Torque filtering control method and device, vehicle control unit and computer storage medium

Abstract

The invention provides a torque control method and device, a vehicle control unit and a vehicle, and relates to the technical field of vehicle control, when the vehicle is switched from a rotating speed control mode to a torque control mode, the current actual torque and the target request torque of a rear motor are obtained, and if the current actual torque is not consistent with the target request torque, the vehicle is controlled to be in a torque control mode. And according to the adjusted filtering gradient filtering logic, the motor request torque is filtered and adjusted to the target request torque from the current actual torque, the situation that the torque change gradient of the vehicle is different during mode switching is prevented, then the vehicle driving smoothness is guaranteed, and the driving experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a torque filtering control method, device, vehicle controller and computer storage medium. Background Art

[0002] A hybrid vehicle is a vehicle composed of two or more drive systems that can operate simultaneously or independently, such as a hybrid vehicle composed of an engine and a motor. The rear motor of a hybrid new energy vehicle has a torque control mode and a speed control mode. In the torque control mode, the rear motor responds to the torque request of the vehicle control unit (VCU). When the rear motor of a hybrid new energy vehicle is in the speed control mode, the rear motor does not respond to the torque request of the VCU. It performs proportional-integral (PI) adjustment and outputs torque based on the target speed sent by the VCU. For example, in single-pedal mode, the rear motor speed control is used when the vehicle speed is lower than 3km / h. At this time, the rear motor outputs negative torque to stop the vehicle. Summary of the Invention

[0003] In view of this, the embodiments of the present invention are dedicated to providing a torque filtering control method, device, vehicle controller and computer storage medium to solve the above technical problems.

[0004] According to one aspect of the present invention, an embodiment of the present invention provides a torque filtering control method for a hybrid vehicle comprising a front motor, a rear motor, and a vehicle controller. The method comprises: upon detecting that the rear motor has switched from a speed control mode to a torque control mode, obtaining the current actual torque of the rear motor; obtaining the target requested torque when the rear motor is operating in the torque control mode, and comparing the current actual torque with the target requested torque; and if the current actual torque is inconsistent with the target requested torque, adjusting a filter gradient of a filtering logic based on the difference between the current actual torque and the target requested torque, and applying the filtering logic to filter the motor requested torque from the current actual torque to the target requested torque based on the filter gradient. This method enables the motor requested torque to gradually change from the current actual torque to the target requested torque, preventing a difference in torque change gradient during mode switching, ensuring smooth driving and enhancing the driving experience.

[0005] In one embodiment, if it is detected that the rear motor switches from a speed control mode to a torque control mode, obtaining the current actual torque of the rear motor includes: outputting a first control signal if it is detected that the rear motor switches from a speed control mode to a torque control mode; and controlling filtering logic to output the current actual torque of the rear motor based on the first control signal. Accurately obtaining the current actual torque of the rear motor when the rear motor switches from a speed control mode to a torque control mode provides a basis for preventing sudden torque changes when the rear motor switches from a speed control mode to a torque control mode.

[0006] In one embodiment, if the moment the rear motor switches from a speed control mode to a torque control mode is detected, a first control signal is output, including: triggering a first RS flip-flop to output a high level when the rear motor is operating in the speed control mode; and triggering the first RS flip-flop to output a low level when the rear motor switches from the speed control mode to the torque control mode, thereby generating a first control signal with a falling edge. When the rear motor is operating in the speed control mode, the first RS flip-flop generates the first control signal with a falling edge. Based on this first control signal, the current actual torque of the rear motor when the rear motor switches from the speed control mode to the torque control mode can be accurately determined, thereby providing a basis for preventing sudden torque changes when the rear motor switches from the speed control mode to the torque control mode.

[0007] In one embodiment, a filter gradient of the filtering logic is adjusted based on the difference between the current actual torque and the target requested torque, and the filter logic is applied based on the filter gradient to filter the motor requested torque from the current actual torque to the target requested torque. This includes: dividing the torque range between the current actual torque filter and the target requested torque into multiple stages based on a six-stage filtering logic, and determining a filter gradient for each stage; and sequentially applying the corresponding filter gradient for each stage from the current actual torque filter to the target requested torque. This staged filtering prevents vehicle jerking caused by excessive torque gradient changes, or prevents mode switching from being too slow due to a too small torque gradient, which could be unacceptable to the driver. This ensures smooth driving and enhances the driving experience.

[0008] In one embodiment, the torque filtering control method further includes: responding to a target torque request output by a vehicle controller when the rear motor is operating in the torque control mode; and controlling the rear motor to operate according to the target torque request. This clarifies torque control of the rear motor in the torque control mode, facilitates smooth torque control when the rear motor subsequently switches from speed control mode to torque control mode, and prevents vehicle jerking.

[0009] In one embodiment, controlling the rear motor to operate according to the target requested torque includes: triggering the second RS trigger to output a second control signal; and controlling the second data selector to select and output the motor requested torque as requested by the vehicle controller based on the second control signal. This accurately defines the path by which the rear motor torque responds to the target requested torque output by the vehicle controller in torque control mode, providing a basis and path for torque smoothing control when the rear motor subsequently switches from speed control mode to torque control mode. Specifically, this path can be used to smooth torque to prevent vehicle jerking.

[0010] In one embodiment, controlling the motor request torque to track the current actual torque of the rear motor includes controlling a second RS flip-flop to output a high level, and selecting the motor request torque of the rear motor as the current actual torque of the rear motor based on the high level. By accurately obtaining the current actual torque of the rear motor when the rear motor switches from a speed control mode to a torque control mode, the motor request torque can be controlled to track changes in the rear motor's actual torque, providing a basis for preventing sudden torque changes when the rear motor switches from a speed control mode to a torque control mode.

[0011] According to another aspect of the present invention, an embodiment of the present invention provides a torque filtering control device for use in a hybrid vehicle, the hybrid vehicle including a front motor, a rear motor, and a vehicle controller, including: a torque acquisition module for acquiring the current actual torque of the rear motor upon detecting the instant at which the rear motor switches from a speed control mode to a torque control mode; a comparison module for acquiring the target requested torque of the rear motor operating in the torque control mode and comparing the current motor requested torque with the target requested torque; and a filtering control module for adjusting a filtering gradient of a filtering logic according to the difference between the current actual torque and the target requested torque if the current motor requested torque is inconsistent with the target requested torque, and applying the filtering logic to filter the motor requested torque from the current motor requested torque to the target requested torque according to the filtering gradient.

[0012] According to another aspect of the present invention, an embodiment of the present invention provides a vehicle controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the aforementioned method are implemented.

[0013] According to another aspect of the present invention, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the aforementioned method is implemented.

[0014] An embodiment of the present invention provides a torque filtering control method, device, vehicle controller and computer storage medium. If it is detected that the rear motor switches from the speed control mode to the torque control mode, the current actual torque of the rear motor is obtained; the target requested torque of the rear motor operating in the torque control mode is obtained, and the current actual torque is compared with the target requested torque; if the current actual torque is inconsistent with the target requested torque, the filtering gradient of the filtering logic is adjusted according to the difference between the current actual torque and the target requested torque, and the filtering logic is applied according to the filtering gradient to filter the motor requested torque from the current actual torque to the target requested torque; the motor requested torque is gradually changed from the current actual torque to the target requested torque, so as to prevent the torque change gradient from being different when the vehicle switches modes, thereby ensuring the smoothness of vehicle driving and improving the driving experience.

[0015] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 FIG2 is a schematic diagram of a power structure of a vehicle provided by an embodiment of the present application;

[0018] Figure 2 FIG2 is a flow chart of a torque filtering control method provided by an embodiment of the present application;

[0019] Figure 3 The figure shows a torque filtering control schematic diagram provided by an embodiment of the present application;

[0020] Figure 4 Shown is another torque filtering control schematic diagram provided by an embodiment of the present application;

[0021] Figure 5 The figure shows an example diagram of filtering logic provided by an embodiment of the present application;

[0022] Figure 6 FIG2 is a schematic structural diagram of a torque filtering control device provided in one embodiment of the present application;

[0023] Figure 7 Shown is a structural diagram of a vehicle controller provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] In addition, in the exemplary embodiments, since the same reference numerals denote the same components having the same structure or the same steps of the same method, if one embodiment is exemplarily described, only structures or methods different from the described embodiment are described in other exemplary embodiments.

[0026] Throughout the specification and claims, when a component is described as being “connected” to another component, the component may be “directly connected” to the other component or “electrically connected” to the other component through a third component. In addition, unless explicitly described to the contrary, the term “include” and its corresponding terms should be understood to include only the components stated and should not be understood to exclude any other components.

[0027] The vehicle's powertrain architecture is shown in Figure 1 Vehicle 100 includes a front axle and a rear axle. The front axle includes a front motor 101, a coupling 102, a clutch 103, an engine 104, a front axle transmission 105, a front differential 106, a left front wheel 107, and a right front wheel 108. The rear axle includes a rear motor 109, a rear axle transmission 110, a rear differential 111, a left rear wheel 112, and a right rear wheel 113.

[0028] A front motor 101 is provided on the front axle and is used to provide power to a left front wheel 107 and a right front wheel 108 via a front drive shaft to drive a vehicle 110. The front motor 101 is connected to a clutch 103 via a coupling 102. A first end of the clutch 103 is connected to an engine 104, and a second end of the clutch 104 is connected to a first end of a front axle transmission 105. A second end of the front axle transmission 105 is connected to a front differential 106, which is provided between the left front wheel 107 and the right front wheel 108.

[0029] The rear motor 109 is provided on the rear axle and is used to provide power to the left rear wheel 112 and the right rear wheel 113 through the rear drive propeller shaft to drive the vehicle 110. The rear motor 109 is connected to a first end of a rear axle transmission 110, and a second end of the rear axle transmission 110 is connected to a rear differential 111, which is provided between the left rear wheel 112 and the right rear wheel 113.

[0030] The distributed traction control system (DTCS) is located in the chassis' integrated brake controller (IBC). It determines whether to activate the DTCS function by calculating the vehicle's slip ratio. Upon activation, the MCU changes its torque response from the vehicle control unit (VCU) to the DTCS torque response. The DTCS torque rapidly reduces the MCU's torque. The rear motor of a hybrid new energy vehicle has torque control and speed control modes. When switching from torque control mode to speed control mode, the front motor uses PI regulation to output torque, preventing problems such as vehicle lurching. In torque control mode, the rear motor responds to the VCU's requested torque. In speed control mode, the rear motor does not respond to the VCU's requested torque, but instead performs PI regulation and outputs torque based on the target speed sent by the VCU. For example, after a hybrid new energy vehicle brakes to a stop in single-pedal mode, the rear motor uses speed control mode, where the rear motor outputs negative torque to stop the vehicle.

[0031] When switching from torque control mode to speed control mode, the front motor performs PI adjustment and outputs torque, and there will be no problems such as the whole vehicle jerking. When switching from speed control mode to torque control mode, the rear motor directly responds to the torque request of the VCU. If the difference between the VCU's requested torque and the current actual torque of the rear motor is large, the torque mutation will cause the whole vehicle to jerk. Therefore, the VCU adds logic. When the rear motor is in speed control, the rear motor does not respond to the VCU's torque request. At this time, the VCU's requested torque is changed from the rear motor's current actual torque to the VCU's original requested torque. However, the process of the VCU controlling the motor's requested torque from the current actual torque to the VCU's original requested torque may involve switching between positive and negative torque items. When the torque exceeds 0, if the gradient is large, there will be jerking. If the gradient is small, the switch will be too slow, which is unacceptable to the driver.

[0032] Figure 2 The figure shows a flow chart of a torque filter control method provided by an embodiment of the present application. The torque filter control method is applied to a hybrid vehicle, which includes a front motor, a rear motor and a vehicle controller; Figure 2 As shown, the torque filtering control method includes:

[0033] Step S11: If it is detected that the rear motor switches from the speed control mode to the torque control mode, the current actual torque of the rear motor is obtained.

[0034] The motor has a state machine signal that indicates its current state. Motor states include: initial state, torque control state, speed control state, and other states. Torque control state corresponds to torque control mode, and speed control state corresponds to speed control mode. The motor uses power-up and power-down control. When the motor starts operating, the initial state is when the low voltage is applied, while the torque control state is generally applied when the high voltage is applied. When the VCU requests a brake stop at low speed, the brake stop is controlled by the rear motor speed control, and the rear motor reports the motor status to the VCU.

[0035] When the vehicle's rear motor is operating in speed control mode, the motor's requested torque follows the motor's current actual torque. At this point, the rear motor does not respond to the VCU's torque request. Instead, the motor's requested torque proportionally follows the motor's current actual torque, based on the target speed sent by the vehicle control unit (VCU). For example, if a hybrid new energy vehicle's speed falls below 3 km / h in single-pedal mode and the VCU requests a brake stop, the motor activates and brakes using the rear motor speed control mode. Specifically, the rear motor outputs negative torque to stop the vehicle.

[0036] In this embodiment of the present application, the vehicle controller receives motor state machine signals fed back from the rear motor and, based on the received state machine signals, determines whether the motor should switch from speed control mode to torque control mode. For example, when the vehicle transitions from a braked state to a high-voltage state, the motor is in torque control mode. The rear motor responds to the torque request from the VCU, adjusting its actual output torque based on the target torque request sent by the VCU.

[0037] If the rear motor is detected to have switched from speed control mode to torque control mode, the actual torque output by the rear motor must switch from following the current actual torque of the rear motor in speed control mode to responding to the VCU request torque in torque control mode. If the current actual torque of the rear motor differs significantly from the VCU request torque, this can cause a sudden change in torque, which can cause the vehicle to jerk. To address the issue of vehicle jerking, it's necessary to address the issue of sudden torque changes. Therefore, if the rear motor is detected to have switched from speed control mode to torque control mode, the current actual torque of the rear motor is obtained for subsequent torque filtering.

[0038] Step S13: Obtain the target requested torque of the rear motor operating in the torque control mode, and compare the current actual torque with the target requested torque.

[0039] In torque control mode, the rear motor responds to the VCU's torque request. The VCU's torque request is the target torque request for the rear motor in torque control mode. The VCU's torque request is dependent on the driver's input and vehicle status. The VCU first determines the current torque demand based on the driver's input (such as accelerator pedal position, gear position, and current vehicle speed). Based on these inputs, the VCU interpolates the driver's torque request using a calibrated torque map (PedalMap). To protect the motor and battery, the VCU further limits the calculated torque. The VCU also considers factors such as the motor's allowable peak torque and the battery's charge and discharge capacity to ensure the required torque is within a safe range. In certain situations, such as when the vehicle's electronic stability control system (ESC) or anti-lock braking system (ABS) intervenes, the VCU prioritizes the torque requirements of these systems to ensure vehicle safety. Finally, the VCU calculates the final target torque request.

[0040] After obtaining the target torque for the rear motor in torque control mode, the vehicle controller compares the current actual torque with the target requested torque. If the two are identical, no filtering logic is required. If they are inconsistent, filtering logic is required to prevent sudden torque changes from causing vehicle jerking.

[0041] Step S14: If the current actual torque is inconsistent with the target request torque, adjust the filter gradient of the filter logic according to the difference between the current actual torque and the target request torque, and apply the filter logic to filter the motor request torque from the current actual torque to the target request torque according to the filter gradient.

[0042] If the current actual torque is inconsistent with the target torque request, it indicates a discrepancy between the current actual torque of the rear motor and the target torque request. If the rear motor is directly controlled to switch from the current actual torque to the target torque request, this could cause a sudden change in torque, potentially causing the vehicle to jerk. Filtering logic is therefore required to prevent this sudden change. The gradient of the filtering logic can be adjusted based on the difference between the current actual torque and the target torque request. The filtering logic is then used to filter the motor torque request from the current actual torque to the target torque request. The greater the difference between the current actual torque and the target torque request, the greater the gradient of the filtering logic. A fixed filtering gradient can be applied throughout the filtering process. For example, if the current actual torque of the rear motor is 1000 NM and the target torque request is -500 NM, a filtering gradient can be determined based on the difference of 1500 NM between the current actual torque and the target torque request and a preset filtering time. Torque filtering is performed based on this filtering gradient to filter the rear motor torque request from the current actual torque to the target torque request within the preset filtering time. In one embodiment, the torque between the current actual torque and the target torque request can be divided into multiple stages, with different gradients applied to each stage. Especially when switching between positive and negative torque terms or when the torque passes through zero, the torque change gradient is small, preventing the vehicle from jerking. To avoid sudden torque changes that could cause jerking, the VCU filters the motor's requested torque, making changes smoother, reducing longitudinal instability and preventing jerking.

[0043] The torque filtering control method of the embodiment of the present application obtains the current actual torque of the rear motor by detecting that the rear motor switches from the speed control mode to the torque control mode; obtains the target requested torque when the rear motor operates in the torque control mode, and compares the current actual torque with the target requested torque; if the current actual torque is inconsistent with the target requested torque, adjusts the gradient of the filtering logic according to the difference between the current actual torque and the target requested torque, and applies the filtering logic to filter the motor requested torque from the current actual torque to the target requested torque, so that the motor requested torque gradually changes from the current actual torque to the target requested torque, thereby preventing the torque change gradient from being different when the vehicle switches modes, thereby ensuring the smoothness of vehicle driving and improving the driving experience.

[0044] In order to more clearly illustrate the technical solution provided by the embodiment of the present application, Figure 3 A torque filtering control method provided in this application is further explained.

[0045] In order to prevent vehicle jerking caused by sudden torque changes when the rear motor switches from speed control mode to torque control mode, it is necessary to accurately obtain the torque difference between the rear motor in speed control mode and torque control mode. Based on this, in some embodiments of the present application, when the rear motor of the hybrid vehicle operates in speed control mode, the second RS trigger is controlled to output a high level, and the motor request torque of the rear motor is selected as the current actual torque of the rear motor based on the high level. Figure 3 If the rear motor's actual mode is speed control, the second RS flip-flop U2 executes its set function, outputting a high level and controlling the second selector T2 to select the "Yes" line. Simultaneously, if the rear motor's actual mode is speed control, the filter control module ramp is reset. At this point, the filter control module ramp directly outputs the input signal at the Init port, which represents the rear motor's actual torque. It should be noted that the actual torque at the rear motor's wheel end is obtained by multiplying the actual torque at the rear motor shaft end by the rear axle speed ratio. This torque is then input to the filter control module ramp via the Init port, transmitted via the filter control module ramp's output port Out to the Yes port of the second selector D2, and then outputted by the second selector T2. The output of the second selector T2 is the actual torque at the rear motor wheel end. This torque is then divided by the rear axle speed ratio to obtain the actual torque at the rear motor shaft end. The VCU control uses this as the motor's requested torque. This ensures that the motor's requested torque follows the actual torque of the rear motor, preventing sudden torque changes when the rear motor switches from speed control mode to torque control mode.

[0046] When the rear motor switches from speed control mode to torque control mode, in order to accurately obtain the current actual torque of the rear motor when the rear motor switches from speed control mode to torque control mode so as to subsequently perform reasonable torque filtering, in some embodiments of the present application, if it is detected that the rear motor switches from the speed control mode to the torque control mode, a first control signal is output; and the filtering logic is controlled to output the current actual torque of the rear motor based on the first control signal. When the rear motor switches from speed control mode to torque control mode, the first RS trigger in the filtering logic is controlled to output the first control signal, and the first selector in the filtering logic is controlled based on the first control signal to output the current actual torque of the rear motor. By accurately obtaining the current actual torque of the rear motor when the rear motor switches from speed control mode to torque control mode, a basis can be provided for preventing torque mutations when the rear motor switches from speed control mode to torque control mode.

[0047] In some embodiments of the present application, optionally, when the actual mode of the rear motor is the speed control mode, the first RS trigger in the filter logic is triggered to output a high level; if it is detected that the rear motor switches from the speed control mode to the torque control mode, the first RS trigger U1 is triggered to output a low level, generating a first control signal with a falling edge. Figure 3 When the actual mode of the rear motor is the speed control mode, the S-terminal input of the first RS trigger U1 is high, the R-terminal input is low, and the Q-terminal output of the first RS trigger U1 is high. When the actual mode of the rear motor is the speed control mode, the first RS trigger U1 is triggered to output a high level, but no falling edge is generated. The first selector T1 selects the six-segment filter at the No-terminal as the output. Since the filter control module selects the signal output of the Init port at this time, the six-segment filter cannot be output. When the rear motor switches from the speed control mode to the torque control mode, the S-terminal input of the first RS trigger U1 is low, the R-terminal input is high, and the Q-terminal output is controlled to become low, thereby generating the first control signal with a falling edge. Based on this first control signal, the current actual torque of the rear motor when the rear motor switches from the speed control mode to the torque control mode can be accurately obtained, providing a basis for preventing torque mutations when the rear motor switches from the speed control mode to the torque control mode.

[0048] In some embodiments of the present application, optionally, when the rear motor operates in the torque control mode, it responds to the target request torque output by the vehicle controller; and controls the rear motor to operate according to the target request torque. The method for obtaining the target request torque is described in the previous step S13 and will not be repeated here. When the rear motor operates in the torque control mode, the vehicle controller also obtains the rear motor torque (original value wheel end) requested by the VCU. The rear motor torque (original value wheel end) requested by the VCU is the target request torque. The rear motor torque (original value wheel end) requested by the VCU is filtered by the filter control module ramp in the torque control output module to obtain the rear motor torque requested by the VCU after considering the speed control filter value (wheel end), that is, the filtered target request torque. The absolute value of the difference between the target request torque and the filtered target request torque can be calculated, and the absolute value can be compared with the reference torque. According to the comparison result, a second control signal is output, and according to the second control signal, the rear motor is controlled to operate according to the target request torque. This can clarify the torque control of the rear motor in the torque control mode, facilitate the smooth torque control when the rear motor switches from the speed control mode to the torque control mode, and prevent the vehicle from jerking.

[0049] In some embodiments of the present application, optionally, controlling the rear motor to operate according to the target requested torque includes: triggering the second RS trigger to output a second control signal; and controlling the second data selector to select and output the motor requested torque requested by the vehicle controller according to the second control signal. Figure 3When the actual mode of the rear motor is not the speed control mode, that is, the torque control mode, and the absolute value of the difference between the target request torque and the filtered target request torque is greater than or equal to the reference torque, the second RS trigger U2 is in the hold state and outputs the second control signal. According to the second control signal, the second data selector T2 is controlled to continue to be set to the Yes path. However, at this time, the reset terminal Rst of the filter control module ramp on the Yes path is not activated. The input signal of the input terminal In of the filter control module ramp is "the rear motor torque requested by the VCU (the original value at the wheel end)". The input signal is filtered by the filter control module ramp and output to obtain the rear motor torque value (wheel end) after considering the speed control filter. Among them, the reference torque can be set as needed, such as setting it to 2NM.

[0050] At this point, if the VCU-requested rear motor torque (wheel-end) after speed control filtering is close to the filtered output of the input signal "VCU-requested rear motor torque (raw value wheel-end)," that is, the absolute value of the difference between the target requested torque and the filtered target requested torque is less than the reference torque, the S-terminal input of the second RS flip-flop U2 is low, and the R-terminal input is high, the second RS flip-flop U2 executes the reset function and outputs the second control signal. This second control signal then controls the logic of the second data selector T2 to de-set and follow the N path, that is, the VCU-requested rear motor torque (raw value wheel-end) is output.

[0051] Combining the above two situations, when the actual mode of the rear motor is not the speed control mode, the rear motor responds to the torque requested by the VCU. The difference is that if the absolute value of the difference between the target request torque and the filtered target request torque is less than the reference torque, the rear motor torque requested by the VCU (original value wheel end) does not need to be filtered by the filter control module ramp and is directly output. If the absolute value of the difference between the target request torque and the filtered target request torque is greater than or equal to the reference torque, the rear motor torque requested by the VCU (original value wheel end) needs to be filtered by the filter control module ramp before it is output. In this way, the path of the rear motor torque responding to the target request torque output by the vehicle controller in the torque control mode can be accurately limited, which provides a basis and path for the subsequent torque smoothing control when the rear motor switches from the speed control mode to the torque control mode, that is, the torque can be smoothed based on this path to prevent the vehicle from shaking.

[0052] It should be noted that the filter control module performs jump filtering, and its filter gradient can be set according to the direction of torque change and needs. Among them, Pos_Slope represents the torque rise, that is, the torque positive change gradient, and the corresponding 1000Nm represents the torque positive change gradient value. Of course, other values ​​can also be taken, and there is no specific limitation here. Neg_Slope represents the torque drop, that is, the torque negative change gradient, and the corresponding 1000Nm represents the torque negative change gradient value. Of course, other values ​​can also be taken, and there is no specific limitation here.

[0053] In some embodiments of the present application, the torque control output module may also be simplified, such as Figure 4 As shown, when the rear motor's actual mode is speed control mode, the second data selector T2 selects the Yes path, meaning the motor's requested torque follows the motor's actual torque. When the rear motor's actual mode is not speed control mode, meaning it is torque control mode, the second data selector T2 selects the No path, meaning the motor's requested torque responds to the target requested torque requested by the VCU, i.e., the rear motor's torque (raw value, wheel-end) requested by the VCU.

[0054] In some embodiments of the present application, when the rear motor switches from speed control mode to torque control mode, the vehicle controller also obtains the target requested torque of the rear motor in torque control mode and compares the target requested torque with the current actual torque of the rear motor at the time of mode switching. If the current actual torque is inconsistent with the target requested torque, the gradient of the filtering logic is adjusted according to the difference between the current actual torque and the target requested torque. Figure 3 and Figure 4 , when the actual mode of the rear motor is the speed control mode, the first RS trigger U1 outputs a high level. When the actual mode of the rear motor is not the speed control mode, that is, when it is the torque control mode, the first RS trigger U1 outputs a low level. In this way, when the rear motor switches from the speed control mode to the torque control mode, the output of the first RS trigger U1 switches from a high level to a low level, generating a first control signal with a falling edge. According to the first control signal, the first data selector T1 selects the Yes path, that is, outputs the actual torque of the rear motor. If the current actual torque is inconsistent with the target requested torque, it will cause inconsistency between the input and output of the filtering logic, which will cause torque mutation and vehicle jerking. In order to solve the problems of torque mutation and vehicle jerking, it is necessary to apply filtering logic to filter the motor request torque from the current actual torque to the target requested torque.

[0055] During the filtering process, a filtering gradient can be determined based on the difference between the current actual torque and the target requested torque and a preset filtering time. The torque is filtered from the current actual torque to the target requested torque based on the filtering gradient. Alternatively, the ramp filtering method described above in the filtering control module can be used. Multi-stage filtering can also be employed.

[0056] In some embodiments of the present application, preferably, the torque interval between the current actual torque filter and the target request torque is divided into multiple stages based on the six-segment filtering logic, and the filtering gradient of each stage is determined; from the current actual torque filter to the target request torque, the corresponding filtering gradient is applied to each stage in turn to filter the motor request torque, which can prevent the torque change gradient from being different. The number of stages divided into torque intervals can be set as needed, for example, it can be set to 6 segments. The lengths of different stages can also be the same or different. For example, the closer to the 0-point torque stage, the longer the stage length; the farther away from the 0-point torque stage, the shorter the stage length; the stage including the 0-point torque is the shortest. Within the same stage, a fixed filtering gradient can be applied for filtering, or a variable filtering gradient can be applied for filtering. For example, in any stage, the current filtering gradient can be corrected according to the current motor torque, the stage it is in, etc., so that the filtering gradient of the motor request torque at different times is different, and the filtering gradient is further optimized. See. Figure 5 , the target requested torque is 1000Nm, the current actual torque is -500Nm, and the motor request torque is controlled as follows Figure 5 The middle curve filters the current actual torque of -500 Nm to the target requested torque of 1000 Nm. As can be seen from the figure, the filter gradient of the motor requested torque is minimal near the zero torque point, while the gradient is larger in other areas. This allows for a smaller filter gradient near the zero torque point, where vehicle jerking is more likely, and a larger filter gradient away from the zero torque point, where jerking is less likely. This prevents excessive torque gradients from causing jerking, or excessive torque gradients from causing slow mode switching that the driver cannot accept. This ensures smooth driving while enhancing the driving experience.

[0057] A torque filtering control method provided by an embodiment of the present invention includes: if it is detected that the rear motor switches from a speed control mode to a torque control mode, obtaining the current actual torque of the rear motor; obtaining the target requested torque when the rear motor operates in the torque control mode, and comparing the current actual torque with the target requested torque; if the current actual torque is inconsistent with the target requested torque, adjusting the gradient of the filtering logic according to the difference between the current actual torque and the target requested torque, and applying the filtering logic to filter the motor requested torque from the current actual torque to the target requested torque, so that the motor requested torque gradually changes from the current actual torque to the target requested torque, thereby preventing the torque change gradient from being different when the vehicle switches modes, thereby ensuring the smoothness of vehicle driving and improving the driving experience.

[0058] Figure 6FIG2 is a schematic diagram of a torque filter control device according to an embodiment of the present application. The torque filter control device is applied to a hybrid vehicle, which includes a front motor, a rear motor and a vehicle controller. Figure 6 As shown, the torque filtering control device 60 includes:

[0059] The torque acquisition module 601 is configured to acquire the current actual torque of the rear motor if it is detected that the rear motor switches from the speed control mode to the torque control mode;

[0060] a comparison module 602 for obtaining a target requested torque when the rear motor operates in a torque control mode and comparing the current motor requested torque with the target requested torque;

[0061] The filtering control module 603 is configured to adjust a filtering gradient of the filtering logic according to the difference between the current actual torque and the target requested torque if the current motor requested torque is inconsistent with the target requested torque, and apply the filtering logic to filter the motor requested torque from the current motor requested torque to the target requested torque according to the filtering gradient.

[0062] In some embodiments, the torque acquisition module 601 is used to: output a first control signal if it is detected that the rear motor switches from the speed control mode to the torque control mode; and control the filtering logic to output the current actual torque of the rear motor according to the first control signal.

[0063] In some embodiments, the torque acquisition module 601 is also used to: when the rear motor operates in the speed control mode, trigger the first RS trigger to output a high level; if it is detected that the rear motor switches from the speed control mode to the torque control mode, trigger the first RS trigger to output a low level to generate a first control signal with a falling edge.

[0064] In some embodiments, the filtering control module 603 is used to: divide the torque range between the current actual torque filter and the target requested torque into multiple stages based on six-segment filtering logic, and determine the filtering gradient of each stage; filter the motor requested torque by applying the corresponding filtering gradient for each stage in turn from the current actual torque filter to the target requested torque.

[0065] In some embodiments, the comparison module 602 is further configured to: when the rear motor operates in the torque control mode, respond to a target request torque output by a vehicle controller; and control the rear motor to operate according to the target request torque.

[0066] In some embodiments, the comparison module 602 is further configured to: trigger the second RS trigger to output a second control signal; and control the second data selector to select and output the motor request torque requested by the vehicle controller according to the second control signal.

[0067] In some implementations, the comparison module 602 is configured to control the second RS flip-flop to output a high level, and select the motor request torque of the rear motor as the current actual torque of the rear motor according to the high level.

[0068] The specific definitions of the torque filter control device can be found in the definitions of the torque filter control method above and will not be repeated here. Each module in the aforementioned torque filter control device can be implemented in whole or in part via software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0069] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the torque filtering control method, and will not be elaborated here.

[0070] Figure 7 This is a structural diagram of a vehicle controller provided in an embodiment of the present application.

[0071] For example, Figure 7 As shown, the vehicle controller includes: a memory 701 and a processor 702, wherein the memory 701 stores an executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform the torque filtering control method.

[0072] This embodiment can divide the vehicle controller into functional modules based on the above-mentioned method embodiment. For example, each functional module can be mapped to a specific function, 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 one logical functional division. In actual implementation, other division methods may be used.

[0073] In the case of dividing the functional modules according to their functions, the vehicle controller may include: a torque acquisition module, a comparison module, a filter control module, etc.

[0074] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0075] The vehicle controller provided in this embodiment is used to execute the above-mentioned torque filtering control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0076] In the case of an integrated unit, the vehicle controller may include a processing module and a storage module. The processing module can be used to control and manage the operation of the vehicle controller, and the storage module can be used to support the vehicle controller to execute mutual program codes and data.

[0077] The processing module may be a processor or controller that implements or executes various exemplary logic blocks, modules, and circuits disclosed herein. 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 (DSP) and a microprocessor, and the storage module may be a memory.

[0078] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a torque filtering control method provided in the above embodiment. Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives and magneto-optical disks, Read-Only Memory (ROMs), Random Access Memory (RAMs), Erasable Programmable Read-Only Memory (EPROMs), Electrically Erasable Programmable Read-Only Memory (EEPROMs), Dynamic Random Access Memory (DRAMs), Video Random Access Memory (VRAMs), flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0079] This embodiment further 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 torque filtering control method provided by the above embodiment.

[0080] Among them, the beneficial effects of the above embodiments can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0081] 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.

[0082] 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.

[0083] In the description of the present disclosure, it should be understood that if the terms "up", "down", "front", "back", "left" and "right" are used to indicate directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations of the present disclosure.

[0084] It should be noted that, in the embodiments of the present application, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. It should also be noted that the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, commodity or device comprising the elements.

[0085] The above are merely examples of the present disclosure and are not intended to limit the present disclosure. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure are intended to be included within the scope of the claims of the present disclosure.

Claims

1. A torque filtering control method, characterized in that: Applied to a hybrid vehicle, the hybrid vehicle includes a front motor, a rear motor, and a vehicle controller, and the method includes: If it is detected that the rear motor switches from the speed control mode to the torque control mode, obtaining the current actual torque of the rear motor; obtaining a target requested torque when the rear electric motor operates in the torque control mode, and comparing the current actual torque with the target requested torque; If the current actual torque is inconsistent with the target request torque, a filter gradient of a filter logic is adjusted according to the difference between the current actual torque and the target request torque, and the filter logic is applied to filter the motor request torque from the current actual torque to the target request torque according to the filter gradient.

2. The torque filtering control method according to claim 1, characterized in that: If it is detected that the rear motor switches from the speed control mode to the torque control mode, obtaining the current actual torque of the rear motor includes: If it is detected that the rear motor switches from the speed control mode to the torque control mode, outputting a first control signal; The current actual torque of the motor after the filtering logic output is controlled according to the first control signal.

3. The torque filtering control method according to claim 2, characterized in that: If it is detected that the rear motor switches from the speed control mode to the torque control mode, outputting a first control signal includes: When the rear motor operates in the speed control mode, the first RS trigger is triggered to output a high level; If it is detected that the rear motor switches from the speed control mode to the torque control mode, the first RS trigger is triggered to output a low level, thereby generating a first control signal with a falling edge.

4. The torque filtering control method according to claim 1, characterized in that: The adjusting a filtering gradient of a filtering logic according to a difference between the current actual torque and the target requested torque, and applying the filtering logic to filter the motor requested torque from the current actual torque to the target requested torque according to the filtering gradient, includes: Dividing a torque interval between the current actual torque filter and the target requested torque into multiple stages based on a six-stage filtering logic, and determining a filtering gradient for each stage; The motor request torque is filtered from the current actual torque to the target request torque, and the corresponding filtering gradient is applied in each stage in sequence to filter the motor request torque.

5. The torque filtering control method according to claim 1, characterized in that: The torque filtering control method further includes: When the rear motor operates in the torque control mode, it responds to the target request torque output by the vehicle controller; The rear electric motor is controlled to operate according to the target requested torque.

6. The torque filtering control method according to claim 5, characterized in that: The controlling the rear electric motor to operate according to the target requested torque includes: Triggering the second RS trigger to output a second control signal; The second data selector is controlled according to the second control signal to select and output the motor request torque requested by the vehicle controller.

7. The torque filtering control method according to claim 1, characterized in that: The controlling the motor request torque to follow the current actual torque of the rear motor includes: The second RS flip-flop is controlled to output a high level, and the motor request torque of the rear motor is selected as the current actual torque of the rear motor according to the high level.

8. A torque filter control device, characterized in that: Applied to a hybrid vehicle, the hybrid vehicle includes a front motor, a rear motor, and a vehicle controller, and the torque filter control device includes: a torque acquisition module, configured to acquire a current actual torque of the rear motor if it is detected that the rear motor switches from the speed control mode to the torque control mode; a comparison module, configured to obtain a target requested torque when the rear motor operates in the torque control mode, and compare the current motor requested torque with the target requested torque; a filtering control module configured to, if the current motor request torque is inconsistent with the target request torque, adjust a filtering gradient of a filtering logic according to a difference between the current actual torque and the target request torque, and apply the filtering logic to filter the motor request torque from the current motor request torque to the target request torque according to the filtering gradient.

9. A vehicle controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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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