New energy automobile driving torque rapid transfer control method and device

Abstract

The invention provides a new energy automobile driving torque rapid transfer control method and device, a new energy automobile and electronic equipment, and the method comprises the steps that the torque required by a driver is obtained; performing drivability filtering processing on the required torque to obtain the required torque after drivability filtering processing; according to the motor type of the automobile, distributing the demand torque after the drivability filtering processing to obtain a to-be-executed torque; and performing zero-crossing filtering processing on the to-be-executed torque to obtain an execution torque corresponding to the electric drive. By implementing the application, the inter-axle torque or inter-wheel torque can be quickly transferred without causing torque fluctuation, so that the torque change slope is consistent, the effect of translation of the torque change slope is achieved, and the vehicle performance is better played.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle torque transfer, and specifically, to a method and device for controlling the rapid transfer of driving torque of a new energy vehicle, a new energy vehicle, and electronic equipment. Background Art

[0002] For pure electric four-wheel drive vehicles or dual-motor hybrid four-wheel drive vehicles, when distributing torque to the driver, the torque required by the driver is usually distributed first and then filtered, that is, torque distribution is performed first, and then independent driving filtering is performed on the front and rear axles. When the torque distribution coefficient changes, it is often the case that the torque of one axle increases and the torque of the other axle decreases. The filter coefficients of torque increase and torque decrease are independently calibrated parameters and are not uniformly coordinated. If the torque distribution coefficient changes rapidly, the total torque will fluctuate, which will cause impact on the entire vehicle.

[0003] In order to ensure that the entire vehicle is impact-free, existing technologies usually limit the torque distribution coefficient to a very slow speed, thereby limiting the rapid transfer of torque between axles, but also failing to bring into play better four-wheel drive performance, causing serious waste of vehicle performance. Summary of the Invention

[0004] The purpose of this application is to provide a new energy vehicle driving torque rapid transfer control method, device, new energy vehicle and electronic equipment, which can realize the rapid transfer of torque between axles or between wheels without causing torque fluctuations, making the torque change slope consistent, achieving the effect of torque change slope translation, thereby better exerting vehicle performance.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling rapid transfer of driving torque of a new energy vehicle, the method comprising: Detect the accelerator pedal and brake pedal of the new energy vehicle respectively to obtain the current driving mode; Obtain the driver's required torque; performing a drivability filtering process on the required torque to obtain a drivability filtered required torque; Allocating the required torque after the drivability filtering process according to the motor type of the vehicle to obtain a torque to be executed; The to-be-executed torque is subjected to zero-crossing filtering to obtain an execution torque corresponding to the electric drive.

[0006] In the above implementation process, drivability filtering is performed according to the driver's required torque. By filtering first and then distributing, that is, drivability filtering is performed first, then the inter-axle torque distribution, and finally the torque zero-crossing filtering is performed. This method can achieve rapid transfer of inter-axle torque or inter-wheel torque without causing torque fluctuations, making the torque change slope consistent, achieving the effect of torque change slope shift, and thus better exerting vehicle performance.

[0007] Furthermore, before the step of performing drivability filtering on the required torque to obtain the required torque after drivability filtering, the method further includes: Get the current execution cycle; If the current execution cycle is the first cycle, directly performing drivability filtering processing on the required torque to obtain the required torque after the drivability filtering processing; If the current execution cycle is an execution cycle subsequent to the first cycle, a drivability filtering process is performed on the required torque according to the feedback torque of the previous execution cycle to obtain the required torque after the drivability filtering process.

[0008] In the above implementation process, the torque to be executed in the previous execution cycle is subjected to zero-crossing filtering and then summed up, which can ensure that the torque change slope remains consistent during the torque distribution process in each cycle, avoiding the step shock caused by zero-crossing filtering that affects the entire vehicle.

[0009] Furthermore, the step of allocating the required torque after the drivability filtering process according to the motor type of the vehicle to obtain the torque to be executed includes: If the motor type of the vehicle is a distributed four-motor model, performing inter-axle torque distribution on the required torque after the drivability filtering process to obtain a first front axle torque and a first rear axle torque; Performing inter-wheel torque distribution on the first front axle torque and the first rear axle torque respectively to obtain a left wheel torque of the first front axle, a right wheel torque of the first front axle, and a left wheel torque of the first rear axle, and a right wheel torque of the first rear axle; The left wheel torque of the first front axle, the right wheel torque of the first front axle, the left wheel torque of the first rear axle, and the right wheel torque of the first rear axle are determined as the torques to be executed.

[0010] In the above implementation process, torque is distributed according to the motor type of the vehicle, so that different motor types can achieve reasonable and effective torque distribution, improve the accuracy and efficiency of torque distribution, and reduce the error generated in the torque distribution process.

[0011] Furthermore, the step of allocating the required torque after the drivability filtering process according to the motor type of the vehicle to obtain the torque to be executed further includes: If the motor type of the vehicle is a non-distributed four-motor model, performing inter-axle torque distribution on the required torque after the drivability filtering process to obtain a second front axle torque and a second rear axle torque; The second front axle torque and the second rear axle torque are determined as the torques to be executed.

[0012] In the above implementation process, when the motor type is a non-distributed four-motor model, the inter-axle torque distribution can balance the torque between the front axle and the rear axle, so that the car can obtain better performance balance and improve the ability to apply torque.

[0013] Furthermore, the step of performing inter-axle torque distribution on the required torque after the drivability filtering process to obtain a first front axle torque and a first rear axle torque includes: Obtaining an initial rear axle torque distribution coefficient; Inputting the required torque after the drivability filtering process into a corresponding filter for filtering, and controlling the ascending gradient and descending gradient of the distribution coefficient according to the initial rear axle torque distribution coefficient to obtain a target rear axle torque distribution coefficient; The required torque after the drivability filtering process is subjected to inter-axle torque distribution according to the target rear axle torque distribution coefficient to obtain the first front axle torque and the first rear axle torque.

[0014] In the above implementation process, the target rear axle torque distribution coefficient is made more accurate by balancing the rising gradient and the falling gradient of the distribution coefficient according to the initial rear axle torque distribution coefficient, and the change of the distribution coefficient can be effectively maintained while maintaining the stability of the torque distribution.

[0015] Furthermore, the step of performing inter-wheel torque distribution on the first front axle torque and the first rear axle torque to obtain the left wheel torque of the first front axle, the right wheel torque of the first front axle, and the left wheel torque of the first rear axle, and the right wheel torque of the first rear axle includes: Get the right wheel distribution coefficient of the first front axle; Inputting the first front axle torque into a corresponding filter for filtering, and controlling an ascending gradient and a descending gradient of the distribution coefficient according to the right wheel distribution coefficient of the first front axle, to obtain a left wheel torque of the first front axle and a right wheel torque of the first front axle; Get the right wheel distribution coefficient of the first rear axle; The first rear axle torque is input into a corresponding filter for filtering, and the distribution coefficient rising gradient and the distribution coefficient falling gradient are controlled according to the first rear axle right wheel distribution coefficient to obtain the left wheel torque of the first rear axle and the right wheel torque of the first rear axle.

[0016] In the above implementation process, inter-wheel torque distribution is performed on the first front axle or the first rear axle according to the corresponding distribution coefficient, so as to maintain the torque balance and stability between the tires of the vehicle, improve the operating efficiency of the vehicle and the performance of torque utilization, and avoid performance waste.

[0017] Furthermore, the method further includes obtaining feedback torque, including: Each of the torques to be executed in the previous execution cycle is subjected to zero-crossing filtering and then summed up to obtain the feedback torque.

[0018] In the above implementation process, the zero-crossing filtering process is followed by the summation process, which can provide a reference basis for the torque distribution in the next cycle and avoid performance waste.

[0019] In a second aspect, an embodiment of the present application further provides a device for controlling rapid transfer of driving torque of a new energy vehicle, the device comprising: An acquisition module, used for acquiring a driver's required torque; a drivability filtering module, configured to perform drivability filtering on the required torque to obtain the required torque after drivability filtering; a distribution module, configured to distribute the required torque after the drivability filtering process according to the motor type of the vehicle to obtain a torque to be executed; The zero-crossing filter module is used to perform zero-crossing filtering on the torque to be executed to obtain the execution torque corresponding to the electric drive.

[0020] In the above implementation process, drivability filtering is performed according to the driver's required torque. By filtering first and then distributing, that is, drivability filtering is performed first, then the inter-axle torque distribution, and finally the torque zero-crossing filtering is performed. This method can achieve rapid transfer of inter-axle torque or inter-wheel torque without causing torque fluctuations, making the torque change slope consistent, achieving the effect of torque change slope shift, and thus better exerting vehicle performance.

[0021] In a third aspect, an embodiment of the present application provides a new energy vehicle, comprising the new energy vehicle driving torque rapid transfer control device of the second aspect.

[0022] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0023] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0024] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by practicing the above-mentioned technology of the present disclosure.

[0025] It can be implemented according to the contents of the specification. The following is a detailed description of the preferred embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the range values. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 A flow chart of a method for rapidly transferring driving torque of a new energy vehicle is provided for an embodiment of the present application; Figure 2 A schematic diagram of a process flow of a torque path architecture provided in an embodiment of the present application; Figure 3 A schematic diagram of the process of driving filtering provided in an embodiment of the present application; Figure 4 A schematic diagram of inter-wheel torque distribution provided in an embodiment of the present application; Figure 5 A schematic diagram of inter-axle torque distribution provided in an embodiment of the present application; Figure 6 A schematic diagram of zero-crossing filtering for a non-distributed four-motor vehicle model provided in an embodiment of the present application; Figure 7 A schematic diagram of zero-crossing filtering for a distributed four-motor vehicle model provided in an embodiment of the present application; Figure 8 A schematic diagram of the effect of executing the driving torque rapid transfer control provided by an embodiment of the present application; Figure 9 A schematic diagram of the structure of a new energy vehicle driving torque rapid transfer control device provided in an embodiment of the present application; Figure 10 A schematic diagram of the structural composition of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0029] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0030] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0031] Existing technologies often cause torque distribution control to occur when the torque distribution coefficient changes, resulting in a condition where the torque on one axle increases while the torque on the other decreases. Since the filter coefficients for torque increase and torque decrease are independently calibrated parameters, they lack uniformity and coordination. Rapid changes in the torque distribution coefficient can cause fluctuations in total torque, leading to vehicle jerking. To ensure a jerking-free vehicle, existing technologies typically limit the torque distribution coefficient to a very slow rate, preventing rapid torque transfer between axles. This, in turn, prevents optimal four-wheel drive performance, significantly impacting vehicle performance.

[0032] The present application aims to realize rapid torque distribution while ensuring a torque control method with no fluctuation of the total torque. A method of filtering first and then distributing is proposed, that is, first performing a total torque drivability filter, then performing inter-axle torque distribution, and finally performing a control method of zero-crossing filtering of the torque of each axle. This method realizes a rapid change of the torque distribution coefficient while ensuring no fluctuation of the total torque and no impact on the whole vehicle. Since the rapid transfer of inter-axle torque is achieved, the four-wheel drive performance can be better exerted.

[0033] Example 1 Figure 1 This is a flow chart of a method for quickly transferring driving torque of a new energy vehicle provided by an embodiment of the present application. Figure 1 As shown, the method includes: S1, obtains the driver's required torque; S2, performing drivability filtering on the required torque to obtain the drivability filtered required torque; S3, allocating the required torque after drivability filtering according to the motor type of the vehicle to obtain the torque to be executed; S4, performing zero-crossing filtering on the torque to be executed to obtain the execution torque corresponding to the electric drive.

[0034] In the above implementation process, drivability filtering is performed according to the driver's required torque. By filtering first and then distributing, that is, drivability filtering is performed first, then the inter-axle torque distribution, and finally the torque zero-crossing filtering is performed. This method can achieve rapid transfer of inter-axle torque or inter-wheel torque without causing torque fluctuations, making the torque change slope consistent, achieving the effect of torque change slope shift, and thus better exerting vehicle performance.

[0035] The embodiments of the present application provide a method for controlling the rapid transfer of torque between axles or wheels of a new energy vehicle. The method is applicable to pure electric four-wheel drive vehicles with one drive motor on each front and rear axle, dual-motor hybrid four-wheel drive vehicles with only a single-stage reduction device, or distributed four-motor vehicles. The method can achieve rapid changes in the torque distribution coefficient while ensuring no fluctuation in the total torque and no impact on the entire vehicle, thereby better exerting the four-wheel drive performance.

[0036] In S1, the demand torque in this application is the total demand torque of the driver, including the demand torque under different driving modes (such as sports mode, economy mode, comfort mode, etc.).

[0037] This application uses the throttle and vehicle speed as input conditions to construct a two-dimensional parameter table of wheel-end target torque to obtain the driver's total required torque (i.e., required torque).

[0038] Furthermore, before the step of performing drivability filtering on the required torque to obtain the required torque after the drivability filtering, the method further includes: Get the current execution cycle; If the current execution cycle is the first cycle, the required torque is directly subjected to drivability filtering to obtain the required torque after drivability filtering. If the current execution cycle is an execution cycle subsequent to the first cycle, drivability filtering is performed on the required torque according to the feedback torque of the previous execution cycle to obtain the required torque after drivability filtering.

[0039] In the above implementation process, the torque to be executed in the previous execution cycle is subjected to zero-crossing filtering and then summed up, which can ensure that the torque change slope remains consistent during the torque distribution process in each cycle, avoiding the step shock caused by zero-crossing filtering that affects the entire vehicle.

[0040] The torque path architecture in this application is as follows: Figure 2As shown, the driver's demand torque - drivability filtering (excluding torque zero-crossing filtering) - inter-axle torque distribution or inter-wheel torque distribution - torque zero-crossing filtering (only torque zero-crossing filtering) - execution torque calculation. Since the torque zero-crossing filtering is at the back end of the torque path architecture, the zero-crossing filtering is usually slow due to the gap between the motor gears of each axis. In order to prevent a step shock from occurring when calculating the execution torque after the torque zero-crossing filtering is completed, this application adds up the zero-crossing filtered torque of each axis (i.e., the electric drive torque after zero-crossing filtering) and uses it as feedback torque to participate in the filtering calculation. The application of feedback torque can make the torque change gradient consistent before and after, thereby achieving a torque gradient translation effect.

[0041] In the first execution cycle, no feedback torque is required. In each execution cycle starting from the second execution cycle, the feedback torque of the previous execution cycle is required to perform drivability filtering processing.

[0042] Filtering is performed according to the filter corresponding to the driving performance filter, which does not include the torque zero-crossing filter. The driving performance filter can reflect the driving style, such as power responsiveness, smoothness, comfort, etc.

[0043] This application uses the feedback torque as the current value to control the change gradient (torque increase gradient or torque decrease gradient). The calculation step size of each change gradient cannot be faster than the set gradient limit.

[0044] In S2, the process of driving filtering in this application is as follows Figure 3 shown.

[0045] Furthermore, S3 includes: If the motor type of the vehicle is a distributed four-motor model, the required torque after the drivability filtering is distributed among the axles to obtain the first front axle torque and the first rear axle torque; Performing inter-wheel torque distribution on the first front axle torque and the first rear axle torque respectively to obtain the left wheel torque of the first front axle, the right wheel torque of the first front axle, and the left wheel torque of the first rear axle, the right wheel torque of the first rear axle; The left wheel torque of the first front axle, the right wheel torque of the first front axle, the left wheel torque of the first rear axle, and the right wheel torque of the first rear axle are determined as torques to be executed.

[0046] In the above implementation process, torque is distributed according to the motor type of the vehicle, so that different motor types can achieve reasonable and effective torque distribution, improve the accuracy and efficiency of torque distribution, and reduce the error generated in the torque distribution process.

[0047] Since the present application distributes torque according to the motor type, the first and second values are used to distinguish different motor types. When the motor type is a Braun four-motor vehicle, the required torque after drivability filtering is distributed according to the desired inter-axle torque distribution coefficient to obtain the front axle torque (first front axle torque) and the rear axle torque (first rear axle torque). The rate of change of the inter-axle torque distribution coefficient can change at a certain rate.

[0048] Furthermore, the step of allocating the required torque after the drivability filtering process according to the motor type of the vehicle to obtain the torque to be executed further includes: If the motor type of the vehicle is a non-distributed four-motor model, the required torque after the drivability filtering is distributed among the axles to obtain the second front axle torque and the second rear axle torque; A second front axle torque and a second rear axle torque are determined as torques to be executed.

[0049] In the above implementation process, when the motor type is a non-distributed four-motor model, the inter-axle torque distribution can balance the torque between the front axle and the rear axle, so that the car can obtain better performance balance and improve the ability to apply torque.

[0050] For non-distributed four-motor models, no inter-wheel torque distribution is performed.

[0051] Furthermore, the step of performing inter-axle torque distribution on the required torque after the drivability filtering process to obtain a first front axle torque and a first rear axle torque includes: Obtaining an initial rear axle torque distribution coefficient; The required torque after the drivability filtering is input into the corresponding filter for filtering, and the distribution coefficient rising gradient and the distribution coefficient falling gradient are controlled according to the initial rear axle torque distribution coefficient to obtain the target rear axle torque distribution coefficient; The required torque after the drivability filtering process is distributed among the axles according to the target rear axle torque distribution coefficient to obtain a first front axle torque and a first rear axle torque.

[0052] In the above implementation process, the target rear axle torque distribution coefficient is made more accurate by balancing the rising gradient and the falling gradient of the distribution coefficient according to the initial rear axle torque distribution coefficient, and the change of the distribution coefficient can be effectively maintained while maintaining the stability of the torque distribution.

[0053] The required torque after driving performance filtering is as follows: Figure 4As shown, according to the desired inter-axle torque distribution coefficient (herein, the target rear axle torque distribution coefficient), front axle / rear axle torque distribution is performed, and front axle torque (first front axle torque) and rear axle torque (first rear axle torque) are output. The rate of change of the inter-axle torque distribution coefficient can be changed at a certain rate according to the torque path architecture of the present application.

[0054] The initial or target rear axle torque distribution coefficient in this application is defined as the ratio of rear axle torque to total torque (total torque refers to the required torque after drivability filtering). After obtaining the first rear axle torque, the first rear axle torque is subtracted from the total torque to obtain the first front axle torque.

[0055] The calculation formula is: rear axle distribution coefficient = rear axle torque / total torque. The above formula is used to calculate the initial rear axle torque distribution coefficient or the target rear axle torque distribution coefficient. The difference between the initial rear axle torque distribution coefficient and the target rear axle torque coefficient is that during the filtering process, the initial rear axle torque will change, and the target rear axle torque will be obtained after stabilization. Therefore, the rear axle distribution coefficient will also change, and the target rear axle torque distribution coefficient is obtained from the initial rear axle torque distribution coefficient.

[0056] The embodiments of the present application can reduce the total torque fluctuation caused by the independence of the front / rear axle drivability filter coefficients in the traditional torque architecture, and can speed up the change rate of the torque distribution coefficient.

[0057] Furthermore, the steps of performing inter-wheel torque distribution on the first front axle torque and the first rear axle torque to obtain the left wheel torque of the first front axle, the right wheel torque of the first front axle, and the left wheel torque of the first rear axle, and the right wheel torque of the first rear axle include: Get the right wheel distribution coefficient of the first front axle; Inputting the first front axle torque into a corresponding filter for filtering, and controlling an ascending gradient and a descending gradient of the distribution coefficient according to the right wheel distribution coefficient of the first front axle, to obtain a left wheel torque of the first front axle and a right wheel torque of the first front axle; Get the right wheel distribution coefficient of the first rear axle; The first rear axle torque is input into a corresponding filter for filtering, and the distribution coefficient rising gradient and the distribution coefficient falling gradient are controlled according to the first rear axle right wheel distribution coefficient to obtain the left wheel torque of the first rear axle and the right wheel torque of the first rear axle.

[0058] In the above implementation process, inter-wheel torque distribution is performed on the first front axle or the first rear axle according to the corresponding distribution coefficient, so as to maintain the torque balance and stability between the tires of the vehicle, improve the operating efficiency of the vehicle and the performance of torque utilization, and avoid performance waste.

[0059] According to the desired target wheel torque distribution coefficient (i.e. the first front axle right wheel distribution coefficient), Figure 5 To ensure vehicle stability, the coefficient is set at 0.5 in normal driving conditions, ensuring equal torque between the left and right wheels and preventing the vehicle from swerving. Under special conditions, such as sharp turns and off-road escapes, torque is transferred between the left and right wheels as needed.

[0060] Furthermore, the step of obtaining the feedback torque includes: Each of the torques to be executed in the previous execution cycle is subjected to zero-crossing filtering and then summed up to obtain the feedback torque.

[0061] In the above implementation process, the zero-crossing filtering process is followed by the summation process, which can provide a reference basis for the torque distribution in the next cycle and avoid performance waste.

[0062] The execution torque is obtained after zero-crossing filtering. Due to the participation of feedback filtering, after the torque zero-crossing filtering is completed, it will not suddenly change to the torque after the above distribution. The torque change slope is consistent, achieving the effect of torque slope shift after zero crossing, ensuring that the torque change slope is consistent in each execution cycle, thereby ensuring consistent drivability.

[0063] In S4, in this application, due to the processing technology limitations of the electric drive system, the gear meshing surfaces all contain gear clearance. When the positive and negative torques are reversed, the area near zero torque is the time when the gear meshing surfaces change faces. Usually, due to the rapid change of torque, a zero-crossing rigid shock is generated. Therefore, torque zero-crossing filtering is required to slow down the torque change rate in the zero torque zone to reduce the torque zero-crossing shock.

[0064] In the embodiment of the present application, the zero-crossing filter calculation for the non-distributed four-motor vehicle is as follows: Figure 6 As shown, the zero-crossing filter calculation for the distributed four-motor vehicle is as follows Figure 7 As shown, Figure 8 This is the movement control effect of the torque after executing the embodiment of the present application.

[0065] The above torques are all wheel-end torques. This application calculates according to the speed ratio formula to obtain the final execution torque of each motor.

[0066] By applying the embodiments of the present application, it is possible to achieve smooth torque changes, ensure that the rising gradient of the required torque after drivability filtering during the torque increase process is consistent with the rising gradient of the final execution torque, and achieve a total torque change slope shift effect, thereby ensuring consistent drivability.

[0067] Exemplarily, the application of the embodiments of the present application can achieve smooth torque changes. For example, at time t3, the rear axle torque distribution coefficient changes rapidly from 0.5 to 0.8, and the front axle changes rapidly accordingly. The final execution torque of the electric drive is equal to the required torque after driving filtering, and there is no fluctuation.

[0068] Example 2 In order to execute the method corresponding to the above embodiment 1 to achieve the corresponding functions and technical effects, a new energy vehicle driving torque rapid transfer control device is provided below, such as Figure 9 As shown, the device includes: An acquisition module 1 is used to obtain the driver's required torque; A drivability filtering module 2 is configured to perform drivability filtering on the required torque to obtain the required torque after drivability filtering; Allocation module 3, for allocating the required torque after drivability filtering according to the motor type of the vehicle to obtain the torque to be executed; The zero-crossing filter module 4 is used to perform zero-crossing filtering on the torque to be executed to obtain the execution torque corresponding to the electric drive.

[0069] In the above implementation process, drivability filtering is performed according to the driver's required torque. By filtering first and then distributing, that is, drivability filtering is performed first, then the inter-axle torque distribution, and finally the torque zero-crossing filtering is performed. This method can achieve rapid transfer of inter-axle torque or inter-wheel torque without causing torque fluctuations, making the torque change slope consistent, achieving the effect of torque change slope shift, and thus better exerting vehicle performance.

[0070] Furthermore, the device is also used for: Get the current execution cycle; If the current execution cycle is the first cycle, the required torque is directly subjected to drivability filtering to obtain the required torque after drivability filtering. If the current execution cycle is an execution cycle subsequent to the first cycle, drivability filtering is performed on the required torque according to the feedback torque of the previous execution cycle to obtain the required torque after drivability filtering.

[0071] In the above implementation process, the torque to be executed in the previous execution cycle is subjected to zero-crossing filtering and then summed up, which can ensure that the torque change slope remains consistent during the torque distribution process in each cycle, avoiding the step shock caused by zero-crossing filtering that affects the entire vehicle.

[0072] Furthermore, the allocation module 3 is further configured to: If the motor type of the vehicle is a distributed four-motor model, the required torque after the drivability filtering is distributed among the axles to obtain the first front axle torque and the first rear axle torque; Performing inter-wheel torque distribution on the first front axle torque and the first rear axle torque respectively to obtain the left wheel torque of the first front axle, the right wheel torque of the first front axle, and the left wheel torque of the first rear axle, the right wheel torque of the first rear axle; The left wheel torque of the first front axle, the right wheel torque of the first front axle, the left wheel torque of the first rear axle, and the right wheel torque of the first rear axle are determined as torques to be executed.

[0073] In the above implementation process, torque is distributed according to the motor type of the vehicle, so that different motor types can achieve reasonable and effective torque distribution, improve the accuracy and efficiency of torque distribution, and reduce the error generated in the torque distribution process.

[0074] Furthermore, the allocation module 3 is further configured to: If the motor type of the vehicle is a non-distributed four-motor model, the required torque after the drivability filtering is distributed among the axles to obtain the second front axle torque and the second rear axle torque; A second front axle torque and a second rear axle torque are determined as torques to be executed.

[0075] In the above implementation process, when the motor type is a non-distributed four-motor model, the inter-axle torque distribution can balance the torque between the front axle and the rear axle, so that the car can obtain better performance balance and improve the ability to apply torque.

[0076] Furthermore, the allocation module 3 is further configured to: Obtaining an initial rear axle torque distribution coefficient; The required torque after the drivability filtering is input into the corresponding filter for filtering, and the distribution coefficient rising gradient and the distribution coefficient falling gradient are controlled according to the initial rear axle torque distribution coefficient to obtain the target rear axle torque distribution coefficient; The required torque after the drivability filtering process is distributed among the axles according to the target rear axle torque distribution coefficient to obtain a first front axle torque and a first rear axle torque.

[0077] In the above implementation process, the target rear axle torque distribution coefficient is made more accurate by balancing the rising gradient and the falling gradient of the distribution coefficient according to the initial rear axle torque distribution coefficient, and the change of the distribution coefficient can be effectively maintained while maintaining the stability of the torque distribution.

[0078] Furthermore, the allocation module 3 is further configured to: Get the right wheel distribution coefficient of the first front axle; Inputting the first front axle torque into a corresponding filter for filtering, and controlling an ascending gradient and a descending gradient of the distribution coefficient according to the right wheel distribution coefficient of the first front axle, to obtain a left wheel torque of the first front axle and a right wheel torque of the first front axle; Get the right wheel distribution coefficient of the first rear axle; The first rear axle torque is input into a corresponding filter for filtering, and the distribution coefficient rising gradient and the distribution coefficient falling gradient are controlled according to the first rear axle right wheel distribution coefficient to obtain the left wheel torque of the first rear axle and the right wheel torque of the first rear axle.

[0079] In the above implementation process, inter-wheel torque distribution is performed on the first front axle or the first rear axle according to the corresponding distribution coefficient, so as to maintain the torque balance and stability between the tires of the vehicle, improve the operating efficiency of the vehicle and the performance of torque utilization, and avoid performance waste.

[0080] Furthermore, the acquisition module 1 is further configured to: Each of the torques to be executed in the previous execution cycle is subjected to zero-crossing filtering and then summed up to obtain the feedback torque.

[0081] In the above implementation process, the zero-crossing filtering process is followed by the summation process, which can provide a reference basis for the torque distribution in the next cycle and avoid performance waste.

[0082] The above-mentioned new energy vehicle driving torque rapid transfer control device can implement the method of the above-mentioned embodiment 1. The options in the above-mentioned embodiment 1 are also applicable to this embodiment and will not be described in detail here.

[0083] The rest of the contents of the embodiments of this application can refer to the contents of the above-mentioned embodiment 1, and will not be repeated in this embodiment.

[0084] Example 3 An embodiment of the present application provides a new energy vehicle, including the new energy vehicle driving torque rapid transfer control device of embodiment 2.

[0085] Example 4 An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the first embodiment of the new energy vehicle driving torque rapid transfer control method.

[0086] Optionally, the above-mentioned electronic device may be a server.

[0087] See Figure 10 , Figure 10 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 101, a communication interface 102, a memory 103, and at least one communication bus 104. The communication bus 104 is used to enable direct connection and communication between these components.

[0088] Optionally, the electronic device may further include a storage controller and an input / output unit. The memory 103, storage controller, processor 101, peripheral interface, and input / output unit are electrically connected to each other directly or indirectly to achieve data transmission or interaction.

[0089] The input and output unit is used to provide users with the ability to create tasks and to create optional start time periods or preset execution times for the tasks to enable interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and keyboard.

[0090] I understand. Figure 10 The structure shown is only for illustration, and the electronic device may also include Figure 10 More or fewer components than shown, or with Figure 10 In addition, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for controlling the rapid transfer of driving torque of a new energy vehicle according to the first embodiment.

[0091] An embodiment of the present application further provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.

[0092] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included within the scope of protection of the present application. It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0093] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A new energy vehicle driving torque rapid transfer control method, characterized in that: The method comprises: Obtain the driver's required torque; performing a drivability filtering process on the required torque to obtain a drivability filtered required torque; Allocating the required torque after the drivability filtering process according to the motor type of the vehicle to obtain a torque to be executed; The to-be-executed torque is subjected to zero-crossing filtering to obtain an execution torque corresponding to the electric drive.

2. The new energy vehicle driving torque rapid transfer control method according to claim 1 is characterized in that: Before the step of performing drivability filtering on the required torque to obtain the required torque after drivability filtering, the method further includes: Get the current execution cycle; If the current execution cycle is the first cycle, directly performing drivability filtering processing on the required torque to obtain the required torque after the drivability filtering processing; If the current execution cycle is an execution cycle subsequent to the first cycle, a drivability filtering process is performed on the required torque according to the feedback torque of the previous execution cycle to obtain the required torque after the drivability filtering process.

3. The new energy vehicle driving torque rapid transfer control method according to claim 1, characterized in that: The step of allocating the required torque after the drivability filtering process according to the motor type of the vehicle to obtain the torque to be executed includes: If the motor type of the vehicle is a distributed four-motor model, performing inter-axle torque distribution on the required torque after the drivability filtering process to obtain a first front axle torque and a first rear axle torque; Performing inter-wheel torque distribution on the first front axle torque and the first rear axle torque respectively to obtain a left wheel torque of the first front axle, a right wheel torque of the first front axle, and a left wheel torque of the first rear axle, and a right wheel torque of the first rear axle; The left wheel torque of the first front axle, the right wheel torque of the first front axle, the left wheel torque of the first rear axle, and the right wheel torque of the first rear axle are determined as the torques to be executed.

4. The new energy vehicle driving torque rapid transfer control method according to claim 1, characterized in that: The step of allocating the required torque after the drivability filtering process according to the motor type of the vehicle to obtain the torque to be executed further includes: If the motor type of the vehicle is a non-distributed four-motor model, performing inter-axle torque distribution on the required torque after the drivability filtering process to obtain a second front axle torque and a second rear axle torque; The second front axle torque and the second rear axle torque are determined as the torques to be executed.

5. The new energy vehicle driving torque rapid transfer control method according to claim 3 is characterized in that: The step of performing inter-axle torque distribution on the required torque after the drivability filtering process to obtain a first front axle torque and a first rear axle torque includes: Obtaining an initial rear axle torque distribution coefficient; Inputting the required torque after the drivability filtering process into a corresponding filter for filtering, and controlling the ascending gradient and descending gradient of the distribution coefficient according to the initial rear axle torque distribution coefficient to obtain a target rear axle torque distribution coefficient; The required torque after the drivability filtering process is subjected to inter-axle torque distribution according to the target rear axle torque distribution coefficient to obtain the first front axle torque and the first rear axle torque.

6. The new energy vehicle driving torque rapid transfer control method according to claim 3 is characterized in that: The step of performing inter-wheel torque distribution on the first front axle torque and the first rear axle torque to obtain the left wheel torque of the first front axle, the right wheel torque of the first front axle, and the left wheel torque of the first rear axle, and the right wheel torque of the first rear axle comprises: Get the right wheel distribution coefficient of the first front axle; Inputting the first front axle torque into a corresponding filter for filtering, and controlling an ascending gradient and a descending gradient of the distribution coefficient according to the right wheel distribution coefficient of the first front axle, to obtain a left wheel torque of the first front axle and a right wheel torque of the first front axle; Get the right wheel distribution coefficient of the first rear axle; The first rear axle torque is input into a corresponding filter for filtering, and the distribution coefficient rising gradient and the distribution coefficient falling gradient are controlled according to the first rear axle right wheel distribution coefficient to obtain the left wheel torque of the first rear axle and the right wheel torque of the first rear axle.

7. The new energy vehicle driving torque rapid transfer control method according to claim 2, characterized in that: The method further includes obtaining the feedback torque: Each of the torques to be executed in the previous execution cycle is subjected to zero-crossing filtering and then summed up to obtain the feedback torque.

8. A new energy vehicle driving torque rapid transfer control device, characterized in that: The device comprises: An acquisition module, used for acquiring a driver's required torque; a drivability filtering module, configured to perform drivability filtering on the required torque to obtain the required torque after drivability filtering; a distribution module, configured to distribute the required torque after the drivability filtering process according to the motor type of the vehicle to obtain a torque to be executed; The zero-crossing filter module is used to perform zero-crossing filtering on the torque to be executed to obtain the execution torque corresponding to the electric drive.

9. A new energy vehicle, characterized in that: Including the new energy vehicle driving torque rapid transfer control device as described in claim 8.

10. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to claims 1 to 7 when executing the computer program.

Images