 151 to 15n may call the instructions in the memory to achieve corresponding functions.

[0060] The display device 130 in the cockpit is mainly divided into two categories, the first category is the vehicle display screen; the second category is the projection display screen, such as HUD. The vehicle display screen is a physical display screen and an important part of the vehicle infotainment system. Multiple display screens can be set in the cockpit, such as a digital instrument display screen, a central control screen, a display screen in front of the passenger in the co-pilot seat (also called the front passenger), a display screen in front of the left rear passenger, and a display screen in front of the right rear passenger. Even the window can be used as a display screen for display. Head-up display, also known as a head-up display system. It is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as a windshield). To reduce the driver's line of sight transfer time, avoid pupil changes caused by the driver's line of sight transfer, and improve driving safety and comfort. HUD includes, for example, a combined head-up display (combiner-HUD, C-HUD) system, a windshield head-up display (windshield-HUD, W-HUD) system, and an augmented reality head-up display system (augmented reality HUD, AR-HUD). HUD may also develop other types of systems as technology evolves, and this application is not limited to this.

[0061] Figure 2 A schematic flow chart of a torque regulation method 200 provided in an embodiment of the present application is shown. The method 200 may be executed by the vehicle 100, or the method 200 may be executed by the computing platform 120, or the method 200 may be executed by a system-on-a-chip (SoC) in the computing platform 120, or the method 200 may be executed by a processor, circuit or chip in the computing platform 120, or the method 200 may be executed by a vehicle control unit (VCU), or the method 200 may be executed by a motor control unit (MCU). Figure 2 As shown, the method 200 includes:

[0062] S201, obtaining a requested torque value.

[0063] Taking the method 200 executed by MCU as an example, the MCU can obtain the command torque value from the VCU. The MCU performs filtering on the command torque value and obtains the absolute value to obtain the requested torque value.

[0064] For example, taking the vehicle in driving state as an example, the command torque value is +1050Nm ("+" indicates that the rotation speed direction of the drive motor drives the vehicle), the MCU can filter the request torque value to determine that the request torque value is 1000Nm.

[0065] For example, taking the vehicle in the energy recovery state as an example, the commanded torque value is -1050 Nm (the "-" indicates that the rotational speed direction of the drive motor causes braking or energy recovery of the vehicle). The MCU can take the absolute value of the requested torque value and perform filtering to determine that the requested torque value is 1000 Nm.

[0066] S202. Determine a first intervention torque value according to the fluctuation amplitude of the motor speed.

[0067] Optionally, the determining of the first intervention torque value according to the fluctuation amplitude of the motor speed includes: determining the first intervention torque value according to the fluctuation amplitude of the motor speed and the mapping relationship, where the mapping relationship includes the mapping relationship between the fluctuation amplitude and the intervention torque value.

[0068] Exemplarily, Table 1 shows the mapping relationship between the fluctuation amplitude and the intervention torque value.

[0069] Table 1

[0070] Fluctuation amplitude Intervention torque value (0％，5％) 0 [5％，10％) Requested torque value × 10% [10％，20％) Requested torque value × 20% … …

[0071] For example, when the fluctuation amplitude of the motor speed is 15%, the first intervention torque value can be determined to be 20% of the requested torque value according to the mapping relationship shown in Table 1. If the requested torque value is 1000 Nm, then the first intervention torque value T2 is 200 Nm.

[0072] Optionally, the fluctuation amplitude and the intervention torque value can satisfy a preset function or formula, where the fluctuation amplitude can be used as an input and the intervention torque value can be used as an output.

[0073] Optionally, the determining of the first intervention torque value according to the fluctuation amplitude of the motor speed includes: determining the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed.

[0074] Optionally, the determining of the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed includes: determining the first intervention torque value according to the fluctuation frequency, the fluctuation amplitude of the motor speed, and the mapping relationship, where the mapping relationship includes the mapping relationship between the fluctuation frequency, the fluctuation amplitude, and the intervention torque value.

[0075] Exemplarily, Table 2 shows the mapping relationship between the fluctuation frequency, the fluctuation amplitude, and the intervention torque value.

[0076] Table 2

[0077] Fluctuation frequency Fluctuation amplitude Intervention torque value (9Hz, 11Hz) (0％，5％) 0 (2Hz, 2.5Hz) [5％，10％) Requested torque value × 20% (1.5Hz, 2Hz] (10％，20％] Requested torque value × 30% … … …

[0078] The values shown in Table 2 above are merely illustrative, and the embodiments of the present application do not make specific limitations thereto.

[0079] For example, when the fluctuation frequency of the motor speed is 2.3 Hz and the fluctuation amplitude is 8%, the first intervention torque value can be determined as 20% of the requested torque value according to the mapping relationship shown in Table 2. If the requested torque value is 1000 Nm, then the first intervention torque value is 200 Nm.

[0080] Optionally, the fluctuation frequency, the fluctuation amplitude, and the intervention torque value may satisfy a preset function or formula, where the fluctuation frequency and the fluctuation amplitude may be used as inputs, and the intervention torque value may be used as an output.

[0081] Optionally, determining the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed includes: determining the road surface type where the vehicle is currently located according to the fluctuation frequency and the fluctuation amplitude; and determining the first intervention torque value according to the road surface type.

[0082] Optionally, the intervention torque value corresponding to a slippery road surface is greater than the intervention torque value corresponding to a bumpy road section.

[0083] Exemplarily, for a slippery road surface, the first intervention torque value may be 30% of the requested torque value; for a bumpy road surface, the first intervention torque value may be 20% of the requested torque value.

[0084] Exemplarily, Table 3 shows the mapping relationship between the fluctuation frequency, the fluctuation amplitude, and the road surface type.

[0085] Table 3

[0086] Fluctuation frequency Fluctuation amplitude Road surface type (9Hz, 11Hz) (0％，5％) Normal road surface (2Hz, 2.5Hz) [5％，10％) Bumpy road surface (1.5Hz, 2Hz] (10％，20％] Slippery road surface … … …

[0087] Exemplarily, at a low fluctuation frequency and a high fluctuation amplitude, the road surface type can be determined to be a slippery road surface; or, at a high fluctuation frequency and a low fluctuation amplitude, the road surface type can be determined to be a bumpy road surface.

[0088] Exemplarily, when the fluctuation frequency of the motor speed is 2.3 Hz and the fluctuation amplitude is 8%, it can be determined according to the mapping relationship shown in Table 3 that the road surface where the vehicle is currently located is a bumpy road surface. If the requested torque value is 1000 Nm, then the first intervention torque value is 200 Nm.

[0089] Optionally, the method 200 further includes: determining a second intervention torque value according to the equivalent rotational inertia at the wheel end. Exemplarily, the MCU can determine a third intervention torque value according to the first intervention torque value and the second intervention torque value and correct the requested torque value according to the third intervention torque value to obtain a corrected requested torque value.

[0090] Exemplarily, according to the motor motion equation: T e -T L = J * d w / dt J can be obtained as J = (T e - T L ) / (d w / d t ), where T e is the electromagnetic torque output by the drive motor, T L is the load torque received by the drive motor, J is the equivalent rotational inertia at the wheel end, and w is the rotational speed of the drive motor.

[0091] In the embodiments of the present application, considering different road surface types, the corresponding equivalent rotational inertia J at the wheel end is different. By calculating the equivalent rotational inertia J at the wheel end, the road surface type where the vehicle is located can be further determined. For example, when the road surface where the vehicle is located is an abnormal road surface (such as a bumpy road surface, a speed bump, a pothole or a slippery road surface, etc.), the requested torque value can be corrected, thereby suppressing the fluctuation of the motor speed. Equivalently acting on the wheels, the fluctuation of the wheel speed can be suppressed, and finally the slip ratio of the vehicle can be controlled within the thresholds triggered by TCS, ABS or DTC.

[0092] Optionally, determining the second intervention torque value according to the equivalent rotational inertia at the wheel end includes: determining the second intervention torque value according to the equivalent rotational inertia at the wheel end and the mapping relationship, where the mapping relationship includes the mapping relationship between the equivalent rotational inertia at the wheel end and the intervention torque value.

[0093] Exemplarily, Table 4 shows the mapping relationship between the equivalent rotational inertia at the wheel end and the intervention torque value.

[0094] Table 4

[0095] Equivalent moment of inertia Intervention torque value (0，0.03) 0 (0.15，0.21) Requested torque value × 10% [0.21，0.27) Requested torque value × 20% [0.27，0.33) Requested torque value × 30% (0.6，1) Requested torque value × 10% [1，1.4) Requested torque value × 20% [1.4，1.7) Requested torque value × 30% … …

[0096] For example, when the current equivalent rotational inertia of the vehicle is 0.18 kg·m 2 , the second intervention torque value can be determined as 10% of the requested torque value according to the mapping relationship shown in Table 4. If the requested torque value is 1000 Nm, then the second intervention torque value is 100 Nm.

[0097] Optionally, the third intervention torque value can be the average of the first intervention torque value and the second intervention torque value.

[0098] Exemplarily, if the first intervention torque value is 100 Nm and the second intervention torque value T2 is 200 Nm, then the third intervention torque value can be 150 Nm.

[0099] Optionally, the third intervention torque value can be the smaller torque value of the first intervention torque value and the second intervention torque value.

[0100] Exemplarily, if the first intervention torque value is 100 Nm and the second intervention torque value T2 is 200 Nm, then the third intervention torque value can be 100 Nm.

[0101] Optionally, the method 200 further includes: obtaining a first road surface type where the vehicle is currently located; determining a first weighting value and a second weighting value according to the first road surface type, where the first weighting value is the weighting value corresponding to the first intervention torque value, and the second weighting value is the weighting value determined for the second intervention torque value; wherein, determining the third intervention torque value according to the first intervention torque value and the second intervention torque value includes: determining the third intervention torque value according to the first intervention torque value, the second intervention torque value, the first weighting value, and the second weighting value.

[0102] Optionally, determining the first weighting value and the second weighting value according to the first road surface type includes: determining the first weighting value and the second weighting value according to the first road surface type and the mapping relationship, where the mapping relationship includes the mapping relationship between the road surface type, the weighting value corresponding to the first intervention torque value, and the weighting value corresponding to the second intervention torque value.

[0103] Optionally, when the first road surface type indicates that the vehicle is on a slippery road surface, the first weighting value is less than the second weighting value; or, when the first road surface type indicates that the vehicle is on a bumpy road surface, the first weighting value is greater than the second weighting value.

[0104] Exemplarily, Table 5 shows a mapping relationship between a road surface type, a first weighting value, and a second weighting value.

[0105] Table 5

[0106] Road surface type First weighting value Second weighting value Road surface including speed bumps 0.7 0.3 Potholed road surface 0.6 0.4 Slippery road surface 0.3 0.7 … … …

[0107] Exemplarily, the first intervention torque value calculated through the fluctuation frequency and the fluctuation amplitude is 300 Nm, and the second intervention torque value calculated through the equivalent rotational inertia at the wheel end is 400 Nm. When it is determined that the vehicle is currently on a slippery road surface, the first weighting value can be determined to be 0.3 and the second weighting value can be determined to be 0.7 through the mapping relationship shown in Table 5, so that the third intervention torque value can be determined to be 370 Nm.

[0108] Optionally, obtaining the first road surface type where the vehicle is currently located includes: determining the first road surface type according to the fluctuation frequency and the fluctuation amplitude of the motor speed, and / or, the equivalent rotational inertia at the wheel end.

[0109] The process of determining the road surface type through the fluctuation frequency and the fluctuation amplitude of the motor speed can refer to the description in the above embodiments and will not be elaborated here.

[0110] Exemplarily, taking the vehicle mass of 2 tons as an example, the mapping relationship between the road surface type where the vehicle is located and the equivalent rotational inertia at the wheel end can be as shown in Table 6.

[0111] Table 6

[0112] Road surface type Equivalent moment of inertia at wheel end Normal road surface (0，0.03) Road surface including speed bumps or potholed road surface (0.15，0.33) Slippery road surface (0.6，1.7) … …

[0113] Exemplarily, when the equivalent rotational inertia at the wheel end is within (0.6, 1.7), it can be determined that the current road surface type is a slippery section; when the equivalent rotational inertia at the wheel end is within (0.15, 0.33), it can be determined that the current road surface type is a bumpy section.

[0114] Optionally, obtaining the first road surface type where the vehicle is currently located includes: receiving the information of the first road surface type sent by the autonomous driving controller.

[0115] Taking the execution of the method 200 by the MCU as an example, the MCU can obtain the road surface type where the vehicle is currently located from the autonomous driving controller. The MCU can determine the first weighting value and the second weighting value in combination with the road surface type and the mapping relationship shown in Table 5.

[0116] S203, controlling the drive motor according to the requested torque value and the first intervention torque value.

[0117] Optionally, controlling the drive motor according to the requested torque value and the first intervention torque value includes: determining a corrected requested torque value according to the requested torque value and the first intervention torque value; controlling the drive motor according to the corrected requested torque value. Exemplarily, the corrected requested torque value is the requested torque value minus the first intervention torque value.

[0118] Exemplarily, if the requested torque value is 1000 Nm and the first intervention torque value is 200 Nm, then the MCU can determine that the corrected requested torque value is 800 Nm.

[0119] Optionally, controlling the drive motor according to the requested torque value and the first intervention torque value includes: determining a third intervention torque value according to the first intervention torque value and the second intervention torque value; controlling the drive motor according to the requested torque value and the third intervention torque value.

[0120] Optionally, controlling the drive motor according to the requested torque value and the third intervention torque value includes: determining a corrected requested torque value according to the requested torque value and the third intervention torque value; controlling the drive motor according to the corrected requested torque value. Exemplarily, the corrected requested torque value is the requested torque value minus the third intervention torque value.

[0121] Exemplarily, if the requested torque value is 1000 Nm, the first intervention torque value is 200 Nm, and the second intervention torque value is 300 Nm, the MCU can determine that the third intervention torque value is 250 Nm. The MCU can determine the corrected requested torque value to be 750 Nm.

[0122] Exemplarily, taking the vehicle in the driving state as an example, the corrected torque request value is 300 Nm, and the MCU can control the drive motor to output a drive torque of +300 Nm ("+" indicates that the rotational speed direction of the drive motor enables the vehicle to be driven).

[0123] Exemplarily, taking the vehicle in the energy recovery state as an example, the corrected torque request value is 300 Nm, and the MCU can control the drive motor to output a braking torque of -300 Nm ("-" indicates that the rotational speed direction of the drive motor enables the vehicle to be braked or energy recovered).

[0124] Optionally, the requested torque is a drive request torque, and controlling the drive motor according to the requested torque value and the first intervention torque value includes: controlling the drive motor to drive according to the drive request torque value and the first intervention torque value.

[0125] Optionally, the requested torque is an energy recovery torque, and controlling the drive motor according to the requested torque value and the first intervention torque value includes: controlling the drive motor to perform energy recovery according to the energy recovery torque value and the first intervention torque value.

[0126] In one embodiment, the method 200 further includes: when the number of torque interventions during controlling the vehicle to perform energy recovery is greater than or equal to a preset number, controlling the vehicle to perform energy recovery according to the historical torque intervention value; or when the duration of torque intervention during controlling the vehicle to perform energy recovery is greater than or equal to a preset duration, controlling the vehicle to perform energy recovery according to the historical torque intervention value.

[0127] Exemplarily, the number of torque interventions by the MCU is greater than or equal to 3 times. For example, at time T a -T b , the requested torque value is 1000 Nm and the intervention torque value is 200 Nm. The MCU can control the drive motor according to the difference between the requested torque value and the intervention torque value (800 Nm). For another example, at time T b -T c , the requested torque value is 800 Nm and the intervention torque value is 200 Nm. The MCU can control the drive motor according to the difference between the requested torque value and the intervention torque value (600 Nm). For another example, at time T c -T dAt a moment, the requested torque value is 500 Nm and the intervention torque value is 100 Nm. The MCU can control the drive motor according to the difference between the requested torque value and the intervention torque value (400 Nm). After the vehicle has performed 3 torque interventions, it can be at T d After the moment, the MCU can use the average value of the torques used by the motor in the previous 3 times (for example, 600 Nm) to control the drive motor.

[0128] Exemplarily, when the duration of the torque intervention by the MCU is greater than or equal to 30 seconds (second, s), the MCU can perform driving or energy recovery according to the average value of the torque values used by the drive motor within 30 s.

[0129] In one embodiment, the historical torque intervention value may further include the intervention torque value determined when driving on other road sections before driving on the current road section. Alternatively, the historical torque intervention value may further include the intervention torque value determined when driving on this road section last time.

[0130] In the embodiments of the present application, when the number of times or the duration of the torque intervention meets the conditions during the control of the vehicle for driving or energy recovery, the vehicle can be controlled for driving or energy recovery according to the historical torque intervention value. In this way, the computing resources of the vehicle can be saved.

[0131] In one embodiment, the method 200 further includes: when the MCU controls the drive motor for energy recovery, the vehicle can increase the braking torque of the braking system and / or start the air resistance increasing device.

[0132] Exemplarily, the air resistance increasing device includes but is not limited to a spoiler, a tail wing, etc.

[0133] Exemplarily, increasing the braking torque of the braking system of the vehicle includes: supplementing the hydraulic braking torque through the chassis hydraulic braking system.

[0134] In the embodiments of the present application, increasing the braking torque of the braking system of the vehicle and / or starting the air resistance increasing device during the torque intervention helps to avoid the increase in the braking distance of the vehicle caused by continuous torque intervention, helps to improve the safety of the vehicle; at the same time, it can also avoid the feeling of forward jerk to the user during the torque intervention, and helps to improve the riding experience of the user.

[0135] When controlling the vehicle for driving above, due to the torque intervention, the user will feel jerks; when controlling the vehicle for energy recovery, due to the torque intervention, the user will feel that the deceleration effect of the vehicle decreases. In the embodiments of the present application, it is also possible to prompt the user that the driving ability of the vehicle decreases or the deceleration effect decreases by means of an instrument panel prompt and a voice prompt during the torque intervention.

[0136] Figure 3 The figure shows a schematic diagram of the system architecture provided by an embodiment of the present application. The system architecture includes a VCU, an MCU, and a drive motor. The above method 200 can be implemented by the MCU. The torque management module in the VCU responds to the driver's torque demand and sends a torque command to the MCU. The torque command may include information about the above-mentioned commanded torque value. The MCU can filter the commanded torque value to obtain a requested torque value. The filter module and its corresponding intervention torque calculation module in the MCU can calculate a first intervention torque value based on the fluctuation amplitude of the motor speed (alternatively, the fluctuation frequency and amplitude). The requested torque correction module can determine a corrected requested torque value based on the demanded torque value and the first intervention torque value. The MCU can control the drive motor to perform driving or energy recovery according to the corrected requested torque value.

[0137] Optionally, the equivalent moment of inertia module and its intervention torque calculation module in the MCU can calculate a second intervention torque value based on the equivalent moment of inertia at the wheel end. The requested torque correction module can determine a corrected requested torque value based on the requested torque value, the first intervention torque value, and the second intervention torque value.

[0138] The process of calculating the first intervention torque value and the second intervention torque value above can refer to the description in the above embodiment and will not be elaborated here.

[0139] Figure 4 The figure shows another schematic diagram of the system architecture provided by an embodiment of the present application. Different from the system architecture shown above Figure 3 The method 200 can be implemented by the VCU. For example, the filter module and its corresponding intervention torque calculation module, the equivalent moment of inertia module and its intervention torque calculation module, and the requested torque correction module can be located in the VCU. After calculating the corrected requested torque value, the requested torque correction module can send the corrected requested torque value to the MCU. The MCU can control the drive motor to perform driving or energy recovery according to the corrected requested torque value.

[0140] Figure 5 The figure shows a schematic flowchart of a torque adjustment method 500 provided by an embodiment of the present application. The method can be executed by a system composed of a VCU and an MCU. The method 500 includes:

[0141] S501, the VCU obtains a commanded torque value T0.

[0142] In a possible implementation, when the vehicle is in a driving state, the commanded torque value T0 can be determined by the opening of the vehicle's accelerator pedal and / or the vehicle's speed.

[0143] The above vehicle being in the driving state can be understood as the driving motor of the vehicle being in the power supply state, or the driving motor is converting electrical energy into mechanical energy.

[0144] In a possible implementation, when the vehicle is in the energy recovery state, the commanded torque value T0 can be determined by at least one of the vehicle speed, the opening degree of the vehicle's accelerator pedal, and the opening degree of the vehicle's brake pedal.

[0145] The above vehicle being in the energy recovery state can be understood as the driving motor of the vehicle being in the power generation state, or the driving motor is converting mechanical energy into electrical energy; or the vehicle being in the energy recovery state can also be understood as the vehicle determining that the energy recovery function is turned on.

[0146] For example, the vehicle can default that the energy recovery function is turned on. When it detects an operation by the user to turn off the energy recovery function through a control on the in-vehicle display screen, the energy recovery function can be turned off. After turning off the energy recovery function, the vehicle is in a non-energy recovery state.

[0147] Also for example, the vehicle's steering wheel includes a button for the energy recovery function. When it detects an operation where the user long-presses the button, the vehicle can be in the energy recovery state.

[0148] Optionally, the vehicle can store the mapping relationship between the opening degree of the accelerator pedal, the vehicle speed, and the energy recovery request torque value. When the vehicle is in the driving state or the energy recovery state, it can determine the commanded torque value T0 according to the current opening degree of the accelerator pedal, the current vehicle speed, and the mapping relationship.

[0149] S502, the VCU sends the commanded torque value T0 to the MCU.

[0150] S503, the MCU determines the requested torque value T1 according to the commanded torque value T0.

[0151] Exemplarily, after receiving the requested torque value T0 sent by the VCU, the MCU can perform filtering processing on the requested torque value T0 to obtain the requested torque value T1.

[0152] The above requested torque value T1 can be the torque value after taking the absolute value.

[0153] S504, the MCU determines the equivalent rotational inertia at the wheel end.

[0154] The above equivalent rotational inertia can be calculated through the above motor motion equation. For example, the MCU can determine the equivalent rotational inertia at the wheel end by obtaining the motor speed.

[0155] S505, the MCU determines the fluctuation frequency and fluctuation amplitude of the motor speed.

[0156] There is no actual order of precedence between the above S504 and S505.

[0157] In the embodiment of the present application, different road types (e.g., normal road, bumpy road, or slippery road) are taken into consideration, and the corresponding motor speed fluctuation frequency and fluctuation amplitude are different. In this way, when the requested torque value is corrected, the information of the fluctuation frequency and fluctuation amplitude can be combined to realize the identification of the road type. When it is identified that the vehicle is on an abnormal road, the requested torque value can be corrected, so that the fluctuation of the motor speed can be suppressed, which is equivalent to acting on the wheels, and the fluctuation of the wheel speed can be suppressed, and finally the slip rate of the vehicle can be controlled within the threshold triggered by TCS, ABS or DTC.

[0158] Exemplarily, Table 7 shows the mapping relationship between the road surface type and the fluctuation frequency of the motor speed.

[0159] Table 7

[0160] Road surface type Fluctuation frequency Normal road surface (9Hz, 11Hz) Road surface including speed bumps or potholed road surface (1.5Hz, 3Hz) Slippery road surface (1.5Hz, 2.5Hz) … …

[0161] It can be seen that when the fluctuation frequency of the motor speed is within (1.5 Hz, 3 Hz), it can be determined that the vehicle is on an abnormal road surface, for example, a road surface including speed bumps, a bumpy road surface, or a slippery road surface.

[0162] Exemplarily, Table 8 shows the mapping relationship between the road type and the fluctuation amplitude of the motor speed.

[0163] Table 8

[0164] Road surface type Fluctuation amplitude Normal road surface (0％，5％) Abnormal road surface [5％，20％) … …

[0165] The above fluctuation amplitude can be calculated by the following formula (1):

[0166] f=丨n 实际 -n 需求 丨 / n 需求 (1)

[0167] Among them, n 实际 is the actual speed of the motor, n 需求 is the required speed of the motor.

[0168] For example, if n 实际 1800 rpm (r / min), n 需求 The motor speed is 2000 revolutions per minute (r / min), so the fluctuation amplitude f of the motor speed is 10%.

[0169] Exemplarily, the road surface type can also be determined by combining the fluctuation frequency and amplitude of the motor speed. Exemplarily, Table 3 shows the mapping relationship between the road surface type, fluctuation frequency, and amplitude.

[0170] S506, the MCU determines the intervention torque value T2 according to at least one of the equivalent rotational inertia at the wheel end, the fluctuation frequency, and the amplitude of the motor speed.

[0171] In one embodiment, the MCU can determine the intervention torque value T2 according to the equivalent rotational inertia at the wheel end.

[0172] Exemplarily, Table 4 shows the mapping relationship between the equivalent rotational inertia at the wheel end and the intervention torque value.

[0173] In one embodiment, the MCU can determine the intervention torque value T2 according to the amplitude of the motor speed fluctuation.

[0174] For example, when the amplitude of the motor speed fluctuation is 15%, the intervention torque value T2 can be determined to be 20% of the requested torque value T1 according to the mapping relationship shown in Table 1. If the requested torque value T1 is 1000 Nm, then the intervention torque value T2 is 200 Nm.

[0175] In one embodiment, the MCU can determine the intervention torque value T2 according to the fluctuation frequency and amplitude of the motor speed.

[0176] For example, when the fluctuation frequency of the motor speed is 2.3 Hz and the amplitude is 8%, the intervention torque value T2 can be determined to be 20% of the requested torque value T1 according to the mapping relationship shown in Table 2. If the requested torque value T1 is 1000 Nm, then the intervention torque value T2 is 200 Nm.

[0177] In one embodiment, the MCU can also determine the intervention torque value T2 according to a function or formula. For example, the input of this function or formula is the fluctuation frequency and amplitude of the motor speed, and the output is the intervention torque value T2.

[0178] In one embodiment, the MCU can determine the intervention torque value T2 according to the equivalent rotational inertia at the wheel end, the fluctuation frequency, and the amplitude.

[0179] Exemplarily, the intervention torque value T can be calculated through the fluctuation frequency and amplitude 2a and the intervention torque value T can be calculated through the equivalent rotational inertia at the wheel end 2b . The process of calculating the intervention torque value T 2a and the process of calculating the intervention torque value T 2b can refer to the description in the above embodiments and will not be elaborated here.

[0180] The above intervention torque value T2 may be the above third intervention torque value, and the intervention torque value T 2a may be the above first intervention torque value, and the intervention torque value T 2b may be the above second intervention torque value.

[0181] Exemplarily, the intervention torque value T2 may be determined by the following formula (2):

[0182] T2 = min(T 2a , T 2b ) (2)

[0183] Exemplarily, the intervention torque value T2 may be determined by the following formula (3):

[0184] T2 = a × T 2a + b × T 2b (3)

[0185] where a is the weighting value corresponding to T 2a , and b is the weighting value corresponding to T 2b . The above a may be the above first weighting value, and b may be the above second weighting value.

[0186] In one embodiment, the MCU may determine the weighting value a and the weighting value b according to the road surface type where the vehicle is currently located.

[0187] Exemplarily, the MCU may determine the weighting value a and the weighting value b according to the information of the road surface type output by the automatic driving controller. For example, the automatic driving controller may obtain the data collected by the sensors outside the cockpit (such as cameras or lidar, etc.) and determine the information of the road surface type where the vehicle is located. The automatic driving controller may send this information to the MCU. The MCU may determine the weighting value a and the weighting value b according to this information of the road surface type.

[0188] Exemplarily, the MCU may determine the information of the road surface type where the vehicle is currently located according to the equivalent rotational inertia at the wheel end and / or the fluctuation information of the motor speed (such as the fluctuation frequency and the fluctuation amplitude). The specific determination process may refer to Table 3 and Table 6 above, which will not be elaborated here.

[0189] Exemplarily, the intervention torque value T 2a calculated by the fluctuation frequency and the fluctuation amplitude is 300 Nm, and the intervention torque value T 2b calculated by the equivalent rotational inertia at the wheel end is 400 Nm. When the MCU determines that the vehicle is currently on a wet and slippery road surface, it may determine that the weighting value a is 0.3 and the weighting value b is 0.7 through the mapping relationship shown in Table 5, and determine that the intervention torque value T2 is 370 Nm.

[0190] S507, the MCU determines the corrected requested torque value T3 based on the requested torque value T1 and the intervention torque value T2.

[0191] Exemplarily, the corrected requested torque value T3 can be determined by the following formula (4):

[0192] T3 = T1 - T2 (4)

[0193] S508, the MCU controls the drive motor according to the corrected requested torque value T3.

[0194] For example, taking the vehicle in the driving state as an example, if the corrected requested torque value T3 is 300 Nm, the MCU can control the drive motor to output a driving torque of +300 Nm ("+" indicates that the rotational speed direction of the drive motor enables the vehicle to move forward).

[0195] For example, taking the vehicle in the energy recovery state as an example, if the corrected requested torque value T3 is 300 Nm, the MCU can control the drive motor to output a braking torque of -300 Nm ("-" indicates that the rotational speed direction of the drive motor enables the vehicle to brake or perform energy recovery).

[0196] In the above embodiments, the intervention torque value T is calculated respectively through the fluctuation amplitude (or, the fluctuation frequency and the fluctuation amplitude) 2a and the intervention torque value T is calculated through the equivalent moment of inertia 2b , and the corrected requested torque value T3 is calculated through the requested torque value T1, the intervention torque value T 2a and the intervention torque value T 2b . The embodiments of the present application are not limited thereto.

[0197] In one embodiment, the adaptive adjustment factor c can also be calculated through the equivalent moment of inertia. Table 9 shows the mapping relationship between the equivalent moment of inertia and the adaptive adjustment factor.

[0198] Table 9

[0199]

[0200]

[0201] The numerical examples in Table 9 above are only illustrative, and the embodiments of the present application do not make specific limitations thereto.

[0202] Exemplarily, the intervention torque value T2 can be determined by the following formula (5):

[0203] T2 = T 2a × c (5)

[0205] For example, when the current equivalent moment of inertia of the vehicle is 0.18 kg·m 2 , the adaptive adjustment factor c can be determined to be 1.1 according to the mapping relationship shown in Table 9. If T 2a is 200 Nm, then the intervention torque value T2 can be 220 Nm.

[0206] In one embodiment, the MCU can also determine the intervention torque value according to the fluctuation amplitude of the motor speed and the slip rate of the vehicle.

[0207] Exemplarily, Table 10 shows a mapping relationship between a slip rate and a correction coefficient d.

[0208] Table 10

[0209] Slip ratio d [0，10％) 0 [10％，15％) 1.1 [15％，20％) 1.5 … …

[0210] The mapping relationship between the slip rate and the correction coefficient shown in Table 10 above is only illustrative, and the embodiments of the present application do not make specific limitations thereto.

[0211] Exemplarily, the intervention torque value T2 can be determined by the following formula (6):

[0212] T2 = T 2a × d (6)

[0214] For example, when the current slip rate of the vehicle is 12%, the correction coefficient can be determined to be 1.1 according to the mapping relationship shown in Table 10. If T 2a is 200 Nm, then the intervention torque value T2 can be 220 Nm.

[0215] In one embodiment, the relationship between the slip rate and the correction coefficient can also be a functional relationship.

[0216] Figure 6 FIG. shows a schematic block diagram of a torque adjustment device 600 provided by an embodiment of the present application. The device 600 includes: an acquisition unit 610 for acquiring a requested torque value; a determination unit 620 for determining a first intervention torque value according to the fluctuation amplitude of the motor speed; and a control unit 630 for controlling a drive motor according to the requested torque value and the first intervention torque value.

[0217] Optionally, the determination unit 620 is configured to: determine the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed.

[0218] Optionally, the determination unit 620 is configured to: determine the road surface type where the vehicle is currently located according to the fluctuation frequency and the fluctuation amplitude; and determine the first intervention torque value according to the road surface type.

[0219] Optionally, the determination unit 620 is further configured to determine a second intervention torque value according to the equivalent rotational inertia at the wheel end; the determination unit 620 is further configured to: determine a third intervention torque value according to the first intervention torque value and the second intervention torque value; the control unit 630 is configured to control the drive motor according to the requested torque value and the third intervention torque value.

[0220] Optionally, the acquisition unit 610 is further configured to acquire a first road surface type in which the vehicle is currently located; the determination unit 620 is configured to: determine a first weighting value and a second weighting value according to the first road surface type, where the first weighting value is the weighting value corresponding to the first intervention torque value, and the second weighting value is the weighting value determined for the second intervention torque value; determine the third intervention torque value according to the first intervention torque value, the second intervention torque value, the first weighting value, and the second weighting value.

[0221] Optionally, the determination unit 620 is configured to: determine the first road surface type according to the fluctuation frequency and the fluctuation amplitude of the motor speed, and / or, the equivalent rotational inertia at the wheel end.

[0222] Optionally, the acquisition unit 610 is configured to: receive information on the first road surface type sent by the autonomous driving controller.

[0223] Optionally, when the first road surface type indicates that the vehicle is on a slippery road surface, the first weighting value is less than the second weighting value; or, when the first road surface type indicates that the vehicle is on a bumpy road surface, the first weighting value is greater than the second weighting value.

[0224] For example, the acquisition unit 610 may be Figure 1 a computing platform or a processing circuit, a processor, or a controller in the computing platform. Taking the acquisition unit 610 as the processor 121 in the computing platform as an example, the processor 121 may acquire information on the requested torque value.

[0225] For another example, the determination unit 620 may be Figure 1 a computing platform or a processing circuit, a processor, or a controller in the computing platform. Taking the determination unit 620 as the processor 122 in the computing platform as an example, the processor 122 may determine the intervention torque value according to the fluctuation amplitude of the motor speed.

[0226] For another example, the control unit 630 may be Figure 1 a computing platform or a processing circuit, a processor, or a controller in the computing platform. Taking the control unit 630 as the processor 123 in the computing platform as an example, the processor 123 may control the drive motor according to the requested torque value acquired by the processor 121 and the intervention torque value calculated by the processor 122.

[0227] The functions implemented by the above-mentioned obtaining unit 610, the determining unit 620, and the controlling unit 630 may be implemented by different processors, or may be implemented by the same processor, or part of the functions may be implemented by the same processor. The embodiments of the present application do not limit this.

[0228] The embodiments of the present application further provide a VCU, which may include the above-mentioned device 600. The VCU controls the driving motor according to the requested torque value and the intervention torque value, which can be understood as the VCU sends the corrected requested torque value to the MCU according to the requested torque value and the intervention torque value, and the MCU controls the driving motor according to the corrected requested torque value.

[0229] The embodiments of the present application further provide an MCU, which may include the above-mentioned device 600.

[0230] It should be understood that the division of each unit in the above device is only a division of logical functions. In actual implementation, all or part of them may be integrated into a physical entity, or physically separated. In addition, the units in the device may be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or the functions of each unit of the device. The processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory inside or outside the device. Alternatively, the units in the device may be implemented in the form of a hardware circuit, and part or all of the functions of the units may be implemented by designing the hardware circuit. The hardware circuit may be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and part or all of the functions of the above are implemented by designing the logical relationship of the components in the circuit; again, in another implementation, the hardware circuit may be implemented by a PLD. Taking an FPGA as an example, it may include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through a configuration file, so as to implement part or all of the functions of the above units. All units of the above device may be implemented entirely in the form of a processor calling software, or entirely in the form of a hardware circuit, or part in the form of a processor calling software, and the remaining part in the form of a hardware circuit.

[0231] In an embodiment of the present application, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and running capabilities, such as a CPU, microprocessor, GPU, or DSP, etc.; in another implementation, the processor can achieve certain functions through the logical relationship of hardware circuits, and the logical relationship of the hardware circuits is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as an NPU, TPU, DPU, etc.

[0232] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0233] In addition, each unit in the above device can be integrated in whole or in part, or can be independently implemented. In one implementation, these units are integrated together and implemented in the form of an SoC. The SoC can include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The types of the at least one processor can be different, such as including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0234] An embodiment of the present application also provides an anti-motion sickness device, which includes a processing unit and a storage unit. The storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes the method or steps executed in the above embodiment.

[0235] Optionally, if the device is located in a vehicle, the above processing unit can be Figure 1 the processors 121 - 12n shown.

[0236] An embodiment of the present application also provides a torque adjustment system, which can include a VCU, an MCU, and a drive motor. Among them, the above device 600 can be located in the VCU or the MCU.

[0237] An embodiment of the present application also provides a vehicle, which can include a torque adjustment device 600 or a torque adjustment system.

[0238] The embodiments of the present application also provide a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer is caused to execute the method in the above embodiments.

[0239] The embodiments of the present application also provide a computer-readable medium, which stores program code. When the computer program code runs on a computer, the computer is caused to execute the method in the above embodiments.

[0240] The embodiments of the present application also provide a chip, which includes a circuit for executing the method in the above embodiments.

[0241] In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor or the instructions in the form of software. The method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware processor, or executed and completed by the combination of the hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or power-on erasable programmable memory, register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0242] It should be understood that in the embodiments of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0243] It should also be understood that in various embodiments of the present application, the size of the serial numbers of the above processes does not mean the order of execution is prior or posterior, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0244] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by the combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0245] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0246] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0247] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0248] In addition, in each embodiment of this application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0249] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0250] As described above, it is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A torque adjustment method, characterized in that, Including: Obtain the requested torque value; Determine the first intervention torque value according to the fluctuation amplitude of the motor speed; Control the drive motor according to the requested torque value and the first intervention torque value.

2. The method according to claim 1, characterized in that, The step of determining the first intervention torque value according to the fluctuation amplitude of the motor speed includes: Determine the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed.

3. The method according to claim 2, characterized in that, The step of determining the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed includes: Determine the current road surface type of the vehicle according to the fluctuation frequency and the fluctuation amplitude; Determine the first intervention torque value according to the road surface type.

4. The method according to claim 1 or 2, characterized in that, The method further includes: Determine the second intervention torque value according to the equivalent rotational inertia at the wheel end; Among them, the step of controlling the drive motor according to the requested torque value and the first intervention torque value includes: Determine the third intervention torque value according to the first intervention torque value and the second intervention torque value; Control the drive motor according to the requested torque value and the third intervention torque value.

5. The method according to claim 4, characterized in that, The method further includes: Obtain the first road surface type where the vehicle is currently located; Determine the first weighting value and the second weighting value according to the first road surface type, where the first weighting value is the weighting value corresponding to the first intervention torque value, and the second weighting value is the weighting value determined by the second intervention torque value; Among them, the step of determining the third intervention torque value according to the first intervention torque value and the second intervention torque value includes: Determine the third intervention torque value according to the first intervention torque value, the second intervention torque value, the first weighting value and the second weighting value.

6. The method according to claim 5, characterized in that, The step of obtaining the first road surface type where the vehicle is currently located includes: Determine the first road surface type according to the fluctuation frequency and the fluctuation amplitude of the motor speed, and / or, the equivalent rotational inertia at the wheel end.

7. The method according to claim 5 or 6, characterized in that, The step of obtaining the first road surface type where the vehicle is currently located includes: Receive the information of the first road surface type sent by the autonomous driving controller.

8. The method according to any one of claims 5 to 7, characterized in that, When the first road surface type indicates that the vehicle is on a slippery road surface, the first weighting value is less than the second weighting value; or, When the first road surface type indicates that the vehicle is on a bumpy road surface, the first weighting value is greater than the second weighting value.

9. A torque adjustment device, characterized in that, Including: An acquisition unit for obtaining the requested torque value; A determination unit for determining the first intervention torque value according to the fluctuation amplitude of the motor speed; A control unit for controlling the drive motor according to the requested torque value and the first intervention torque value.

10. The device according to claim 9, characterized in that, The determination unit is used for: Determine the first intervention torque value according to the fluctuation frequency and the fluctuation amplitude of the motor speed.

11. The device according to claim 10, wherein, The determination unit is used for: Determine the current road surface type of the vehicle according to the fluctuation frequency and the fluctuation amplitude; Determine the first intervention torque value according to the road surface type.

12. The device according to claim 9 or 10, wherein, The determination unit is further used for determining the second intervention torque value according to the equivalent rotational inertia at the wheel end; The determination unit is further used for: determining the third intervention torque value according to the first intervention torque value and the second intervention torque value; The control unit is configured to control the drive motor according to the requested torque value and the third intervention torque value.

13. The device according to claim 12, wherein, The acquisition unit is further configured to acquire the first road surface type where the vehicle is currently located; The determination unit is configured to: Determine a first weighting value and a second weighting value according to the first road surface type, where the first weighting value is the weighting value corresponding to the first intervention torque value, and the second weighting value is the weighting value determined by the second intervention torque value; Determine the third intervention torque value according to the first intervention torque value, the second intervention torque value, the first weighting value, and the second weighting value.

14. The device according to claim 13, wherein, The determination unit is configured to: Determine the first road surface type according to the fluctuation frequency and the fluctuation amplitude of the motor speed, and / or, the equivalent rotational inertia at the wheel end.

15. The device according to claim 13 or 14, wherein, The acquisition unit is configured to: Receive the information of the first road surface type sent by the autonomous driving controller.

16. The device according to any one of claims 13 to 15, wherein, When the first road surface type indicates that the vehicle is on a slippery road surface, the first weighting value is less than the second weighting value; or, When the first road surface type indicates that the vehicle is on a bumpy road surface, the first weighting value is greater than the second weighting value.

17. A torque adjustment device, wherein, The device includes: A memory for storing a computer program; A processor for executing the computer program stored in the memory, so that the device executes the method according to any one of claims 1 to 8.

18. A vehicle, wherein, Including the device according to any one of claims 9 to 17.

19. A computer-readable storage medium, wherein, A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 1 to 8 is implemented.

20. A chip, wherein, The chip includes a processor and a data interface, and the processor reads the instructions stored on the memory through the data interface to execute the method according to any one of claims 1 to 8.

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