Torque determination method and device, controller, vehicle, storage medium and product

Abstract

The invention relates to a torque determination method and device, a controller, a vehicle, a storage medium and a product, and the method comprises the steps: determining the output torque of each target device meeting a torque constraint condition and achieving a vehicle optimization target based on at least one vehicle optimization target of the vehicle and the torque constraint conditions of at least two target devices of the vehicle; the output torque of the target device of the vehicle can be accurately determined, so that the operation of the vehicle meets the vehicle optimization target.

Description

Technical Field

[0001] The present application relates to the field of automotive technology, and in particular to a torque determination method, device, controller, vehicle, storage medium and product, wherein the storage medium is a computer-readable storage medium and the product is a computer program product. Background Art

[0002] In the automotive field, accurately determining the output torque of a vehicle's target device can optimize the vehicle's acceleration performance, cruising range, and handling stability. Therefore, accurately determining the output torque of the target device is crucial to the operation of the vehicle. Summary of the Invention

[0003] Embodiments of the present application provide a torque determination method, device, controller, vehicle, storage medium, and product. By determining the output torque of each target device that satisfies the torque constraint and achieves the vehicle optimization target based on at least one vehicle optimization target of the vehicle and the torque constraint of at least two target devices of the vehicle, the output torque of the target device of the vehicle can be accurately determined, so that the operation of the vehicle meets the vehicle optimization target.

[0004] In order to achieve the above object, according to a first aspect of the present application, a torque determination method is provided, comprising:

[0005] Based on at least one vehicle optimization objective of a vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each of the target devices is determined that satisfies the torque constraints and achieves the vehicle optimization objective.

[0006] In one embodiment, the vehicle optimization objective comprises an objective optimization function, and the objective optimization function is determined based on at least one vehicle performance information of the vehicle.

[0007] In one embodiment, the vehicle performance information includes a wheel stability margin of the vehicle and / or an efficiency of the target device.

[0008] In one embodiment, the wheel stability margin is determined based on at least one of a longitudinal force, a lateral force, a load of the wheel, and an adhesion coefficient between the wheel and the contact surface.

[0009] In one embodiment, achieving the vehicle optimization goal includes maximizing the objective optimization function.

[0010] In one embodiment, determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, the output torque of each target device that satisfies the torque constraints and achieves the vehicle optimization objective includes:

[0011] determining, based on the torque constraint, candidate torque combinations of the target device that satisfy the torque constraint, each of the candidate torque combinations including a candidate output torque corresponding to each of the target devices;

[0012] Based on the vehicle optimization target and the candidate torque combinations, a target candidate torque combination that achieves the vehicle optimization target is determined, and the output torque of each target device is obtained.

[0013] In one embodiment, the torque constraint condition includes a first constraint condition and / or a second constraint condition;

[0014] The first constraint condition includes that the sum of the output torques of the target devices is equal to the target required torque of the vehicle;

[0015] The second constraint condition includes that the sum of the yaw torques generated by the wheels of the vehicle is equal to the desired yaw torque of the vehicle.

[0016] In one embodiment, the torque constraint condition further includes at least one of the following conditions:

[0017] The output torque of each of the target devices falls within the output torque range of each of the target devices;

[0018] The output torque of each target device and the torque of the wheel controlled by the target device satisfy a preset mapping relationship;

[0019] The longitudinal force of each wheel belongs to a specified value range, wherein the specified value range is determined based on the load and / or adhesion coefficient of each wheel.

[0020] In one embodiment, before determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, that the output torque of each target device satisfies the torque constraints and achieves the vehicle optimization objective, the method further includes:

[0021] Acquiring first driving-related information of the vehicle;

[0022] The expected yaw torque is determined based on the first driving-related information.

[0023] In one embodiment, the first driving-related information includes at least one of a steering wheel angle and a vehicle speed of the vehicle.

[0024] In one embodiment, determining the expected yaw torque based on the first driving-related information includes:

[0025] The expected yaw torque corresponding to the first driving-related information is determined based on a preset correspondence relationship between the driving-related information and the yaw torque.

[0026] In one embodiment, before determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, that the output torque of each target device satisfies the torque constraints and achieves the vehicle optimization objective, the method further includes:

[0027] The target required torque of the vehicle is determined based on second driving-related data of the vehicle.

[0028] In one embodiment, the second driving-related data includes a target accelerator pedal depth, a target vehicle speed and / or a target brake pedal depth of the vehicle.

[0029] In one embodiment, determining the target required torque of the vehicle based on the second driving-related data of the vehicle includes:

[0030] determining a first required torque and / or a second required torque of the vehicle based on second driving-related data of the vehicle;

[0031] The target required torque is determined according to the first required torque and / or the second required torque.

[0032] In one embodiment, determining the first required torque and / or the second required torque of the vehicle based on the second driving-related data of the vehicle includes:

[0033] determining the first required torque according to the target accelerator pedal depth, the target vehicle speed, and a first preset mapping relationship, wherein the first preset mapping relationship includes a correspondence between the accelerator pedal depth and the required torque corresponding to the vehicle speed;

[0034] And / or, the second required torque is determined based on the target brake pedal depth, the target vehicle speed, and a second preset mapping relationship, where the first preset mapping relationship includes the required torque corresponding to the brake pedal depth and the vehicle speed.

[0035] In one embodiment, the target device is a driving motor of the vehicle.

[0036] According to a second aspect of the present application, there is provided a torque determination device, comprising:

[0037] The determining unit is configured to determine, based on at least one vehicle optimization target of the vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each target device that satisfies the torque constraint and achieves the vehicle optimization target.

[0038] According to a third aspect of the present application, a controller is provided, comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute any torque determination method provided in the embodiments of the present application.

[0039] According to a fourth aspect of the present application, a vehicle is provided, comprising a controller; the vehicle executes any one of the torque determination methods provided in the embodiments of the present application through the controller.

[0040] According to a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and the computer program is loaded by a processor to execute any torque determination method provided in the embodiments of the present application.

[0041] According to a sixth aspect of the present application, a computer program product is provided, which includes a computer program or instructions, and the computer program or instructions are loaded by a processor to execute any torque determination method provided in the embodiments of the present application.

[0042] To summarize, the embodiments of the present application determine the output torque of each target device that satisfies the torque constraint conditions and achieves the vehicle optimization target based on at least one vehicle optimization target of the vehicle and the torque constraint conditions of at least two target devices of the vehicle, thereby accurately determining the output torque of the target device of the vehicle and ensuring that the operation of the vehicle complies with the vehicle optimization target.

[0043] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0045] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0046] Figure 1 is a flow chart of a torque determination method provided in an exemplary embodiment of the present disclosure;

[0047] Figure 2 is a schematic diagram of a kinetic model provided in an exemplary embodiment of the present disclosure;

[0048] Figure 3is a schematic diagram of a torque determination device provided in an exemplary embodiment of the present disclosure;

[0049] Figure 4 FIG. 1 is a schematic structural diagram of a controller provided in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0051] The present invention provides a method, device, controller, vehicle, storage medium, and product for determining torque. The following describes each of these methods in detail. It should be noted that the order in which the following embodiments are described does not limit the preferred order of the embodiments.

[0052] This embodiment will be described from the perspective of a torque determination device, which may be integrated in a vehicle.

[0053] The embodiment of the present application provides a method for determining torque, such as Figure 1 As shown, the specific process of the torque determination method can be as follows:

[0054] 101. Based on at least one vehicle optimization objective of a vehicle and torque constraints of at least two target devices of the vehicle, determine an output torque of each target device that satisfies the torque constraints and achieves the vehicle optimization objective.

[0055] The target device includes a device capable of outputting torque. The drive motor of some vehicles can generate both driving torque and braking torque. Therefore, in one embodiment, the target device is the drive motor of the vehicle. The drive motor can generate both driving torque and braking torque. In some vehicles, the drive motor generates driving torque, while the brake motor generates braking torque. Therefore, the target device may also include a brake motor.

[0056] The constraint condition indicates the value range of the output torque, and the vehicle optimization target may include the target of optimizing vehicle performance, which is used to determine the output torque that enables the vehicle to obtain optimal operating performance.

[0057] Based on the constraints and the vehicle optimization goal, the output torque of at least two target devices of the vehicle configuration can be determined. For example, there are a target device A and a target device B on the vehicle. Based on the constraints and the vehicle optimization goal, the output torque A of the target device A and the output torque B of the target device B can be determined. The output torque A and the output torque B satisfy the constraints and achieve the vehicle optimization goal.

[0058] After the output torque of each target device is determined, the target device can be controlled to output the determined output torque to control the vehicle's travel.

[0059] In one embodiment, the vehicle optimization objective includes a target optimization function, and the target optimization function is determined based on at least one vehicle performance information of the vehicle. Determining the target optimization function based on the vehicle performance information can ensure that the output torque of the target device meets the required vehicle driving performance, such as high motor efficiency or stable driving.

[0060] The vehicle performance information includes the vehicle's wheel stability margin and / or the efficiency of the target device. This information can determine the output torque of the target device, maximize the efficiency of the target device, and ensure driving stability within constraints.

[0061] Optionally, the vehicle performance information may also include the vehicle's speed, etc.

[0062] In one embodiment, the wheel stability margin is determined based on at least one of the wheel's longitudinal force, lateral force, load, and the wheel's adhesion coefficient with the ground. Determining the wheel stability margin based on at least one of the wheel's longitudinal force, lateral force, load, and the wheel's adhesion coefficient with the ground accurately measures wheel stability. Furthermore, the output torque determined based on the wheel stability margin can control vehicle driving stability and reduce the risk of instability.

[0063] For example, the wheel stability margin η i The following relationship can be satisfied, where μ i is the adhesion coefficient of the wheel contacting the road, F zi is the vertical load on the wheel.

[0064]

[0065] The target optimization function can be one of J1, J2 and k1J1+(1-k1)J2 as follows, where J1 is the sum of the stability margins of all wheels of the vehicle, and J2 is the total efficiency of at least two target devices. Taking J1 as the target optimization function can reduce the risk of vehicle instability when the tire approaches the adhesion limit and ensure the stability of vehicle driving; taking J2 as the target optimization function can improve the economy of the entire vehicle; 3. Comprehensively considering the tire stability margin and the total efficiency of the electric drive system to control the motor torque, taking k1J1+(1-k1)J2 as the target optimization function can improve the economy and stability of the entire vehicle.

[0066]

[0067] max k1J1+(1-k1)J2

[0068] Wherein, k1 is a proportional coefficient, and k1∈(0, 1), and k can be a preset coefficient.

[0069] Assuming that the vehicle is equipped with three target devices, namely target device 1, target device 2 and target device 3, J2 can be determined by the following relationship, where P total_in 、P 1_in 、P 2_in 、P 3_in are the total input power of the three target devices, the input power of target device 1, the input power of target device 2, and the input power of target device 3 respectively; P total_out 、P 1_out 、P 2_out 、P 3_out are the total output power of the three target devices, namely the output power of target device 1, the output power of target device 2, and the output power of target device 3; T1, T2, and T3 are the output torque of target device 1, the output torque of target device 2, and the output torque of target device 3 respectively; n1, n2, and n3 are the speed of target device 1, the speed of target device 2, and the speed of target device 3 respectively; η1, η2, and η3 are the efficiency of target device 1, the efficiency of target device 2, and the efficiency of target device 3 respectively.

[0070] P total_in =P 1_in +P 2_in +P 3_in

[0071]

[0072] In one embodiment, achieving the vehicle optimization goal includes maximizing the target optimization function. An output torque that maximizes the target optimization function is determined, and the output torque can be controlled under preset conditions to ensure that the vehicle is in an optimal driving state.

[0073] Optionally, achieving the vehicle optimization goal may also be to minimize the target optimization function, which may be specifically determined according to the set target optimization function.

[0074] In one embodiment, the step of “determining, based on at least one vehicle optimization objective of a vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each of the target devices that satisfies the torque constraints and achieves the vehicle optimization objective” may include:

[0075] determining, based on the torque constraint, candidate torque combinations of the target device that satisfy the torque constraint, each of the candidate torque combinations including a candidate output torque corresponding to each of the target devices;

[0076] Based on the vehicle optimization target and the candidate torque combinations, a target candidate torque combination that achieves the vehicle optimization target is determined, and the output torque of each target device is obtained.

[0077] The torque constraints indicate the range of values for each target device. Based on the torque constraints, multiple candidate output torques that meet the torque constraints are determined. Based on the vehicle optimization objective, a target candidate torque combination that achieves the vehicle optimization objective is determined from the multiple candidate torque combinations. The candidate output torques of each target device in the target candidate combination are used as the output torques to each target device, thereby controlling vehicle operation to meet the optimization objective.

[0078] Optionally, the optimal solution to the vehicle optimization objective can also be determined through numerical iteration methods, intelligent optimization algorithms, etc. The numerical iteration methods can include gradient descent method, Newton method, quasi-Newton method, etc., and the intelligent optimization algorithms can include genetic algorithms, particle swarm optimization algorithms, etc.

[0079] In one embodiment, the torque constraint condition includes a first constraint condition and / or a second constraint condition;

[0080] The first constraint condition includes that the sum of the output torques of the target devices is equal to the target required torque of the vehicle;

[0081] The second constraint condition includes that the sum of the yaw torques generated by the wheels of the vehicle is equal to the desired yaw torque of the vehicle.

[0082] Assume that the vehicle is equipped with three target devices, namely target device 1, target device 2 and target device 3, T1, T2 and T3 are the output torque of target device 1, target device 2 and target device 3 respectively; the target required torque of the vehicle is T req , the first constraint condition can be T1+T2+T3=T req .

[0083] Based on the first constraint condition and / or the second constraint condition, the output torque ratio of each target device is determined to meet the torque required for vehicle driving.

[0084] In one embodiment, the torque constraint condition further includes at least one of the following conditions:

[0085] The output torque of each of the target devices falls within the output torque range of each of the target devices;

[0086] The output torque of each target device and the torque of the wheel controlled by the target device satisfy a preset mapping relationship;

[0087] The longitudinal force of each wheel belongs to a specified value range, wherein the specified value range is determined based on the load and / or adhesion coefficient of each wheel.

[0088] For example, it is assumed that the vehicle is equipped with three target devices, namely target device 1, target device 2 and target device 3. Target device 1 is used to control the two front wheels of the vehicle, and target device 2 and target device 3 are used to control one rear wheel of the vehicle respectively. The constraint conditions can be as follows, where T1, T2, and T3 are the output torque of target device 1, the output torque of target device 2, and the output torque of target device 3 respectively; q1, q2, and q3 are the reducer transmission ratios of target device 1, the reducer transmission ratios of target device 2, and the reducer transmission ratios of target device 3 respectively; T imax The maximum output torque of each target device; T xi is the torque of each wheel; M q is the yaw torque of the vehicle.

[0089]

[0090] T x1 +T x2 =T1q1

[0091] T x3 =T2q2

[0092] T x4 =T3q3

[0093] -μ i F zi ≤F xi ≤μ i F zi

[0094] -T imax ≤T i ≤T imax

[0095] In one embodiment, before the step of “determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, the output torque of each target device that satisfies the torque constraint and achieves the vehicle optimization objective,” the torque determination method provided in the embodiment of the present application may further include:

[0096] Acquiring first driving-related information of the vehicle;

[0097] The expected yaw torque is determined based on the first driving-related information.

[0098] Specifically, the expected yaw torque may be determined based on the first driving-related data through a neural network model, or the expected yaw torque corresponding to the first driving-related data may be determined based on a correspondence between preset driving-related information and the yaw torque.

[0099] Determining a desired yaw torque required by the vehicle may enable determining an output torque that provides the desired yaw torque required by the vehicle.

[0100] In one embodiment, the first driving-related information includes at least one of a steering wheel angle and a vehicle speed of the vehicle.

[0101] In one embodiment, the step of “determining the expected yaw torque based on the first driving-related information” may include:

[0102] The expected yaw torque corresponding to the first driving-related information is determined based on a preset correspondence relationship between the driving-related information and the yaw torque.

[0103] Exemplarily, the correspondence between the preset driving-related information and the yaw torque may include a data pair consisting of a steering wheel angle and a vehicle speed, and a yaw torque corresponding to the data pair. Based on the correspondence and the first driving-related information of the vehicle, the yaw torque corresponding to the first driving-related information can be determined, and the yaw torque can be determined as the expected yaw torque.

[0104] Presetting the correspondence between the driving-related information and the yaw torque can improve the speed and accuracy of determining the expected yaw torque.

[0105] In one embodiment, before the step of “determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, the output torque of each target device that satisfies the torque constraint and achieves the vehicle optimization objective,” the torque determination method provided in the embodiment of the present application may further include:

[0106] The target required torque of the vehicle is determined based on second driving-related data of the vehicle.

[0107] In one embodiment, the second driving-related data includes a target accelerator pedal depth and / or a target brake pedal depth of the vehicle.

[0108] In one embodiment, the step of “determining the target required torque of the vehicle based on the second driving-related data of the vehicle” includes:

[0109] determining a first required torque and / or a second required torque of the vehicle based on second driving-related data of the vehicle;

[0110] The target required torque is determined according to the first required torque and / or the second required torque.

[0111] The first demand torque can be used as the target demand torque, or the second demand torque can be used as the target demand torque. Optionally, the target demand torque can be the sum of the first demand torque and the second demand torque, or the torque obtained by weighted summation of the first demand torque and the second demand torque, or the difference between the first demand torque and the second demand torque.

[0112] Specifically, the desired yaw torque can be determined based on the second driving-related data through a neural network model, or the first required torque and / or second required torque corresponding to the second driving-related data can be determined based on the correspondence between the preset driving-related information and the required torque, thereby accurately determining the target required torque.

[0113] Determining the target demand torque for the vehicle may enable the output torque to be determined to provide the target demand torque required by the vehicle.

[0114] In one embodiment, the step of “determining the first required torque and / or the second required torque of the vehicle based on the second driving-related data of the vehicle” may include:

[0115] determining the first required torque according to the target accelerator pedal depth, the target vehicle speed, and a first preset mapping relationship, wherein the first preset mapping relationship includes a correspondence between the accelerator pedal depth and the required torque corresponding to the vehicle speed;

[0116] And / or, the second required torque is determined based on the target brake pedal depth, the target vehicle speed, and a second preset mapping relationship, where the first preset mapping relationship includes the required torque corresponding to the brake pedal depth and the vehicle speed.

[0117] Among them, the first mapping relationship may include the required torque corresponding to multiple data combinations, each data combination includes an accelerator pedal depth and a vehicle speed, and the second mapping relationship may include the required torque corresponding to multiple data combinations, each data combination includes a brake pedal depth and a vehicle speed.

[0118] Optionally, the first preset mapping relationship may be a throttle curve. The throttle curve is queried based on the target throttle pedal depth and the target vehicle speed to determine the first required torque corresponding to the target throttle pedal depth and the target speed.

[0119] The second preset mapping relationship may be a feedback curve. The feedback curve is queried based on the target brake pedal depth and the target vehicle speed to determine the second required torque corresponding to the target brake pedal depth and the target vehicle speed.

[0120] Determining the first required torque based on the first preset mapping relationship and determining the second required torque based on the second preset mapping relationship can improve the speed and accuracy of determining the target required torque.

[0121] The target device is the drive motor. The vehicle is equipped with three drive motors, drive motor 1, drive motor 2 and drive motor 3. Drive motor 1 can control the two front wheels of the vehicle, and drive motor 2 and drive motor 3 can control one rear wheel of the vehicle respectively. Figure 2 The torque determination method provided in the embodiment of the present application is further explained.

[0122] Figure 2 It is a seven-degree-of-freedom vehicle dynamics model, including the longitudinal, lateral, and yaw motions of the vehicle and the rotation of the four vehicles. O is the center of mass, v x is the longitudinal velocity, v y is the lateral velocity; F xi is the longitudinal force of the wheel, F yi is the wheel lateral force, i = fl, fr, rl, rr represent the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle respectively; M z is the yaw moment of the car around the Z axis; L is the wheelbase, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, d is the wheelbase of the car; is the front wheel turning angle of the car.

[0123] The longitudinal motion equation of the vehicle is:

[0124] F x =F xfl cosσ+F xfr cosσ+F xrl +F xrr -F yfl sinδ-F yfr sinδ

[0125] The lateral motion equation of the vehicle is:

[0126] F y =F yfl cosσ+F yfr cosσ+F yrl +F yrr -Fxfl sinδ-F xfr sinδ

[0127] The vehicle's yaw motion equation is:

[0128] M z =a(F xfl sinδ+F xfr sinδ+F yfl cosσ+F yfr cosσ)-b(F yrl +F yrr )+0.5d(F xfr cosσ-F xfl cosσ+F xrr -F xrl sinδ-F yfr sinδ)

[0129] The rotation of the wheel satisfies the equation:

[0130] Among them, I wi is the moment of inertia of each wheel, ω wi is the angular velocity of each wheel, T di is the driving torque on the wheel, R w is the wheel rolling radius.

[0131] The vehicle's desired yaw torque M q , an additional yaw torque ΔM needs to be applied to the vehicle, satisfying the relationship: ΔM=M q -M z .

[0132] Tire stability margin is also the wheel stability margin η above i It can satisfy the following formula, μ i is the adhesion coefficient of the wheel contacting the road, F zi is the vertical load on the wheel.

[0133]

[0134] By reasonably distributing the driving torque of each wheel and increasing the stability margin, the vehicle's driving stability can be improved. The stability optimal control objective function is:

[0135]

[0136] Among them, F yi and F zi It can be measured by sensors or determined by software simulation driving under different output torques of the drive motor. yi and F zi, optionally determined based on the following relationship, where m is the vehicle mass, h g is the distance from the center of mass to the ground, is the longitudinal acceleration, is the lateral acceleration, F yi Can be treated as a constant.

[0137]

[0138] The economic optimization can be considered to maximize the total efficiency of the drive motor system. The objective function can be as follows, where P total_in 、P 1_in 、P 2_in 、P 3_in are the total input power of the drive motor system, the input power of drive motor 1, the input power of drive motor 2, and the input power of drive motor 3 respectively; P total_out 、P 1_out 、P 2_out 、P 3_out are the total output power of the drive motor system, the output power of drive motor 1, the output power of drive motor 2, and the output power of drive motor 3 respectively; T1, T2, and T3 are the output torque of drive motor 1, the output torque of drive motor 2, and the output torque of drive motor 3 respectively; n1, n2, and n3 are the speed of drive motor 1, the speed of drive motor 2, and the speed of drive motor 3 respectively; η1, η2, and η3 are the efficiency of drive motor 1, the efficiency of drive motor 2, and the efficiency of drive motor 3 respectively.

[0139]

[0140] P total_in =P 1_in +P 2_in +P 3_in

[0141]

[0142] The multi-objective optimization function considering comprehensive stability and economy is shown below, where k1 is a preset proportional coefficient and k1∈(0, 1).

[0143] maxk1J1+(1-k1)J2

[0144] The constraints may include the following conditions: T1, T2, and T3 are the output torque of drive motor 1, the output torque of drive motor 2, and the output torque of drive motor 3, respectively; q1, q2, and q3 are the reducer transmission ratios of drive motor 1, the reducer transmission ratios of drive motor 2, and the reducer transmission ratios of drive motor 3, respectively; T imax The maximum output torque of each drive motor; Txi is the torque of each wheel, that is, the driving torque of the wheel; M q is the yaw torque of the vehicle.

[0145] T1+T2+T3=T req

[0146]

[0147] T x1 +T x2 =T1q1

[0148] T x3 =T2q2

[0149] T x4 =T3q3

[0150] -μ i F zi ≤F xi ≤μ i F zi

[0151] -T imax ≤T i ≤T imax

[0152] The motor torque satisfies the following relationship:

[0153]

[0154] Intelligent algorithms, such as genetic algorithms, can be used to determine the optimal solution to the target optimization function, i.e., the target output torque of each motor that satisfies both vehicle stability and economic efficiency. The output of each drive motor is then controlled based on the target output torque obtained.

[0155] From the above, it can be seen that the embodiment of the present application determines the output torque of each target device that satisfies the torque constraint conditions and achieves the vehicle optimization target based on at least one vehicle optimization target of the vehicle and the torque constraint conditions of at least two target devices of the vehicle, thereby accurately determining the output torque of the target device of the vehicle and ensuring that the operation of the vehicle meets the vehicle optimization target.

[0156] In order to facilitate better implementation of the torque determination method provided in the embodiment of the present application, a torque determination device is also provided in one embodiment. The meanings of the terms herein are the same as those in the above torque determination method, and the specific implementation details can be referred to the description in the method embodiment.

[0157] The torque determination device can be integrated in a vehicle, e.g. Figure 3 As shown, the torque determination device may include a wheel determination unit 301, specifically as follows:

[0158] The determination unit 301 is configured to determine, based on at least one vehicle optimization objective of a vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each target device that satisfies the torque constraints and achieves the vehicle optimization objective.

[0159] In one embodiment, the vehicle optimization objective comprises an objective optimization function, and the objective optimization function is determined based on at least one vehicle performance information of the vehicle.

[0160] In one embodiment, the vehicle performance information includes a wheel stability margin of the vehicle and / or an efficiency of the target device.

[0161] In one embodiment, the wheel stability margin is determined based on at least one of a longitudinal force, a lateral force, a load of the wheel, and an adhesion coefficient between the wheel and the contact surface.

[0162] In one embodiment, achieving the vehicle optimization goal includes maximizing the objective optimization function.

[0163] In one embodiment, the determining unit 301 may also be configured to:

[0164] determining, based on the torque constraint, candidate torque combinations of the target device that satisfy the torque constraint, each of the candidate torque combinations including a candidate output torque corresponding to each of the target devices;

[0165] Based on the vehicle optimization target and the candidate torque combinations, a target candidate torque combination that achieves the vehicle optimization target is determined, and the output torque of each target device is obtained.

[0166] In one embodiment, the torque constraint condition includes a first constraint condition and / or a second constraint condition;

[0167] The first constraint condition includes that the sum of the output torques of the target devices is equal to the target required torque of the vehicle;

[0168] The second constraint condition includes that the sum of the yaw torques generated by the wheels of the vehicle is equal to the desired yaw torque of the vehicle.

[0169] In one embodiment, the torque constraint condition further includes at least one of the following conditions:

[0170] The output torque of each of the target devices falls within the output torque range of each of the target devices;

[0171] The output torque of each target device and the torque of the wheel controlled by the target device satisfy a preset mapping relationship;

[0172] The longitudinal force of each wheel belongs to a specified value range, wherein the specified value range is determined based on the load and / or adhesion coefficient of each wheel.

[0173] In one embodiment, the torque determination device may further include:

[0174] an acquiring unit, configured to acquire first driving-related information of the vehicle;

[0175] The yaw torque determination unit is configured to determine the expected yaw torque based on the first driving-related information.

[0176] In one embodiment, the first driving-related information includes at least one of a steering wheel angle and a vehicle speed of the vehicle.

[0177] In one embodiment, the yaw torque determination unit may further be configured to:

[0178] The expected yaw torque corresponding to the first driving-related information is determined based on a preset correspondence relationship between the driving-related information and the yaw torque.

[0179] In one embodiment,

[0180] The torque determination device may further comprise:

[0181] The required torque determining unit is configured to determine the target required torque of the vehicle based on the second driving-related data of the vehicle.

[0182] In one embodiment, the second driving-related data includes a target accelerator pedal depth, a target vehicle speed and / or a target brake pedal depth of the vehicle.

[0183] In one embodiment, the required torque determination unit may further be configured to:

[0184] determining a first required torque and / or a second required torque of the vehicle based on second driving-related data of the vehicle;

[0185] The target required torque is determined according to the first required torque and / or the second required torque.

[0186] In one embodiment, the required torque determination unit may further be configured to:

[0187] determining the first required torque according to the target accelerator pedal depth, the target vehicle speed, and a first preset mapping relationship, wherein the first preset mapping relationship includes a correspondence between the accelerator pedal depth and the required torque corresponding to the vehicle speed;

[0188] And / or, the second required torque is determined based on the target brake pedal depth, the target vehicle speed, and a second preset mapping relationship, where the first preset mapping relationship includes the required torque corresponding to the brake pedal depth and the vehicle speed.

[0189] From the above, it can be seen that the embodiment of the present application determines the output torque of each target device that satisfies the torque constraint conditions and achieves the vehicle optimization target by determining unit 301 based on at least one vehicle optimization target of the vehicle and the torque constraint conditions of at least two target devices of the vehicle. This can achieve accurate determination of the output torque of the vehicle's target device and ensure that the operation of the vehicle meets the vehicle optimization target.

[0190] The present application also provides a controller, such as Figure 4 , which shows a schematic diagram of the structure of the controller involved in the embodiment of the present application, specifically:

[0191] The controller may include one or more processors 1001 of processing cores, one or more computer-readable storage media memories 1002, a power supply 1003, an input unit 1004 and other components. Those skilled in the art will appreciate that Figure 4 The controller structure shown in the figure does not constitute a limitation on the controller, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0192] Processor 1001 is the controller's control center, connecting all components of the controller using various interfaces and circuits. By running or executing software programs and / or modules stored in memory 1002 and accessing data stored in memory 1002, it performs various controller functions and processes data, thereby providing overall monitoring of the controller. Optionally, processor 1001 may include one or more processing cores; preferably, processor 1001 may integrate an application processor and a modem processor, with the application processor primarily processing the operating system, user interface, and computer programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into processor 1001.

[0193] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.

[0194] The controller also includes a power supply 1003 for supplying power to various components. Preferably, the power supply 1003 can be logically connected to the processor 1001 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The power supply 1003 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0195] The controller may further include an input unit 1004, which may be configured to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0196] Although not shown, the controller may further include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 1001 in the controller will load the executable files corresponding to one or more computer program processes into the memory 1002 according to the following instructions, and the processor 1001 will run the computer programs stored in the memory 1002 to implement various functions as follows:

[0197] Based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each target device is determined that satisfies the torque constraints and achieves the vehicle optimization objective.

[0198] The specific implementation of the above operations can be found in the previous embodiments and will not be described in detail here.

[0199] From the above, it can be seen that in the embodiment of the present application, by determining the output torque of each target device that meets the torque constraint conditions and achieves the vehicle optimization target based on at least one vehicle optimization target of the vehicle and the torque constraint conditions of at least two target devices of the vehicle, it is possible to accurately determine the output torque of the vehicle's target device and make the vehicle operation meet the vehicle optimization target.

[0200] According to one aspect of the present application, a vehicle is provided, including a controller, etc., which can execute the torque determination method provided in various optional implementations of the above embodiments via the controller. The vehicle can be a gasoline vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., which is not specifically limited in this application.

[0201] According to one aspect of the present application, a computer program product or computer program is provided. The computer program product or computer program includes computer instructions stored in a computer-readable storage medium. A processor of a vehicle reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the vehicle to perform the torque determination method provided in various optional implementations of the above-described embodiments.

[0202] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0203] According to one aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions. When the instructions are executed by a processor, the processor is configured to perform the above torque determination method.

[0204] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) that contain computer-usable program code.

[0205] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0206] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0207] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0208] In a typical configuration, a computing device includes one or more processors (Central Processing Unit, CPU), input / output interfaces, network interfaces, and memory.

[0209] Memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash random access memory (flash RAM). Memory is an example of a computer-readable medium.

[0210] Computer-readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random-access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated communication signals and carrier waves.

[0211] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0212] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0213] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0214] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for determining torque, characterized in that: include: Based on at least one vehicle optimization objective of a vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each of the target devices is determined that satisfies the torque constraints and achieves the vehicle optimization objective.

2. The method according to claim 1, characterized in that The vehicle optimization objective includes an objective optimization function, which is determined based on at least one vehicle performance information of the vehicle.

3. The method according to claim 2, characterized in that The vehicle performance information includes a wheel stability margin of the vehicle and / or an efficiency of the target device.

4. The method according to claim 3, characterized in that in, The wheel stability margin is determined based on at least one of a longitudinal force, a lateral force, a load of the wheel, and an adhesion coefficient between the wheel and a contact surface.

5. The method according to claim 2, characterized in that Achieving the vehicle optimization goal includes maximizing the target optimization function.

6. The method according to claim 1, characterized in that The determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each target device that satisfies the torque constraints and achieves the vehicle optimization objective includes: determining, based on the torque constraint, candidate torque combinations of the target device that satisfy the torque constraint, each of the candidate torque combinations including a candidate output torque corresponding to each of the target devices; Based on the vehicle optimization target and the candidate torque combinations, a target candidate torque combination that achieves the vehicle optimization target is determined, and the output torque of each target device is obtained.

7. The method according to any one of claims 1 to 6, characterized in that The torque constraint condition includes a first constraint condition and / or a second constraint condition; The first constraint condition includes that the sum of the output torques of the target devices is equal to the target required torque of the vehicle; The second constraint condition includes that the sum of the yaw torques generated by the wheels of the vehicle is equal to the desired yaw torque of the vehicle.

8. The method according to claim 7, characterized in that The torque constraint condition also includes at least one of the following conditions: The output torque of each of the target devices falls within the output torque range of each of the target devices; The output torque of each target device and the torque of the wheel controlled by the target device satisfy a preset mapping relationship; The longitudinal force of each wheel belongs to a specified value range, wherein the specified value range is determined based on the load and / or adhesion coefficient of each wheel.

9. The method according to claim 7, characterized in that Before determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, that the output torque of each target device satisfies the torque constraints and achieves the vehicle optimization objective, the method further includes: Acquiring first driving-related information of the vehicle; The expected yaw torque is determined based on the first driving-related information.

10. The method according to claim 9, characterized in that The first driving-related information includes at least one of a steering wheel angle and a vehicle speed of the vehicle.

11. The method according to claim 9, characterized in that The determining the expected yaw torque based on the first driving-related information includes: The expected yaw torque corresponding to the first driving-related information is determined based on a preset correspondence relationship between the driving-related information and the yaw torque.

12. The method according to claim 7, characterized in that Before determining, based on at least one vehicle optimization objective of the vehicle and torque constraints of at least two target devices of the vehicle, that the output torque of each target device satisfies the torque constraints and achieves the vehicle optimization objective, the method further includes: The target required torque of the vehicle is determined based on second driving-related data of the vehicle.

13. The method according to claim 12, characterized in that The second driving-related data includes a target accelerator pedal depth, a target vehicle speed, and / or a target brake pedal depth of the vehicle.

14. The method according to claim 13, characterized in that The determining the target required torque of the vehicle based on the second driving-related data of the vehicle includes: determining a first required torque and / or a second required torque of the vehicle based on second driving-related data of the vehicle; The target required torque is determined according to the first required torque and / or the second required torque.

15. The method according to claim 14, characterized in that The determining the first required torque and / or the second required torque of the vehicle based on the second driving-related data of the vehicle includes: determining the first required torque according to the target accelerator pedal depth, the target vehicle speed, and a first preset mapping relationship, wherein the first preset mapping relationship includes a correspondence between the accelerator pedal depth and the required torque corresponding to the vehicle speed; And / or, the second required torque is determined based on the target brake pedal depth, the target vehicle speed, and a second preset mapping relationship, where the first preset mapping relationship includes the required torque corresponding to the brake pedal depth and the vehicle speed.

16. The method according to any one of claims 1 to 6 or any one of claims 8 to 15, characterized in that The target device is a driving motor of the vehicle.

17. A torque determination device, characterized in that: include: The determining unit is configured to determine, based on at least one vehicle optimization target of the vehicle and torque constraints of at least two target devices of the vehicle, an output torque of each target device that satisfies the torque constraint and achieves the vehicle optimization target.

18. A controller, characterized in that: The invention comprises a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the torque determination method according to any one of claims 1 to 16.

19. A vehicle, characterized in that: Including the controller described in claim 18.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the torque determination method according to any one of claims 1 to 16 is implemented.

21. A computer program product, characterized in that The invention comprises a computer program or instructions, which implement the torque determination method according to any one of claims 1 to 16 when executed by a processor.

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