Torque compensation method and device, electronic control unit and vehicle

Abstract

The invention relates to the technical field of torque compensation, in particular to a torque compensation method and device, an electronic control unit and a vehicle. The method comprises the steps that the first compensation fuel injection quantity is determined according to the difference between the current torque and the next-step long target torque; determining a torque correction value according to the torque correction factor and the torque friction factor; according to the motor output torque, the torque correction value, the battery electric quantity and the motor maximum torque, the motor output total torque and the second compensation fuel injection quantity are determined; and the total fuel injection quantity of the engine is determined according to the first compensation fuel injection quantity and the second compensation fuel injection quantity. The first compensation fuel injection quantity of the engine is determined according to the difference between the current torque and the target torque of the next step length; the torque correction value is determined through the torque correction factor and the torque friction factor, and the accuracy of torque compensation is improved; and the total output torque of the motor and the second compensation fuel injection quantity are determined, the torque exceeding the maximum capacity of the motor is compensated through the second compensation fuel injection quantity of the engine, and the output torque of the whole vehicle can meet the requirement.

Description

Technical Field

[0001] The present application relates to the technical field of torque compensation, and in particular, to a torque compensation method, device, electronic control unit, and vehicle. Background Art

[0002] For a vehicle in hybrid mode, the hybrid control unit (HCU) of the hybrid power system distributes torque to the motor and the engine respectively, and the sum of the two is equal to the total required torque. In the case where the engine output torque is insufficient, torque compensation is performed by the motor.

[0003] However, if the engine torque deviation is large, it will cause the compensation torque to exceed the maximum capacity of the motor, so that the vehicle output torque cannot meet the requirements.

[0004] In summary, it is necessary to provide a torque compensation method, device, electronic control unit, and vehicle that can make the vehicle output torque meet the required torque. Summary of the Invention

[0005] To solve the above problems, the present application proposes a torque compensation method, device, electronic control unit, and vehicle.

[0006] On the one hand, the present application proposes a torque compensation method, including the following steps:

[0007] Determine a first compensation fuel injection quantity according to the difference between the current torque and the next-step target torque;

[0008] Determine a torque correction value according to the torque correction factor and the torque friction factor;

[0009] Determine the total motor output torque and a second compensation fuel injection quantity according to the motor output torque, the torque correction value, the battery power, and the maximum motor torque;

[0010] Determine the total engine fuel injection quantity according to the first compensation fuel injection quantity and the second compensation fuel injection quantity.

[0011] Further, for the torque compensation method as described above, the determining the first compensation fuel injection quantity according to the difference between the current torque and the next-step target torque includes:

[0012] Obtain the next-step target torque, the current torque, the maximum output torque of the engine at the current speed, the next-step required fuel injection quantity, the current-step fuel injection quantity, and the current-step excess air coefficient;

[0013] Determine the first compensation fuel injection quantity according to the next-step target torque, the current torque, the maximum output torque of the engine at the current speed, the next-step required fuel injection quantity, the current-step fuel injection quantity, and the current-step excess air coefficient.

[0014] Further, for the torque compensation method described above, the determining of the torque correction value according to the torque correction factor and the torque friction factor includes:

[0015] Determining a first torque correction factor, a second torque correction factor, a third torque correction factor, and a fourth torque correction factor according to the ratios of the actual values to the set values of the intake air temperature, the fuel injection advance angle, the rail pressure, and the intake manifold pressure;

[0016] Determining a first torque correction value according to the current torque, the first torque correction factor, the second torque correction factor, the third torque correction factor, and the fourth torque correction factor;

[0017] Determining a friction torque correction factor according to the ratio of the intake and exhaust pressure difference to a preset value;

[0018] Determining a second torque correction value according to the friction torque correction factor and a preset friction torque;

[0019] Determining the torque correction value according to the first torque correction value, the second torque correction value, and the current required torque.

[0020] Further, for the torque compensation method described above, the determining of the total motor output torque and the second compensation fuel injection quantity according to the motor output torque, the torque correction value, the battery power, and the maximum motor torque includes:

[0021] Determining a torque power correction coefficient according to the battery power;

[0022] Determining the maximum motor output torque according to the torque power correction coefficient and the maximum motor torque;

[0023] Determining the motor target torque according to the motor output torque and the torque correction value;

[0024] When the motor target torque is less than or equal to the maximum motor output torque, taking the motor target torque as the total motor output torque and the value of the second compensation fuel injection quantity as 0;

[0025] When the motor target torque is greater than the maximum motor output torque, taking the maximum motor output torque as the total motor output torque and determining the second compensation fuel injection quantity according to the motor target torque and the maximum motor output torque.

[0026] Further, for the torque compensation method described above, the determining of the second compensation fuel injection quantity according to the motor target torque and the maximum motor output torque includes:

[0027] Determine the second compensation fuel injection quantity according to the target torque of the motor, the maximum output torque of the motor, and a preset torque fuel injection conversion coefficient.

[0028] Further, in the torque compensation method as described above, the determining of the total engine fuel injection quantity according to the first compensation fuel injection quantity, the motor torque compensation quantity, and the second compensation fuel injection quantity includes:

[0029] Determine the total engine fuel injection quantity according to the current step fuel injection quantity, the first compensation fuel injection quantity, and the second compensation fuel injection quantity.

[0030] In a second aspect, the present application provides a torque compensation device, including: a processing module, which is configured to determine a first compensation fuel injection quantity according to the difference between the current torque and the next-step target torque; determine a torque correction value according to a torque correction factor and a torque friction factor; determine the total motor output torque and a second compensation fuel injection quantity according to the motor output torque, the torque correction value, the battery power, and the maximum motor torque; and determine the total engine fuel injection quantity according to the first compensation fuel injection quantity and the second compensation fuel injection quantity.

[0031] Further, in the torque compensation device as described above, it further includes: an engine and a motor;

[0032] The engine is configured to inject fuel according to the total fuel injection quantity;

[0033] The motor is configured to output torque according to the total motor output torque.

[0034] In a third aspect, the present application provides a vehicle electronic control unit for executing a torque compensation method according to any one of the first aspect.

[0035] In a fourth aspect, the present application provides a vehicle including the vehicle electronic control unit as described in the third aspect.

[0036] The advantages of the present application are as follows: First, determine the first compensation fuel injection quantity of the engine according to the difference between the current torque and the next-step target torque; second, determine the torque correction value through the torque correction factor and the torque friction factor to improve the accuracy of torque compensation; then, determine the total motor output torque and the second compensation fuel injection quantity according to the motor output torque, the torque correction value, the battery power, and the maximum motor torque, so as to realize compensating for the torque exceeding the maximum capacity of the motor through the second compensation fuel injection quantity of the engine, and make the output torque of the whole vehicle meet the requirements. Description of the Drawings

[0037] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered as limiting the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0038] Figure 1 is a schematic diagram of a torque compensation method provided by the present application;

[0039] Figure 2 is a schematic diagram of torque compensation of a torque compensation method provided by the present application;

[0040] Figure 3 is a schematic diagram of a torque compensation device provided by the present application. Specific Embodiments

[0041] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully communicated to those skilled in the art.

[0042] Existing fault identification methods still face challenges such as insufficient feature extraction and insufficient model generalization ability when dealing with complex working condition changes and diverse fault modes. Especially under variable working condition conditions, traditional models often have difficulty adapting to the changes in fault features under different working conditions, resulting in a significant reduction in diagnostic accuracy and robustness.

[0043] To solve the above problems, embodiments of the present application propose a torque compensation method, device, electronic control unit, and vehicle. By using labeled data, unlabeled data with different working conditions from the labeled data, and an improved joint distribution adaptation to train the to-be-trained fault identification model, the to-be-trained fault identification model can be trained for different working conditions, thereby improving the accuracy and robustness of fault identification.

[0044] In a first aspect, according to an embodiment of the present application, a torque compensation method is proposed, as Figure 1 shown, including the following steps:

[0045] S101, determining a first compensation fuel injection amount according to the difference between the current torque and the next-step target torque;

[0046] S102, determining a torque correction value according to a torque correction factor and a torque friction factor;

[0047] S103. Determine the total motor output torque and the second compensated fuel injection quantity based on the motor output torque, torque correction value, battery power, and the maximum motor torque.

[0048] S104. Determine the total engine fuel injection quantity based on the first compensated fuel injection quantity and the second compensated fuel injection quantity.

[0049] Determine the first compensated fuel injection quantity based on the difference between the current torque and the next target torque, including: obtaining the next long-term target torque, current torque, maximum output torque of the engine at the current speed, next long-term required fuel injection quantity, current step fuel injection quantity, and current step excess air coefficient; determine the first compensated fuel injection quantity based on the next long-term target torque, current torque, maximum output torque of the engine at the current speed, next long-term required fuel injection quantity, current step fuel injection quantity, and current step excess air coefficient.

[0050] In the implementation manner of this application, the first compensated fuel injection quantity is determined by the following formula:

[0051] q1 = (T e - T act ) / T max ×(Q des - Q act ) / λ

[0052] where q1 represents the first compensated fuel injection quantity; T e represents the next target torque; T act represents the current torque; T max represents the maximum output torque of the engine at the current speed; Q des represents the next long-term required fuel injection quantity, that is, the fuel injection quantity corresponding to the next target torque (before compensation); Q act represents the current step fuel injection quantity; λ represents the current step excess air coefficient.

[0053] As Figure 2 shown, the hybrid vehicle distributes torque to the engine and the motor according to the total vehicle demand torque T a , with the goal of outputting the total torque according to the curve corresponding to the total vehicle demand torque T a . The engine torque is T e , and the motor torque is T m , and the sum of the two is the total torque required by the vehicle (total vehicle demand torque T a ), and both are changing in real time. The parameters of the engine change in steps of 10 ms.

[0054] Since the engine output torque is calculated according to the fuel injection quantity, there is a situation where the actual torque value is on the low side under transient conditions. When the transient demand torque of the engine increases, according to the difference between the current torque (current torque) and the target torque of the next step (target torque of the next step), and the current excess air coefficient (excess air coefficient of the current step), the torque deviation is calculated in advance to control the increase of the engine fuel injection quantity, so as to perform torque pre-compensation. Among them, the fuel injection quantity increased in the next step is the first compensation fuel injection quantity, and the target fuel injection quantity of the engine is Q des +q1, and the torque corresponding to the target fuel injection quantity is the engine torque after pre-compensation.

[0055] Determine the torque correction value according to the torque correction factor and the torque friction factor, including: determining the first torque correction factor, the second torque correction factor, the third torque correction factor and the fourth torque correction factor according to the ratio of the actual value to the set value of the intake air temperature, injection advance angle, rail pressure, and intake manifold pressure; determining the first torque correction value according to the current torque, the first torque correction factor, the second torque correction factor, the third torque correction factor and the fourth torque correction factor; determining the friction torque correction factor according to the ratio of the intake and exhaust pressure difference to the preset value; determining the second torque correction value according to the friction torque correction factor and the preset friction torque; determining the torque correction value according to the first torque correction value, the second torque correction value and the current demand torque.

[0056] Since there are other factors that affect the torque during the torque increase process, it is necessary to look up the table according to the ratio of the actual value to the set value of parameters such as intake air temperature, injection advance angle, rail pressure and intake manifold pressure to obtain the torque correction factors k1, k2, k3, k4, and calculate the actual torque correction value of the engine, that is, the first torque correction value. The first torque correction value is calculated by T act ×k1×k2×k3×k4. Among them, k1 is the first torque correction factor determined according to the intake air temperature, as shown in Table 1; k2 is the second torque correction factor determined according to the injection advance angle, as shown in Table 2; k3 is the third torque correction factor determined according to the rail pressure, as shown in Table 3; k4 is the fourth torque correction factor determined according to the intake manifold pressure, as shown in Table 4.

[0057] As shown in Table 5, the friction torque factor (friction torque correction factor) f1 is obtained by looking up the table (friction torque correction coefficient) according to the ratio of the measured value of the intake and exhaust pressure difference (intake and exhaust pressure difference) to the preset value, and according to the preset friction torque T f The second torque correction value can be determined. Among them, the intake and exhaust pressure difference is the difference between the intake manifold pressure and the exhaust manifold pressure, and both the intake manifold pressure and the exhaust manifold pressure can be measured; the preset friction torque T is obtained by looking up the table f , and the second torque correction value is T f× f1, the second torque correction value is used to determine the calculated change in frictional torque. Based on the first torque correction value, the second torque correction value, and the current required torque (the required torque for the current step) T e0 Determine the torque correction value △T. Among them, the torque correction value △T = T e0 - T act × k1 × k2 × k3 × k4 + T f × (1 - f1). As Figure 2 shown, the torque correction value △T is the difference between the engine torque and the pre-compensated engine torque.

[0058] Table 1

[0059] Intake air temperature / Set intake air temperature 0.8 0.9 1 1.1 1.2 <![CDATA[k1]]> 1.1 1.05 1 0.95 0.9

[0060] Table 2

[0061] Injection advance angle / Set injection advance angle 0.8 0.9 1 1.1 1.2 <![CDATA[k2]]> 0.92 0.96 1 1.04 1.08

[0062] Table 3

[0063] Rail pressure / set rail pressure 0.8 0.9 1 1.1 1.2 <![CDATA[k3]]> 0.9 0.95 1 1.05 1.1

[0064] Table 4

[0065] Inlet pressure / Set intake pressure 0.8 0.9 1 1.1 1.2 <![CDATA[k4]]> 0.88 0.94 1 1.06 1.12

[0066] Table 5

[0067] Inlet and exhaust pressure difference / preset value 0.8 0.9 1 1.1 1.2 <![CDATA[f1]]> 0.85 0.95 1 1.05 1.15

[0068] For a hybrid power system, such as a diesel hybrid power system, its power sources include a diesel engine and an electric motor, and there are various configurations. During the operation of the whole vehicle, the vehicle controller HCU will control the torque output of the diesel engine and the electric motor according to the vehicle state. However, since there are other factors that affect the torque during the torque increase process, which in turn affect the torque compensation amount, it is not only necessary to determine the total motor output torque for compensating the torque, but also necessary to determine the second compensation fuel injection amount according to the maximum motor output torque.

[0069] Determine the total motor output torque and the second compensation fuel injection amount according to the motor output torque, the torque correction value, the battery power, and the maximum motor torque, including: determining the torque-power correction coefficient according to the battery power; determining the maximum motor output torque according to the torque-power correction coefficient and the maximum motor torque; determining the motor target torque according to the motor output torque and the torque correction value; when the motor target torque is less than or equal to the maximum motor output torque, taking the motor target torque as the total motor output torque and the value of the second compensation fuel injection amount as 0; when the motor target torque is greater than the maximum motor output torque, taking the maximum motor output torque as the total motor output torque, and determining the second compensation fuel injection amount according to the motor target torque and the maximum motor output torque.

[0070] For the part with insufficient engine torque, i.e., the torque correction value △T, it needs to be compensated by the motor. Through motor torque compensation, the motor output torque (motor target torque) is T m +△T, where T m is the motor torque. As Figure 2 shown, the finally achieved output torque (total vehicle required torque T a ) is the sum of the actual motor torque and the engine torque after pre-compensation. However, since the state of charge (SOC) of the battery will affect the torque output by the electrode, it is also necessary to determine the torque-power correction coefficient according to the battery charge. Among them, when the battery is fully charged, the SOC is 100%, and when the battery is completely depleted, the SOC is 0%.

[0071] According to the preset maximum torque curve of the motor, the current maximum motor torque T mw can be obtained by looking up the table. According to the current battery SOC value, determine the motor maximum torque correction coefficient, i.e., the torque-power correction coefficient s1, then the maximum torque allowed for the motor to output (motor maximum output torque) is s1×T mw . After that, according to the motor output torque T m and the torque correction value △T, determine the motor target torque, which is T m +△T. When the motor target torque is less than or equal to the motor maximum output torque, that is, T m +△T≤s1×T mw , then the total motor output torque is output according to the motor target torque, that is, the motor target torque is used as the total motor output torque, and since there is no need to add the engine output torque anymore, there is no need to increase the second compensation fuel injection amount, and the second compensation fuel injection amount is 0. When the motor target torque is greater than the motor maximum output torque, that is, T m +△T>s1×T mw , then the total motor output torque is output according to the maximum allowable torque of the motor, that is, the motor maximum output torque s1×T mw is used as the total motor output torque, and then, it is necessary to continue to increase the engine output torque and the fuel injection amount. Therefore, it is necessary to determine the increased value of the fuel injection amount as the second compensation fuel injection amount. As shown in Table 6, among them, the torque-power correction coefficient s1 is determined according to the relationship between SOC and the torque correction coefficient in Table 6

[0072] Table 6

[0073] SOC% 0 10 20 30 100 s1 0 0.7 0.9 1 1

[0074] Determine the second compensation fuel injection amount according to the motor target torque and the motor maximum output torque, including: determining the second compensation fuel injection amount according to the motor target torque, the motor maximum output torque and the preset torque-fuel injection amount conversion coefficient

[0075] The second compensated fuel injection quantity q2 = (T m + △T - s1×T mw ) / the conversion coefficient of the preset torque fuel injection quantity, where the conversion coefficient of the preset torque fuel injection quantity can be obtained by looking up a table.

[0076] Determine the total engine fuel injection quantity according to the first compensated fuel injection quantity, the motor torque compensation amount, and the second compensated fuel injection quantity, including: determining the total engine fuel injection quantity according to the current step fuel injection quantity, the first compensated fuel injection quantity, and the second compensated fuel injection quantity.

[0077] Wherein, the total engine fuel injection quantity is Q act + q1 + q2. The total engine fuel injection quantity and the maximum allowable fuel injection quantity Q of the current speed max take the smaller value as the output, that is, when the total engine fuel injection quantity is less than or equal to the maximum allowable fuel injection quantity of the current speed, output the total engine fuel injection quantity, and when the total engine fuel injection quantity is greater than the maximum allowable fuel injection quantity of the current speed, output the maximum allowable fuel injection quantity of the current speed. Wherein, the maximum allowable fuel injection quantity Q of the current speed max is a preset value.

[0078] In the implementation manner of the present application, the engine torque can be compensated in advance by calculating the first compensated fuel injection quantity, so that the engine output torque is as close as possible to the required torque; the torque deviation of the pre-compensated engine is compensated by the motor. When the motor target torque is greater than the maximum motor output torque, that is, when the motor target torque exceeds the maximum capacity of the motor, the engine fuel injection quantity is further increased by determining the second compensated fuel injection quantity, thereby avoiding the situation where the vehicle torque requirement cannot be met due to the motor torque limitation.

[0079] In a second aspect, according to the implementation manner of the present application, a torque compensation device is further proposed, as Figure 3 shown, including: a processing module, which is used to determine the first compensated fuel injection quantity according to the difference between the current torque and the next step target torque; determine the torque correction value according to the torque correction factor and the torque friction factor; determine the total motor output torque and the second compensated fuel injection quantity according to the motor output torque, the torque correction value, the battery power, and the maximum motor torque; determine the total engine fuel injection quantity according to the first compensated fuel injection quantity and the second compensated fuel injection quantity.

[0080] The implementation manner of the present application further includes: an engine and a motor;

[0081] The engine is used to inject fuel according to the total fuel injection quantity;

[0082] The motor is used to output torque according to the total motor output torque.

[0083] In a third aspect, according to an embodiment of the present application, an electronic control unit (ECU) for a vehicle is further provided, which is configured to execute a torque compensation method according to any one of the first aspect.

[0084] In a fourth aspect, according to an embodiment of the present application, a vehicle is further provided, which includes the electronic control unit for a vehicle according to the third aspect.

[0085] In the method of the present application, a first compensated fuel injection amount is calculated for pre-compensation according to the required torque (next-step target torque) and the current torque. Then, a torque correction value of the engine torque after pre-compensation is calculated, so as to calculate the engine torque deviation in real time, and the insufficient part of the torque is compensated by the motor. When the motor target torque is greater than the maximum output torque of the motor, a second compensated fuel injection amount is determined to further increase the fuel injection amount of the engine, thereby avoiding the situation that the vehicle torque requirement cannot be met due to the motor torque limitation. By pre-compensating the fuel injection amount in advance under transient working conditions, the transient torque of the diesel engine is corrected, and then according to the change of the engine transient parameters, the torque is compensated by the motor, so as to realize the prediction and compensation of the engine torque in advance, and make the vehicle output torque meet the required torque.

[0086] The above are only specific embodiments of the present application that are preferred. However, the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A torque compensation method, characterized in that: include: Determine a first compensation fuel injection amount according to a difference between the current torque and the next long target torque; Determine a torque correction value according to a torque correction factor and a torque friction factor; Determine the total motor output torque and the second compensation fuel injection amount according to the motor output torque, the torque correction value, the battery power and the maximum motor torque; The total fuel injection amount of the engine is determined according to the first compensation fuel injection amount and the second compensation fuel injection amount.

2. The torque compensation method according to claim 1, characterized in that: The step of determining the first compensation fuel injection amount according to the difference between the current torque and the next target torque includes: Obtaining the next step length target torque, the current torque, the maximum output torque of the engine at the current speed, the next step length required fuel injection amount, the current step length fuel injection amount and the current step length excess air coefficient; The first compensating injection amount is determined according to the next step target torque, the current torque, the maximum output torque of the engine at the current speed, the next step required injection amount, the current step injection amount and the current step excess air coefficient.

3. The torque compensation method according to claim 1, characterized in that: Determining the torque correction value according to the torque correction factor and the torque friction factor includes: Determine a first torque correction factor, a second torque correction factor, a third torque correction factor, and a fourth torque correction factor according to the ratio of actual values ​​of intake air temperature, injection advance angle, rail pressure, and intake manifold pressure to set values; determining a first torque correction value according to the current torque, the first torque correction factor, the second torque correction factor, the third torque correction factor, and the fourth torque correction factor; Determining a friction torque correction factor according to a ratio of an intake and exhaust pressure difference to a preset value; Determining a second torque correction value according to the friction torque correction factor and a preset friction torque; A torque correction value is determined according to the first torque correction value, the second torque correction value and the current required torque.

4. The torque compensation method according to claim 1, characterized in that: The method of determining the total motor output torque and the second compensation fuel injection amount according to the motor output torque, the torque correction value, the battery power and the maximum motor torque includes: determining a torque power correction coefficient according to the battery power; Determine the maximum output torque of the motor according to the torque power correction coefficient and the maximum torque of the motor; Determine a motor target torque according to the motor output torque and the torque correction value; When the motor target torque is less than or equal to the motor maximum output torque, the motor target torque is used as the motor total output torque and the value of the second compensation fuel injection amount is 0; When the motor target torque is greater than the motor maximum output torque, the motor maximum output torque is used as the motor total output torque, and the second compensating fuel injection amount is determined according to the motor target torque and the motor maximum output torque.

5. The torque compensation method according to claim 4, characterized in that: The determining the second compensation fuel injection amount according to the motor target torque and the motor maximum output torque includes: The second compensation injection amount is determined according to the motor target torque, the motor maximum output torque and a preset torque injection amount conversion coefficient.

6. The torque compensation method according to claim 1, characterized in that: The determining the total fuel injection amount of the engine according to the first compensation fuel injection amount, the motor torque compensation amount and the second compensation fuel injection amount comprises: The total fuel injection amount of the engine is determined according to the current step injection amount, the first compensation fuel injection amount and the second compensation fuel injection amount.

7. A torque compensation device, characterized in that: include: A processing module, the processing module is used to determine a first compensation fuel injection amount according to a difference between a current torque and a next long target torque; Determine a torque correction value according to a torque correction factor and a torque friction factor; The total motor output torque and the second compensation fuel injection amount are determined according to the motor output torque, the torque correction value, the battery power and the maximum torque of the motor; the total engine fuel injection amount is determined according to the first compensation fuel injection amount and the second compensation fuel injection amount.

8. The torque compensation device according to claim 7, characterized in that: Also includes: Engines and motors; The engine is used to inject fuel according to the total fuel injection amount; The motor is used to output torque according to the total torque output by the motor.

9. A vehicle electronic control unit, characterized in that: Used to execute a torque compensation method as claimed in any one of claims 1 to 6.

10. A vehicle, characterized in that: Comprising the vehicle electronic control unit as claimed in claim 9.

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