Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to the technical field of vehicle control, and the method comprises the steps that according to target state parameters of the vehicle, whether the vehicle meets a preset learning condition for learning a clearance in a transmission system or not is judged; wherein the target state parameter refers to a state parameter influencing the learning clearance of the vehicle; under the condition that the preset learning condition is met, the vehicle is controlled to learn the clearance in the transmission system, and whether learning succeeds or not is judged; if it is determined that learning succeeds, the learned clearance of the transmission system is determined; and based on the clearance, a motor of the vehicle is controlled to output torque according to the torque change rate corresponding to the clearance. According to the method, the smoothness of the vehicle in the driving process can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, device, vehicle, and storage medium in the field of vehicle control technology. Background Art

[0002] The dynamic response of the electric drive systems of modern electric and hybrid vehicles is crucial, particularly during vehicle start and steering. However, issues such as play in the transmission system can lead to uneven start and steering. Therefore, improving vehicle ride comfort has become a pressing issue. Summary of the Invention

[0003] The present application provides a vehicle control method, device, vehicle and storage medium, which can improve the smoothness of the vehicle during driving.

[0004] In a first aspect, a method for controlling a vehicle is provided, the method comprising: judging whether the vehicle satisfies a preset learning condition for learning the backlash in a transmission system based on a target state parameter of the vehicle; wherein the target state parameter refers to a state parameter that affects the vehicle learning the backlash; when the preset learning condition is satisfied, controlling the vehicle to learn the backlash in the transmission system and judging whether the learning is successful; if it is determined that the learning is successful, determining the backlash of the transmission system obtained through learning; and based on the backlash, controlling the motor of the vehicle to output torque according to a torque change rate corresponding to the backlash.

[0005] The above technical solution ensures that the clearance is learned at an appropriate time by judging whether the preset learning conditions for learning the clearance in the transmission system are met based on the target state parameters of the vehicle; and controls the vehicle to learn the clearance in the transmission system when the preset learning conditions are met, and judges whether the learning is successful. This process ensures the effectiveness of learning, and only the results of successful learning will be further processed, avoiding interference with subsequent control caused by invalid learning; if the learning is determined to be successful, the clearance of the transmission system during the learning process is determined, and based on the clearance, the vehicle motor is controlled to output torque according to the torque change rate corresponding to the clearance. This method of dynamically adjusting the torque output can accurately compensate for the impact of the clearance change in the transmission system on the vehicle, and outputs torque according to the torque change rate corresponding to the clearance, which can adapt to changes in the transmission system in real time, making the vehicle's power transmission smoother and improving the smoothness of the vehicle's driving.

[0006] In combination with the first aspect, in some possible implementations, the target state parameters include: the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; judging whether the vehicle meets the preset learning conditions for learning the play in the transmission system based on the target state parameters of the vehicle includes: obtaining the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; judging whether the vehicle meets the preset learning conditions for learning the play in the transmission system based on the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery.

[0007] The above technical solution, by obtaining key parameters such as the vehicle's current speed, the current temperature of the motor, and the remaining power of the vehicle's power battery, can comprehensively and accurately reflect the vehicle's current actual operating status. Based on these key parameters, it can comprehensively judge whether the preset learning conditions are met, thereby avoiding learning at inappropriate times, thereby improving the effectiveness and accuracy of learning.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the determining whether the vehicle meets the preset learning conditions for learning the backlash in the transmission system based on the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery includes: determining whether the vehicle meets the preset learning conditions for learning the backlash in the transmission system when the current speed of the vehicle is less than the preset speed, the current temperature of the motor is within a preset range, and the remaining power of the power battery is greater than or equal to a preset power threshold.

[0009] The above technical solution takes into account that the vehicle's current speed can intuitively reflect the vehicle's dynamic state. The operating conditions of the vehicle's transmission system vary significantly at different speeds. If learning is performed at an inappropriate speed, the learning results may be inaccurate due to rapid vehicle dynamic changes and large vibrations. Therefore, performing learning when the vehicle's current speed is less than the preset speed can avoid this situation. Furthermore, considering that the current temperature of the motor can directly affect the motor's performance and stability, excessively high temperatures can cause motor parameters to drift, affecting the accuracy of relevant data collection and analysis during learning. Therefore, performing learning when the current temperature of the motor is within the preset range ensures that the learning process is carried out when the motor is at an appropriate operating temperature. Finally, considering that the remaining power battery capacity is related to the energy supply during the learning process, insufficient power can cause the learning process to be interrupted due to insufficient energy or result in data anomalies. Therefore, performing learning when the remaining power battery capacity is greater than or equal to the preset power threshold can ensure stable energy support for the learning process. By combining these parameters to determine the preset learning conditions, it is possible to accurately select the appropriate time for learning, thereby improving the accuracy and effectiveness of learning.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the control of the vehicle's motor to output torque according to the torque change rate corresponding to the clearance based on the clearance includes: determining the clearance level based on the clearance; wherein the clearance is positively correlated with the clearance level; according to the clearance level, querying a preset correspondence, determining the torque change rate corresponding to the clearance level, and controlling the vehicle's motor to output torque according to the torque change rate corresponding to the clearance level; wherein, in the preset correspondence, the clearance level is negatively correlated with the torque change rate.

[0011] The above technical solution first determines the clearance level based on the clearance, and the clearance and clearance level are positively correlated. This design can intuitively reflect the extent of the clearance in the transmission system. Then, a preset correspondence is queried based on the clearance level to determine the torque change rate corresponding to the clearance level. This method of determining the torque change rate based on the preset correspondence is highly efficient. In the preset correspondence, the clearance level and the torque change rate are negatively correlated. Specifically, when the clearance level is high, indicating greater clearance in the transmission system, a smaller torque change rate can prevent vibration and shock caused by sudden torque changes in the transmission system, protect transmission system components, extend their service life, and ensure vehicle driving stability. When the clearance level is low, i.e., when the transmission system clearance is small, a larger torque change rate enables the motor to respond more quickly to the needs of the transmission system, ensuring more timely power output. Finally, the motor is controlled to output torque according to the determined torque change rate, allowing the vehicle to better adapt to changes in the transmission system state, improving the vehicle's driving smoothness and providing a more comfortable and safer driving experience for the driver.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the transmission system includes a driving wheel and a driven wheel, and the controlling of the vehicle to learn the clearance in the transmission system and determine whether the learning is successful includes: controlling the output torque of the motor to switch between a preset negative torque and a preset positive torque, and during the switching process, detecting whether the driving wheel and the driven wheel start to rotate; if it is detected that the driving wheel and the driven wheel start to rotate, it is determined that the learning is successful; if it is not detected that the driving wheel and the driven wheel start to rotate, the preset positive torque is increased to obtain a target positive torque, and the preset negative torque is reduced to obtain a target negative torque, and the target negative torque is used as the preset negative torque, and the target positive torque is used as the preset positive torque, so as to continue to execute the steps of controlling the output torque of the motor to switch between a preset negative torque and a preset positive torque, and during the switching process, detecting whether the driving wheel and the driven wheel start to rotate, until it is determined that the learning is successful or the preset stop learning condition is met.

[0013] The above technical solution controls the output torque of the motor to switch between a preset negative torque and a preset positive torque, and detects whether the driving and driven wheels begin to rotate during the switching process. If the driving and driven wheels begin to rotate, the learning is determined to be successful, which means that the current preset torque range can generate relative motion in the transmission system and can learn effective clearance. If the driving and driven wheels do not begin to rotate, it means that the current preset torque range may not be sufficient to generate relative motion in the transmission system, and it is impossible to learn effective clearance or the preset stop learning condition has been reached. In this case, the preset positive torque is increased to obtain the target positive torque, and the preset negative torque is reduced to obtain the target negative torque, and the switching test is repeated with the new torque range. This dynamic adjustment method can gradually expand the torque range, allowing for more comprehensive exploration of the state of the transmission system under different torques. By continuously adjusting the preset torque range and repeating the detection steps until learning is determined to be successful or the preset stop learning condition is met, this iterative method can ensure that clearance learning is completed within the appropriate torque range, avoiding inaccurate learning caused by improper torque range setting, and improving learning accuracy.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the successful learning includes successful forward learning and successful reverse learning; if it is detected that the driving wheel and the driven wheel start to rotate, the learning is determined to be successful, including: in the process of controlling the motor to output the preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, the reverse learning is determined to be successful; in the process of controlling the motor to output the preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, the forward learning is determined to be successful.

[0015] In the above technical solution, when controlling the motor to output a preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, it means that the gears in the transmission system have produced relative motion under the reverse torque, and the reverse learning is determined to be successful. Similarly, when controlling the motor to output a preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, it means that the gears in the transmission system have also produced effective relative motion under the positive torque, and the forward learning is determined to be successful. This method of judging the learning status under positive and reverse torque separately can fully and carefully understand the clearance status of the transmission system under different working conditions, avoiding the one-sidedness that may be caused by single-direction detection.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment of whether the preset learning conditions are met includes: judging whether the current moment is the starting learning moment based on the vehicle's mileage or the vehicle's usage time; if the current moment is determined to be the starting learning moment, judging whether the preset learning conditions are met.

[0017] The above technical solution determines whether the current moment is the time to start learning based on the vehicle's driving mileage or the vehicle's usage time. If the current moment is determined to be the time to start learning, it further determines whether the preset learning conditions are met, thereby realizing periodic learning and avoiding energy waste caused by frequent learning.

[0018] In a second aspect, a vehicle control device is provided, which includes: a first judgment module, which is used to judge whether the vehicle meets the preset learning conditions for learning the backlash in the transmission system based on the target state parameters of the vehicle; wherein the target state parameters refer to the state parameters that affect the vehicle learning the backlash; a second judgment module, which is used to control the vehicle to learn the backlash in the transmission system and judge whether the learning is successful when the preset learning conditions are met; a determination module, which is used to determine the backlash of the transmission system obtained through learning if it is determined that the learning is successful; and a control module, which is used to control the motor of the vehicle to output torque according to the torque change rate corresponding to the backlash based on the backlash.

[0019] In combination with the second aspect, in certain implementations of the second aspect, the first judgment module is specifically used to: the target state parameters include: the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; judging whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system based on the target state parameters of the vehicle includes: obtaining the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; judging whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system based on the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery.

[0020] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the first judgment module is specifically used to: judge whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system based on the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery, including: judging whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system when the current speed of the vehicle is less than the preset speed, the current temperature of the motor is within a preset range, and the remaining power of the power battery is greater than or equal to a preset power threshold.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is specifically used to: based on the clearance, control the motor of the vehicle to output torque according to the torque change rate corresponding to the clearance, including: based on the clearance, determining the clearance level; wherein the clearance is positively correlated with the clearance level; according to the clearance level, querying a preset correspondence, determining the torque change rate corresponding to the clearance level, and controlling the motor of the vehicle to output torque according to the torque change rate corresponding to the clearance level; wherein, in the preset correspondence, the clearance level is negatively correlated with the torque change rate.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the transmission system includes a driving wheel and a driven wheel, and the second judgment module is specifically used to: control the vehicle to learn the clearance in the transmission system and determine whether the learning is successful, including: controlling the output torque of the motor to switch between a preset negative torque and a preset positive torque, and during the switching process, detecting whether the driving wheel and the driven wheel start to rotate; if it is detected that the driving wheel and the driven wheel start to rotate, it is determined that the learning is successful; if the driving wheel and the driven wheel are not detected to start rotating, the preset positive torque is increased to obtain a target positive torque, and the preset negative torque is reduced to obtain a target negative torque, and the target negative torque is used as the preset negative torque, and the target positive torque is used as the preset positive torque, so as to continue to execute the step of controlling the output torque of the motor to switch between the preset negative torque and the preset positive torque, and during the switching process, detecting whether the driving wheel and the driven wheel start to rotate, until it is determined that the learning is successful or the preset stop learning condition is met.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the successful learning includes successful forward learning and successful reverse learning; the second judgment module is specifically used to: if it is detected that the driving wheel and the driven wheel start to rotate, then the learning is determined to be successful, including: in the process of controlling the motor to output the preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, then the reverse learning is determined to be successful; in the process of controlling the motor to output the preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, then the forward learning is determined to be successful.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the first judgment module is specifically used to: determine whether the preset learning conditions are met, including: determining whether the current moment is the starting learning moment based on the vehicle's mileage or the vehicle's usage time; if the current moment is determined to be the starting learning moment, determining whether the preset learning conditions are met.

[0025] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method of the first aspect or any possible implementation of the first aspect.

[0026] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0027] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0029] Figure 2 is a schematic flow chart of a clearance learning method provided in an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the principle of a vehicle control method provided by an embodiment of the present application;

[0031] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0032] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] To facilitate understanding of the embodiments of the present application, the technical terms involved in the embodiments of the present application are first explained below.

[0036] Hybrid Control Unit (HCU): The core control unit of a hybrid vehicle, responsible for coordinating and managing the vehicle's power system, energy management, and other electronic control units.

[0037] Motor Control Unit (MCU): Mainly used to control the operation of the drive motor in electric vehicles or hybrid vehicles.

[0038] Clearance in the transmission system: usually refers to the gap between multiple pairs of driving wheels and driven wheels in the transmission system.

[0039] In the prior art, the dynamic response of the electric drive system of modern electric and hybrid vehicles is very critical, especially in vehicle starting and reversing scenarios. However, due to problems such as backlash in the transmission system, the vehicle starting and reversing are not smooth.

[0040] Specifically, as vehicle mileage increases, multiple pairs of gears in the transmission system experience long-term wear. Consequently, the tooth surfaces of these gears gradually deform, leading to a gradual increase in the clearances between the gears. Furthermore, frequent operation of the transmission system's disengagement device also causes tooth wear, increasing the system's play, which in turn leads to unstable starting and steering. Therefore, improving the smoothness of vehicle starting and steering has become a pressing issue.

[0041] To at least solve the above problems, an embodiment of the present application provides a vehicle control method, which is applied to a vehicle controller, which can be a vehicle controller or a motor controller. This method can improve the smoothness of the vehicle during low-speed starting or reversing.

[0042] Figure 1 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0043] For example, Figure 1 As shown, the method 100 includes:

[0044] Step 101 : judging whether the vehicle satisfies a preset learning condition for learning the clearance in the transmission system based on a target state parameter of the vehicle; wherein the target state parameter refers to a state parameter that affects the learning clearance of the vehicle.

[0045] Step 102 : When a preset learning condition is met, the vehicle is controlled to learn the clearance in the transmission system, and whether the learning is successful is determined.

[0046] Step 103: If the learning is determined to be successful, the clearance of the transmission system obtained through learning is determined.

[0047] Step 104 : Based on the clearance, controlling the motor of the vehicle to output torque according to a torque change rate corresponding to the clearance.

[0048] In an embodiment of the present application, by determining whether the preset learning conditions for learning the backlash in the transmission system are met based on the target state parameters of the vehicle, it is possible to ensure that the backlash is learned at an appropriate time; and when the preset learning conditions are met, the vehicle is controlled to learn the backlash in the transmission system, and it is determined whether the learning is successful. This process ensures the effectiveness of the learning, and only the results of successful learning will be further processed, avoiding interference with subsequent control caused by invalid learning; if the learning is determined to be successful, the backlash in the transmission system is determined during the learning process, and based on the backlash, the vehicle motor is controlled to output torque according to the torque change rate corresponding to the backlash. This method of dynamically adjusting the torque output can accurately compensate for the impact of the backlash change in the transmission system on the vehicle, and outputting torque according to the torque change rate corresponding to the backlash can adapt to changes in the transmission system in real time, making the vehicle's power transmission smoother and improving the smoothness of the vehicle's driving.

[0049] Below Figure 1 The implementation of each step in the embodiment shown is described in detail.

[0050] Regarding step 101 , it can be understood that the above-mentioned preset learning condition is used to measure whether the vehicle is capable of learning the clearance in the transmission system.

[0051] In some embodiments, the target state parameters include: the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; based on the target state parameters of the vehicle, judging whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system, including: obtaining the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; based on the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery, judging whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system.

[0052] It can be understood that the current speed of the above-mentioned vehicle can be obtained through a vehicle speed sensor.

[0053] The temperature of the motor refers to the temperature of various internal components (such as the stator, rotor, winding, etc.) of the motor during operation, which can usually be obtained through a temperature sensor.

[0054] The power battery is a core component of the vehicle, used to provide power. The remaining capacity (State of Charge, SOC) of the power battery refers to the percentage of the power battery's total capacity. It can usually be monitored by the Battery Management System (BMS).

[0055] After obtaining the current speed of the vehicle, the temperature of the motor and the remaining power of the power battery, the vehicle controller determines whether the preset learning conditions are met based on the above parameters.

[0056] The above technical solution, by obtaining key parameters such as the vehicle's current speed, the current temperature of the motor, and the remaining power of the vehicle's power battery, can comprehensively and accurately reflect the vehicle's current actual operating status. Based on these key parameters, it can comprehensively judge whether the preset learning conditions are met, thereby avoiding learning at inappropriate times, thereby improving the effectiveness and accuracy of learning.

[0057] In some embodiments, whether the vehicle meets the preset learning conditions for learning the backlash in the transmission system is determined based on the current speed of the vehicle, the current temperature of the motor, and the remaining power of the power battery, including: when the current speed of the vehicle is less than the preset speed, the current temperature of the motor is within a preset range, and the remaining power of the power battery is greater than or equal to a preset power threshold, determining whether the vehicle meets the preset learning conditions for learning the backlash in the transmission system.

[0058] It is understood that the preset speed is used to measure whether the current speed of the vehicle is extremely low or whether the vehicle is currently stationary. The preset speed can be pre-calibrated. Optionally, the preset speed can be a speed between 0 and 3 km / h, for example, the preset speed can be calibrated to 1 km / h.

[0059] The preset range is used to measure whether the current temperature of the motor is too high or too low. The preset range can be pre-calibrated. Optionally, the preset range can be calibrated to 40°C to 100°C.

[0060] The preset power threshold is used to measure whether the remaining power of the power battery is sufficient. The preset power threshold can be pre-calibrated. Optionally, the preset power threshold can be calibrated to 20%.

[0061] When the vehicle's current speed is lower than the preset speed, it indicates that the vehicle is currently at an extremely low speed or stationary state; when the motor's current temperature is within the preset range, it indicates that the motor's current temperature is normal; when the remaining power of the power battery is greater than or equal to the preset power threshold, it indicates that the power battery currently has sufficient power; in other words, the vehicle is currently in a controllable state, and triggering learning at this time can ensure that learning proceeds smoothly.

[0062] The above technical solution takes into account that the vehicle's current speed can intuitively reflect the vehicle's dynamic state. The operating conditions of the vehicle's transmission system vary significantly at different speeds. If learning is performed at an inappropriate speed, the learning results may be inaccurate due to rapid vehicle dynamic changes and large vibrations. Therefore, performing learning when the vehicle's current speed is less than the preset speed can avoid this situation. Furthermore, considering that the current temperature of the motor can directly affect the motor's performance and stability, excessively high temperatures can cause motor parameters to drift, affecting the accuracy of relevant data collection and analysis during learning. Therefore, performing learning when the current temperature of the motor is within the preset range ensures that the learning process is carried out when the motor is at an appropriate operating temperature. Finally, considering that the remaining power battery capacity is related to the energy supply during the learning process, insufficient power can cause the learning process to be interrupted due to insufficient energy or result in data anomalies. Therefore, performing learning when the remaining power battery capacity is greater than or equal to the preset power threshold can ensure stable energy support for the learning process. By combining these parameters to determine the preset learning conditions, it is possible to accurately select the appropriate time for learning, thereby improving the accuracy and effectiveness of learning.

[0063] In addition to the above judgment conditions, in order to avoid frequent and multiple determinations that the preset learning conditions are met, further restrictions on the learning conditions may be considered.

[0064] Specifically, the vehicle's accelerator pedal opening, vehicle gear position and vehicle operating mode can be obtained. While meeting the above-mentioned preset learning conditions, it is also necessary to consider that the vehicle's accelerator pedal opening is equal to zero, the vehicle's gear position is neutral or parking gear, and the vehicle's operating mode is not hill assist mode and creep mode. If all of the above conditions are met at the same time, it can be determined that the conditions for controlling the vehicle to learn the clearance in the transmission system are met.

[0065] It is understandable that the accelerator pedal opening equal to zero indicates that the driver currently has no acceleration request, which can avoid conflicts between the learning process and the driver's operation and ensure that the motor can rotate slightly according to the predetermined strategy without affecting the actual driving intention.

[0066] When the vehicle is in neutral or park, the motor and wheels are usually disconnected or unloaded, making it easier to accurately measure the play in the transmission system without interference.

[0067] Hill Assist mode is used to help the vehicle start smoothly on a slope and prevent it from rolling. In Hill Assist mode, braking force is automatically maintained based on the vehicle's posture, and the motor / engine output power is coordinated to achieve a smooth start. Considering that Hill Assist mode relies on high-precision control of motor torque, brake pressure, and vehicle posture, performing free play learning at this time may cause the vehicle to roll or start abruptly. Furthermore, considering that Hill Assist mode is primarily used during the vehicle's starting phase, performing free play learning at this time may cause power interference, thereby affecting the vehicle's start. Therefore, free play learning should be performed when the vehicle is not operating in Hill Assist mode.

[0068] Considering that the motor will continuously output a small torque in creep mode, it may be difficult to obtain accurate clearance if clearance learning is performed at this time; and considering that creep mode often combines multiple control strategies (such as brake coordination and energy recovery), if clearance learning is performed at this time, it may conflict with the creep mode and cause control confusion; therefore, clearance learning should be performed as much as possible when the vehicle's operating mode is not creep mode.

[0069] In addition, in order to ensure that learning should be carried out when the vehicle is in a stable state, the duration of meeting the preset learning conditions can be obtained when the above-mentioned preset learning conditions are met. When the duration exceeds a certain value, it means that the vehicle is in a stable state. Learning at this time can ensure that the learning proceeds smoothly.

[0070] In some embodiments, when preset learning conditions are met, the vehicle is controlled to learn the clearance in the transmission system, including: when the preset learning conditions are met, obtaining the duration of meeting the preset learning conditions; if the duration is greater than the preset duration threshold, controlling the vehicle to learn the clearance in the transmission system.

[0071] It is understood that the above-mentioned preset time threshold is used to measure whether the vehicle is currently capable of starting learning, and the preset time threshold can be pre-calibrated. Optionally, the above-mentioned preset time threshold can be calibrated to 500ms.

[0072] In actual applications, there may be situations where the preset learning conditions are frequently met. In this case, it is difficult for the clearance to change significantly in a short period of time. Therefore, in order to avoid the waste of resources caused by frequent learning, it is possible to prioritize whether the current moment is the time to start learning before determining whether the preset learning conditions are met.

[0073] In some embodiments, determining whether the preset learning conditions are met includes: determining whether the current moment is the time to start learning based on the vehicle's mileage or the vehicle's usage time; if the current moment is determined to be the time to start learning, determining whether the preset learning conditions are met.

[0074] It is understood that the mileage of the vehicle refers to the total distance the vehicle has actually traveled since it was put into use. The mileage can be obtained by using an odometer equipped on the vehicle.

[0075] The vehicle's operating time is the total time the engine, motor, or other power source has been in operation since the vehicle was put into service until the current moment. This operating time can be measured using a timer on the vehicle.

[0076] The vehicle controller obtains the vehicle's mileage and usage time in real time, and determines whether the current moment is the time to start learning based on the mileage or usage time; when the vehicle controller determines that the current moment is the time to start learning, it performs a step to determine whether the preset learning conditions are met, thereby realizing periodic learning.

[0077] Specifically, every time the vehicle travels a preset mileage or every time the vehicle is used for a preset duration, the current moment is determined to be the learning start moment, and the step of determining whether the preset learning condition is met can be executed.

[0078] For example, in order to achieve periodic learning, it can be considered that every time the vehicle travels 40 kilometers, the step of determining whether the preset learning conditions are met is executed. That is, every time the vehicle travels 40 kilometers, the learning starts. Therefore, it is necessary to determine whether the current moment is the moment when the vehicle travels 40 kilometers, and when it is determined that the current moment is the moment when the vehicle travels 40 kilometers, the step of determining whether the preset learning conditions are met can be executed. In addition, it can also be considered that every time the vehicle is used for 40 hours, the step of determining whether the preset learning conditions are met is executed. That is, every time the vehicle is used for 40 hours, the learning starts. Therefore, it is necessary to determine whether the current moment is the moment when the vehicle is used for 40 kilometers, and when it is determined that the current moment is the moment when the vehicle is used for 40 hours, the step of determining whether the preset learning conditions are met can be executed.

[0079] The above technical solution determines whether the current moment is the time to start learning based on the vehicle's driving mileage or the vehicle's usage time. If the current moment is determined to be the time to start learning, it further determines whether the preset learning conditions are met, thereby realizing periodic learning and avoiding energy waste caused by frequent learning.

[0080] In addition, during the vehicle production or after-sales process, production line personnel and after-sales personnel can trigger the clearance in the transmission system at any time for learning to ensure vehicle quality.

[0081] Regarding step 102, it is understood that the transmission system includes multiple pairs of driving wheels and driven wheels, and the clearance in the transmission system refers to the gap between the multiple pairs of driving wheels and driven wheels. When the preset learning conditions are met, the vehicle controller can control the vehicle to learn the clearance in the transmission system.

[0082] In some embodiments, the vehicle is controlled to learn the clearance in the transmission system and determine whether the learning is successful, including: controlling the output torque of the motor to switch between a preset negative torque and a preset positive torque, and detecting whether the driving wheel and the driven wheel start to rotate during the switching process; if it is detected that the driving wheel and the driven wheel start to rotate, the learning is determined to be successful; if the driving wheel and the driven wheel are not detected to start rotating, the preset positive torque is increased to obtain a target positive torque, the preset negative torque is reduced to obtain a target negative torque, the target negative torque is used as the preset negative torque, and the target positive torque is used as the preset positive torque, so as to continue to execute the steps of controlling the output torque of the motor to switch between the preset negative torque and the preset positive torque, and detecting whether the driving wheel and the driven wheel start to rotate during the switching process, until the learning is determined to be successful or the preset stop learning condition is met.

[0083] It can be understood that when it is determined that the preset learning conditions are met, the vehicle controller can send a learning signal to the motor controller. After receiving the learning signal, the motor controller controls the output torque of the motor to switch between the preset negative torque and the preset positive torque.

[0084] The preset positive torque and the preset negative torque may be pre-calibrated. Optionally, the preset positive torque may be pre-calibrated to 5 Nm, and the preset negative torque may be pre-calibrated to -5 Nm.

[0085] For example, the above learning process is further described by taking the preset positive torque as 5 Nm, the preset negative torque as -5 Nm, the target positive torque as 10 Nm, and the target negative torque as -10 Nm as an example:

[0086] When it is determined that the preset learning conditions are met, the motor controller can prioritize controlling the motor to output 5Nm and last for 300ms, and then control the motor to output -5Nm, also lasting for 300ms. During this process, if it is detected that the driving wheel and the driven wheel start to rotate, it is determined that the learning is successful; if the driving wheel and the driven wheel are not detected to start rotating, the preset positive torque is increased to obtain the target positive torque, that is, the target positive torque is 10Nm, and the target positive torque is determined as the preset positive torque, that is, the preset positive torque is 10Nm, and at the same time, the preset negative torque is reduced to obtain the target negative torque, that is, the target negative torque is -10Nm, and the target negative torque is determined as the preset negative torque, that is, the preset negative torque is -10Nm. Therefore, the motor controller controls the motor to output 10Nm and lasts for 300ms, and then controls the motor to output -10Nm, also lasting for 300ms. During this process, if it is detected that the driving wheel and the driven wheel start to rotate, it is determined that the learning is successful; if the driving wheel and the driven wheel are not detected to start rotating, the preset positive torque is continuously increased and the preset negative torque is continuously reduced until the learning is determined to be successful.

[0087] The above technical solution controls the output torque of the motor to switch between a preset negative torque and a preset positive torque, and detects whether the driving and driven wheels begin to rotate during the switching process. If the driving and driven wheels begin to rotate, the learning is determined to be successful, which means that the current preset torque range can generate relative motion in the transmission system and can learn effective clearance. If the driving and driven wheels do not begin to rotate, it means that the current preset torque range may not be sufficient to generate relative motion in the transmission system, and it is impossible to learn effective clearance or the preset stop learning condition has been reached. In this case, the preset positive torque is increased to obtain the target positive torque, and the preset negative torque is reduced to obtain the target negative torque, and the switching test is repeated with the new torque range. This dynamic adjustment method can gradually expand the torque range, allowing for more comprehensive exploration of the state of the transmission system under different torques. By continuously adjusting the preset torque range and repeating the detection steps until learning is determined to be successful or the preset stop learning condition is met, this iterative method can ensure that clearance learning is completed within the appropriate torque range, avoiding inaccurate learning caused by improper torque range setting, and improving learning accuracy.

[0088] To avoid instantaneous torque shock, the positive torque can be increased and the negative torque can be decreased at a predetermined loading slope during the process of increasing the positive torque and decreasing the negative torque. This allows for accurate learning results by slowly adjusting the torque. The predetermined loading slope only needs to be within a predetermined range, which can be pre-calibrated to 1 Nm / s to 10 Nm / s.

[0089] At the same time, in order to avoid motor failure caused by excessive or low motor output, it is possible to consider setting the maximum output torque. When the motor output torque reaches the maximum output torque, if the driving wheel and the driven wheel are still not detected to start rotating, it is determined that the preset stop learning condition is met, and the learning is determined to have failed. Therefore, the above-mentioned preset stop learning condition can be used to measure whether to stop learning. In actual applications, the above-mentioned maximum loading torque can be pre-calibrated to 20Nm. If the motor outputs torque in the opposite direction, the maximum loading torque also needs to be adjusted to -20Nm.

[0090] The following will refer to Figure 2 Describe the above learning process in detail:

[0091] like Figure 2 As shown, Figure 2 2 is a schematic flow chart of a clearance learning method provided in an embodiment of the present application. The method 200 includes:

[0092] Step 201 : Control the output torque of the motor to switch between a preset negative torque and a preset positive torque.

[0093] Step 202: During the switching process, detect whether the driving wheel and the driven wheel start to rotate. If yes, execute step 205; otherwise, execute step 203.

[0094] Step 203 : Increase the preset positive torque to obtain a target positive torque, decrease the preset negative torque to obtain a target negative torque, and use the target positive torque as the preset positive torque and the target negative torque as the preset negative torque.

[0095] Step 204: Determine whether a preset stop condition is met. If yes, go to step 206; otherwise, go to step 201.

[0096] Step 205: Determine whether the learning is successful.

[0097] Step 206: Control the motor to stop torque output.

[0098] If learning fails for multiple consecutive times, learning needs to be suspended and abnormal information is output. It is understandable that the above-mentioned methods of outputting abnormal information include but are not limited to voice reminders, vibration reminders and pop-up reminders; the above-mentioned reminder information can be output using the display on the vehicle, and the above-mentioned display includes but is not limited to the vehicle-mounted host (Head Unit Terminal, HUT), auxiliary instrument and head-up display (Head-Up Display, HUD), and can also be other displays that can output reminder information. In the embodiment of the present application, the choice of display is not limited. For example, when learning fails for three consecutive times, abnormal information can be output.

[0099] During the learning process, since the torque that can drive the driving wheel and the driven wheel to start rotating can be divided into positive and negative directions, learning success can also be divided into positive learning success and reverse learning success.

[0100] In some embodiments, if it is detected that the driving wheel and the driven wheel start to rotate, the learning is determined to be successful, including: in the process of controlling the motor to output a preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, the reverse learning is determined to be successful; in the process of controlling the motor to output a preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, the forward learning is determined to be successful.

[0101] It can be understood that since the output torque of the motor has both positive and negative directions, the torque that can drive the driving wheel and the driven wheel to start rotating can also be divided into positive and negative directions. That is to say, when the motor controller controls the motor to output a preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, it can be determined that the reverse learning is successful; when the motor controller controls the motor to output a preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, it can be determined that the forward learning is successful.

[0102] For example, taking the preset positive torque as 5Nm and the preset negative torque as -5Nm as an example, when the motor controller outputs 5Nm, if it is detected that the driving wheel and the driven wheel start to rotate, it can be determined that the forward learning is successful; when the motor controller outputs -5Nm, if it is detected that the driving wheel and the driven wheel start to rotate, it can be determined that the reverse learning is successful.

[0103] In the above technical solution, when controlling the motor to output a preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, it means that the gears in the transmission system have produced relative motion under the reverse torque, and the reverse learning is determined to be successful. Similarly, when controlling the motor to output a preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, it means that the gears in the transmission system have also produced effective relative motion under the positive torque, and the forward learning is determined to be successful. This method of judging the learning status under positive and reverse torque separately can fully and carefully understand the clearance status of the transmission system under different working conditions, avoiding the one-sidedness that may be caused by single-direction detection.

[0104] In practical applications, the learning results can be stored in the vehicle controller or motor controller. Specifically, the torque that drives the driving and driven wheels to start rotating can be determined as the tooth torque. Furthermore, since the torque that drives the driving and driven wheels to start rotating can be divided into positive and negative directions, the tooth torque can also be divided into positive and negative directions.

[0105] For example, taking the preset positive torque as 5Nm and the preset negative torque as -5Nm as an example, when the motor controller controls the motor to output 5Nm, if it is detected that the driving wheel and the driven wheel start to rotate, it can be determined that the tooth torque is 5Nm; when the motor controller controls the motor to output -5Nm, if it is detected that the driving wheel and the driven wheel start to rotate, it can be determined that the tooth torque is -5Nm.

[0106] However, when the output torque of the motor reaches the maximum loading torque, if the driving wheel and the driven wheel are still not detected to start rotating, it can be determined that the tooth torque is not successfully identified. At this time, a diagnostic trouble code (DTC) needs to be triggered and recorded.

[0107] In addition, a machine learning prediction model can be introduced during the learning process to use historical learning data and angle sensor data to predict the clearance state of the transmission system and its changing trend, thereby achieving more precise adaptive control and reducing dependence on the real-time learning process.

[0108] Regarding step 103, it is understood that if learning is successful, the transmission system's play must be obtained. Since the motor drives the driving and driven wheels in the transmission system to rotate during the learning process, the motor's rotation angle during the learning process can also represent the transmission system's play. The motor's rotation angle can be represented by the motor's angular displacement.

[0109] Specifically, the motor controller applies a preset torque to the motor, causing the motor to rotate slowly, but not yet driving the driving wheel and the driven wheel of the transmission system to move. The motor continues to rotate until the driving wheel and the driven wheel start to move. At this time, the rotation angle of the motor is the clearance of the transmission system.

[0110] For example, the motor controller applies a preset positive torque to the motor, causing the motor to rotate slowly. Assume that when the motor rotates 0.5°, the driving wheel and the driven wheel start to rotate. At this time, the rotation angle of the motor is 0.5°. Therefore, the clearance of the transmission system can also be understood as 0.5°.

[0111] Regarding step 104, it is understood that, based on the clearance, a torque change rate corresponding to the clearance is determined, and the motor is controlled to output torque according to the torque change rate. The torque change rate is used to describe the rate of change of the motor output torque. In the embodiment of the present application, it can refer to the ratio of the torque increase from the current moment to the torque at the next moment.

[0112] In practical applications, under the premise of successful learning, repeated learning can be performed to obtain multiple clearances, and finally the average value of the multiple clearances can be calculated, which can make the determination of the torque change rate based on the clearance more applicable and avoid the interference of abnormal values.

[0113] In some embodiments, based on the clearance, the vehicle's motor is controlled to output torque according to the torque change rate corresponding to the clearance, including: determining the clearance level based on the clearance; wherein the clearance is positively correlated with the clearance level; according to the clearance level, querying a preset correspondence, determining the torque change rate corresponding to the clearance level, and controlling the vehicle's motor to output torque according to the torque change rate corresponding to the clearance level; wherein, in the preset correspondence, the clearance level is negatively correlated with the torque change rate.

[0114] It is understood that the aforementioned clearance levels describe the degree of clearance variation, with greater clearance indicating a higher clearance level. Since clearance can also be understood as motor angular displacement, after the motor controller acquires the motor angular displacement, it transmits it to the vehicle controller. The vehicle controller then queries a preset correspondence to determine the torque change rate corresponding to the clearance level.

[0115] When obtaining the angular displacement of the motor, the above-mentioned motor controller can obtain it through the angle sensor, thereby enhancing the accurate detection of the clearance change in the transmission system, and providing more accurate feedback data. Moreover, in the process of the motor controller controlling the output torque of the motor, the current output torque of the motor can be obtained in real time through the torque sensor, so that the current state of the motor can be grasped more accurately.

[0116] The above-mentioned preset correspondence is used to describe the relationship between different clearance levels and torque change rates. According to the clearance level, the torque change rate can be obtained by querying the above correspondence. In the above correspondence, if the clearance level is larger, the clearance of the transmission system is larger. In this case, the power in the transmission system cannot be smoothly transmitted to the drive wheel. Therefore, a smaller torque change rate can be selected to slowly increase the torque output of the motor to improve the stability of power transmission. If the clearance level is smaller, the clearance change of the transmission system is smaller. In this case, the power in the transmission system can be smoothly transmitted to the drive wheel. Therefore, a larger torque change rate can be selected to quickly increase the torque output of the motor to quickly meet the torque demand of the transmission system. In other words, the larger the clearance level, the smaller the torque change rate, and the smaller the clearance level, the larger the torque change rate.

[0117] As shown in Table 1 below, Table 1 describes the corresponding relationship between clearance and clearance grade.

[0118] Table 1

[0119] Clearance Clearance grade 0～0.2° Too small 0.2°～0.8° Moderate Greater than 0.8° Too large

[0120] As shown in Table 2 below, Table 2 describes the corresponding relationship between clearance level and torque change rate.

[0121] Table 2

[0122] Clearance grade Torque change rate Too small A Moderate B Too large C

[0123] In Table 2 above, since the clearance level is negatively correlated with the torque change rate, A in Table 2 is greater than B, and B is greater than C.

[0124] For example, the above process is described in detail with the clearances of 0.1°, 0.5° and 1.0° respectively:

[0125] If the clearance is 0.1°, then according to Table 1 above, the clearance grade is determined to be too small, and then according to Table 2 above, the torque change rate is determined to be A; if the clearance is 0.5°, then according to Table 1 above, the clearance grade is determined to be moderate, and then according to Table 2 above, the torque change rate is determined to be B; if the clearance is 1.0°, then according to Table 1 above, the clearance grade is determined to be too large, and then according to Table 2 above, the torque change rate is determined to be C.

[0126] It's understandable that in a transmission system, when play is large, using a high torque rate in the motor can produce significant mechanical shock before the gears are fully engaged, leading to vibration, noise, and even component damage. Therefore, this solution identifies the current level of play in the transmission system and adjusts the motor's torque rate accordingly. This allows for a lower torque rate when play is large, smoothing power transmission and protecting the transmission system. A higher torque rate is permitted when play is small, improving the vehicle's dynamic response.

[0127] The above technical solution first determines the clearance level based on the clearance, and the clearance and clearance level are positively correlated. This design can intuitively reflect the extent of the clearance in the transmission system. Then, a preset correspondence is queried based on the clearance level to determine the torque change rate corresponding to the clearance level. This method of determining the torque change rate based on the preset correspondence is highly efficient. In the preset correspondence, the clearance level and the torque change rate are negatively correlated. Specifically, when the clearance level is high, indicating greater clearance in the transmission system, a smaller torque change rate can prevent vibration and shock caused by sudden torque changes in the transmission system, protect transmission system components, extend their service life, and ensure vehicle driving stability. When the clearance level is low, i.e., when the transmission system clearance is small, a larger torque change rate enables the motor to respond more quickly to the needs of the transmission system, ensuring more timely power output. Finally, the motor is controlled to output torque according to the determined torque change rate, allowing the vehicle to better adapt to changes in the transmission system state, improving the vehicle's driving smoothness and providing a more comfortable and safer driving experience for the driver.

[0128] In addition, the motor load information can be directly input into the motor controller as control information to adaptively adjust the motor's output torque under specific working conditions, thereby achieving more precise torque output control.

[0129] Figure 3 It is a schematic diagram of the principle of a vehicle control method provided in an embodiment of the present application.

[0130] For example, Figure 3 As shown in the figure, three devices are involved, namely the diagnostic instrument, the vehicle controller HCU and the motor controller MCU.

[0131] like Figure 3As shown in the figure, there are two ways to trigger learning, namely vehicle-triggered learning and external-triggered learning. For vehicle-triggered learning, when the current speed of the vehicle is less than the preset speed, the current temperature of the motor is within the preset range, the remaining power of the power battery is greater than or equal to the preset power threshold, the accelerator pedal opening is equal to zero, the vehicle's gear is in neutral or parking gear, and the vehicle's operating mode is not hill assist mode or creep mode, it can be determined that the vehicle trigger conditions are met. At this time, the vehicle controller HCU sends a learning signal to the motor controller MCU to trigger learning; for externally triggered learning, when a vehicle malfunctions and requires after-sales maintenance or the vehicle is in the production process, after-sales personnel and production line personnel can trigger learning at any time through a diagnostic instrument. In other words, the learning signal representing the triggered learning can be sent to the motor controller MCU at any time. After the motor controller MCU receives the learning signal, it controls the vehicle to repeatedly learn the clearance in the transmission system, thereby obtaining multiple clearances and multiple tooth-relying torques, and sends the multiple clearances and multiple tooth-relying torques to the vehicle controller HCU. After receiving the multiple clearances and multiple tooth-relying torques, the vehicle controller HCU calculates the average clearance obtained from the multiple clearances, and calculates the average tooth-relying torque obtained from the multiple tooth-relying torques, and then stores the average tooth-relying torque. Thereafter, whenever the gears in the transmission system need to rotate, the average tooth-relying torque must be applied to the gears to drive the gears to rotate. In addition, the vehicle controller HCU determines the clearance level based on the average clearance, and further determines the torque change rate based on the clearance level, and finally sends the determined torque change rate to the motor controller MCU. The motor controller MCU can then control the motor to output torque according to the torque change rate.

[0132] In summary, the vehicle control method provided by the embodiments of the present application has the following beneficial effects:

[0133] First, through a precise and detailed learning process, it accurately learns the play in the drivetrain and dynamically adjusts the torque change rate to improve the smoothness and stability of torque delivery under different operating conditions. This is particularly true during low-speed starts and directional changes. By optimizing torque response, smooth starts and directional changes are ensured, allowing the vehicle to maintain stable power output even in complex road conditions, reducing jerking and ultimately improving the user's driving experience and comfort.

[0134] Second, it supports forward and reverse learning to ensure the consistency of the transmission system in different directions and optimize the performance of the transmission system in different directions;

[0135] Third, by obtaining the average of learning results through multiple learning cycles, the interference of instantaneous outliers can be effectively avoided, the stability of the transmission system operation can be improved, and vehicle failures caused by abnormal interference can be reduced;

[0136] Fourth, this application also allows for moderate clearance learning during the production and after-sales process to facilitate the detection and assurance of vehicle quality, promptly discover and resolve problems in the vehicle, improve production efficiency and product consistency, and ensure that vehicles delivered to consumers meet high quality standards.

[0137] Figure 4 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0138] For example, Figure 4 As shown, the apparatus 400 includes:

[0139] The first judgment module 401 is used to judge whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system according to the target state parameters of the vehicle; wherein the target state parameters refer to the state parameters that affect the learning clearance of the vehicle.

[0140] The second judgment module 402 is used to control the vehicle to learn the clearance in the transmission system when a preset learning condition is met, and to judge whether the learning is successful.

[0141] The determination module 403 is configured to determine the clearance of the transmission system obtained through learning if it is determined that the learning is successful.

[0142] The control module 404 is configured to control the motor of the vehicle to output torque according to a torque change rate corresponding to the clearance based on the clearance.

[0143] In one possible implementation, the first judgment module is specifically used to: target state parameters include: the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; based on the target state parameters of the vehicle, determine whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system, including: obtaining the current speed of the vehicle, the current temperature of the motor and the remaining power of the vehicle's power battery; based on the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery, determine whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system.

[0144] In one possible implementation, the first judgment module is specifically used to: determine whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system based on the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery, including: determining whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system when the current speed of the vehicle is less than the preset speed, the current temperature of the motor is within a preset range, and the remaining power of the power battery is greater than or equal to a preset power threshold.

[0145] In one possible implementation, the control module is specifically used to: based on the clearance, control the vehicle's motor to output torque according to the torque change rate corresponding to the clearance, including: based on the clearance, determining the clearance level; wherein the clearance is positively correlated with the clearance level; according to the clearance level, querying a preset correspondence, determining the torque change rate corresponding to the clearance level, and controlling the vehicle's motor to output torque according to the torque change rate corresponding to the clearance level; wherein, in the preset correspondence, the clearance level is negatively correlated with the torque change rate.

[0146] In one possible implementation, the transmission system includes a driving wheel and a driven wheel, and the second judgment module is specifically used to: control the vehicle to learn the clearance in the transmission system and determine whether the learning is successful, including: controlling the output torque of the motor to switch between a preset negative torque and a preset positive torque, and during the switching process, detecting whether the driving wheel and the driven wheel start to rotate; if it is detected that the driving wheel and the driven wheel start to rotate, the learning is determined to be successful; if the driving wheel and the driven wheel are not detected to start rotating, the preset positive torque is increased to obtain a target positive torque, and the preset negative torque is reduced to obtain a target negative torque, and the target negative torque is used as the preset negative torque, and the target positive torque is used as the preset positive torque, so as to continue to execute the steps of controlling the output torque of the motor to switch between the preset negative torque and the preset positive torque, and detecting whether the driving wheel and the driven wheel start to rotate during the switching process, until the learning is determined to be successful or the preset stop learning condition is met.

[0147] In one possible implementation, successful learning includes successful forward learning and successful reverse learning; the second judgment module is specifically used to: if it is detected that the driving wheel and the driven wheel start to rotate, then the learning is determined to be successful, including: in the process of controlling the motor to output a preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, then the reverse learning is determined to be successful; in the process of controlling the motor to output a preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, then the forward learning is determined to be successful.

[0148] In one possible implementation, the first judgment module is specifically used to: determine whether the preset learning conditions are met, including: determining whether the current moment is the time to start learning based on the vehicle's mileage or the vehicle's usage time; if the current moment is determined to be the time to start learning, then determining whether the preset learning conditions are met.

[0149] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0150] For example, Figure 5As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle control method.

[0151] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle control method provided by an embodiment of the present application.

[0152] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0153] In the case of dividing the functional modules into corresponding functional modules, the device may further include a first judgment module, a second judgment module, a determination module, and a control module. It should be noted that all relevant contents of the various steps involved in the above method embodiment can be referred to the functional description of the corresponding functional modules and will not be repeated here.

[0154] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0155] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0156] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing system (DSP) and a microprocessor, and the storage module may be a memory.

[0157] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0158] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above embodiment.

[0159] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method provided by the above embodiment.

[0160] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0161] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0162] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0163] The above content 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 this application should be included in 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 vehicle control method, characterized in that: The method comprises: determining, based on a target state parameter of the vehicle, whether the vehicle satisfies a preset learning condition for learning the play in the transmission system; wherein the target state parameter refers to a state parameter that affects the vehicle learning the play; When the preset learning conditions are met, controlling the vehicle to learn the clearance in the transmission system and determining whether the learning is successful; If it is determined that the learning is successful, determining the clearance of the transmission system obtained by learning; Based on the backlash, a motor of the vehicle is controlled to output torque at a torque change rate corresponding to the backlash.

2. The method according to claim 1, characterized in that The target state parameters include: the current speed of the vehicle, the current temperature of the motor, and the remaining power of the power battery of the vehicle; The determining, based on the target state parameter of the vehicle, whether the vehicle satisfies a preset learning condition for learning the clearance in the transmission system includes: Obtaining the current speed of the vehicle, the current temperature of the motor, and the remaining power of the vehicle's power battery; According to the current speed of the vehicle, the current temperature of the motor and the remaining power of the power battery, it is determined whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system.

3. The method according to claim 2, characterized in that The determining, based on the current speed of the vehicle, the current temperature of the motor, and the remaining power of the power battery, whether the vehicle meets a preset learning condition for learning the backlash in the transmission system includes: When the current speed of the vehicle is less than a preset speed, the current temperature of the motor is within a preset range, and the remaining power of the power battery is greater than or equal to a preset power threshold, it is determined whether the vehicle meets the preset learning conditions for learning the clearance in the transmission system.

4. The method according to claim 1, wherein The step of controlling the motor of the vehicle to output torque according to a torque change rate corresponding to the clearance based on the clearance includes: Based on the clearance, determining a clearance grade; wherein the clearance is positively correlated with the clearance grade; According to the clearance level, a preset correspondence is queried to determine the torque change rate corresponding to the clearance level, and the motor of the vehicle is controlled to output torque according to the torque change rate corresponding to the clearance level; wherein, in the preset correspondence, the clearance level is negatively correlated with the torque change rate.

5. The method according to claim 1, wherein The transmission system includes a driving wheel and a driven wheel, and controlling the vehicle to learn the clearance in the transmission system and determining whether the learning is successful includes: Controlling the output torque of the motor to switch between a preset negative torque and a preset positive torque, and during the switching process, detecting whether the driving wheel and the driven wheel start to rotate; If it is detected that the driving wheel and the driven wheel start to rotate, it is determined that the learning is successful; If it is not detected that the driving wheel and the driven wheel start to rotate, the preset positive torque is increased to obtain the target positive torque, and the preset negative torque is reduced to obtain the target negative torque. The target negative torque is used as the preset negative torque, and the target positive torque is used as the preset positive torque to continue to execute the step of controlling the output torque of the motor to switch between the preset negative torque and the preset positive torque, and during the switching process, detect whether the driving wheel and the driven wheel start to rotate until it is determined that the learning is successful or the preset stop learning condition is met.

6. The method according to claim 5, characterized in that The learning success includes positive learning success and reverse learning success; If it is detected that the driving wheel and the driven wheel start to rotate, then it is determined that the learning is successful, including: During the process of controlling the motor to output the preset negative torque, if it is detected that the driving wheel and the driven wheel start to rotate, it is determined that the reverse learning is successful; During the process of controlling the motor to output the preset positive torque, if it is detected that the driving wheel and the driven wheel start to rotate, it is determined that the forward learning is successful.

7. The method according to claim 1, characterized in that The determination of whether the preset learning conditions are met includes: Determining whether the current moment is a learning start moment based on the vehicle's mileage or the vehicle's usage time; If it is determined that the current time is the learning start time, it is determined whether a preset learning condition is met.

8. A vehicle control device, characterized in that: The device comprises: a first judgment module, configured to judge whether the vehicle satisfies a preset learning condition for learning the play in the transmission system based on a target state parameter of the vehicle; wherein the target state parameter refers to a state parameter that affects the vehicle learning the play; a second judgment module, configured to control the vehicle to learn the clearance in the transmission system when the preset learning condition is met, and to judge whether the learning is successful; a determination module, configured to determine the clearance of the transmission system obtained through learning if it is determined that the learning is successful; A control module is configured to control a motor of the vehicle to output torque according to a torque change rate corresponding to the clearance based on the clearance.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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