Vehicle control method and device based on torque

Abstract

The invention provides a torque-based vehicle control method and device. The method comprises the steps that driving information and environment information of a vehicle at the current moment are obtained, and an actual torque value of the vehicle at the previous moment is obtained; wherein the driving information represents the driving condition of the vehicle, the environment information represents the physical characteristics of the road where the vehicle is located, the actual torque value at the previous moment is measured after the vehicle drives based on the torque request value at the previous moment, and the torque request value is used for controlling the vehicle to drive on the road; determining a torque target value of the vehicle at the current moment according to the driving information and the environment information; wherein the torque target value represents an expected torque value of the vehicle in the environment; and according to the torque target value at the current moment and the torque actual value at the previous moment, the torque request value of the vehicle at the current moment is determined. The method is used for improving the torque control precision of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a torque-based vehicle control method and device. Background Art

[0002] The torque of a vehicle indicates the output torque of the vehicle's engine and is one of the key indicators for measuring the vehicle's power performance. With the development of new energy vehicles, in order to balance the vehicle's economy and power, how to control the vehicle's torque output becomes particularly important.

[0003] Current torque-based vehicle control methods have many problems when controlling torque, including but not limited to incomplete consideration of factors affecting torque, resulting in poor accuracy in controlling vehicle torque and a poor user experience.

[0004] Therefore, it is necessary to effectively control the torque output of the vehicle and improve the accuracy of the torque control of the vehicle. Summary of the Invention

[0005] The present application provides a torque-based vehicle control method and device to improve the accuracy of vehicle torque control.

[0006] In a first aspect, the present application provides a torque-based vehicle control method, comprising:

[0007] Obtaining driving information and environmental information of the vehicle at a current moment, as well as an actual torque value of the vehicle at a previous moment; wherein the driving information represents the driving condition of the vehicle, the environmental information represents the physical characteristics of the road on which the vehicle is traveling, and the actual torque value at a previous moment is measured after the vehicle has driven based on a torque request value at a previous moment, the torque request value being used to control the vehicle's driving on the road;

[0008] Determining a target torque value for the vehicle at the current moment based on driving information and environmental information; wherein the target torque value represents a desired torque value for the vehicle in the environment;

[0009] The torque request value of the vehicle at the current moment is determined based on the torque target value at the current moment and the actual torque value at the previous moment.

[0010] Optionally, as in the above method, determining the torque request value of the vehicle at the current moment according to the torque target value at the current moment and the actual torque value at the previous moment includes:

[0011] Determine a filter coefficient corresponding to the current moment based on the torque target value at the current moment and the actual torque value at the previous moment; wherein the filter coefficient is used to filter the torque target value at the current moment;

[0012] The torque request value at the current moment is determined based on the filter coefficient corresponding to the current moment and the torque target value at the current moment.

[0013] Optionally, as in the above method, determining the filter coefficient corresponding to the current moment according to the torque target value at the current moment and the actual torque value at the previous moment includes:

[0014] The difference between the torque target value at the current moment and the torque actual value at the previous moment is determined as the torque difference;

[0015] The filter coefficient corresponding to the current moment is determined based on the torque difference and the actual torque value at the previous moment.

[0016] Optionally, as in the above method, the driving information includes mode information and torque type, the mode information represents the operating state of the vehicle, and the torque type is a driving type or a regenerative type; determining the filter coefficient corresponding to the current moment based on the torque difference and the actual torque value at the previous moment includes:

[0017] Determining torque change trend information based on the torque target value at the current moment and the torque actual value at the previous moment; wherein the torque change trend information is a torque increase trend or a torque decrease trend;

[0018] Determine the mode information, torque type, and torque change trend information as working condition information;

[0019] The filter coefficient corresponding to the current moment is determined based on the operating condition information, the torque difference, and the actual torque value at the previous moment.

[0020] Optionally, as in the above method, determining the filter coefficient corresponding to the current moment according to the working condition information, the torque difference, and the actual torque value at the previous moment includes:

[0021] Based on a preset working condition association relationship, a coefficient mapping relationship corresponding to the working condition information is determined as a target mapping relationship; wherein the preset working condition association relationship represents the association relationship between the working condition information and the coefficient mapping relationship, and the coefficient mapping relationship represents the association relationship between the torque difference value and the actual torque value at a previous moment corresponding to the torque difference, and the filter coefficient;

[0022] According to the torque difference and the actual torque value at the previous moment, based on the target mapping relationship, the filter coefficient corresponding to the current moment is determined.

[0023] Optionally, as in the above method, the driving information includes accelerator pedal information and motor speed information; determining the torque target value of the vehicle at the current moment based on the driving information and environmental information includes:

[0024] Determining a torque rating of the vehicle at a current moment based on the accelerator pedal information and the motor speed information; wherein the torque rating represents a preset torque value corresponding to the accelerator pedal information and the motor speed information;

[0025] The target torque value of the vehicle at the current moment is determined according to the torque rated value at the current moment and environmental information.

[0026] Optionally, as in the above method, determining the torque target value of the vehicle at the current moment according to the torque rated value and environmental information at the current moment includes:

[0027] Correcting the torque rating at the current moment according to the environmental information to obtain an intermediate torque value; wherein the intermediate torque value represents the corrected torque rating;

[0028] The target torque value of the vehicle at the current moment is determined based on the intermediate torque value.

[0029] Optionally, as in the above method, the environmental information includes road slope information; and the torque rated value at the current moment is corrected based on the environmental information to obtain the intermediate torque value, including:

[0030] Determining a first coefficient corresponding to the slope information based on a preset first correlation relationship; wherein the preset first correlation relationship represents a correlation relationship between the slope information and the first coefficient, and the first coefficient represents a degree of influence of the slope information on the torque rating;

[0031] The torque demand value at the current moment is corrected according to the first coefficient to obtain the intermediate torque value.

[0032] Optionally, as in the above method, the driving information includes gear information and load information; and the torque demand value at the current moment is corrected according to the first coefficient to obtain the intermediate torque value, including:

[0033] Determining a second coefficient corresponding to the gear information based on a preset second correlation relationship; wherein the preset second correlation relationship represents a correlation relationship between the gear information and the second coefficient, and the second coefficient represents a degree of influence of the gear information on the torque rating;

[0034] Determining a third coefficient corresponding to the load information based on a preset third correlation relationship; wherein the preset third correlation relationship represents a correlation relationship between the load information and the third coefficient, and the third coefficient represents a degree of influence of the load information on the torque rating;

[0035] The torque demand value at the current moment is corrected according to the first coefficient, the second coefficient, and the third coefficient to obtain the intermediate torque value.

[0036] Optionally, as in the above method, the driving information includes vehicle speed information; determining the target torque value of the vehicle at the current moment based on the intermediate torque value includes:

[0037] Determining a first torque value based on the vehicle speed information and preset vehicle speed threshold information; wherein the first torque value represents a torque value that takes the vehicle speed limit into consideration;

[0038] determining the minimum value between the intermediate torque value and the first torque value as the target intermediate torque value;

[0039] The torque target value at the current moment is determined based on the torque target intermediate value.

[0040] Optionally, as in the above method, the driving information includes motor speed information and torque type, where the torque type is the drive type; determining the torque target value at the current moment based on the torque target intermediate value includes:

[0041] Determining a second torque value based on the motor speed information and a preset battery discharge power threshold; wherein the second torque value represents a torque value when the torque type is a drive type and the battery power is taken into account;

[0042] Obtaining a third torque value and a fourth torque value at the current moment; wherein the third torque value represents a torque value when the motor state is taken into account when the torque type is the drive type, and the fourth torque value represents a torque value when the drive axle is taken into account when the torque type is the drive type;

[0043] The minimum value among the torque target intermediate value, the second torque value, the third torque value, and the fourth torque value is determined as the torque target value at the current moment.

[0044] Optionally, as in the above method, the driving information includes motor speed information and torque type, and the torque type is a recovery type; determining the torque target value at the current moment based on the torque target intermediate value includes:

[0045] determining a fifth torque value based on the motor speed information and a preset battery charging power threshold; wherein the fifth torque value represents a torque value when the torque type is a regenerative type and the battery power is taken into account;

[0046] Obtaining a sixth torque value and a seventh torque value at the current moment; wherein the sixth torque value represents a torque value when the torque type is a recovery type and the motor state is taken into account, and the seventh torque value represents a torque value when the torque type is a recovery type and the drive axle is taken into account;

[0047] The maximum value among the torque target intermediate value, the fifth torque value, the sixth torque value, and the seventh torque value is determined as the torque target value at the current moment.

[0048] In a second aspect, the present application provides a torque-based vehicle control device, comprising:

[0049] an acquisition unit, configured to acquire driving information and environmental information of the vehicle at a current moment, and an actual torque value of the vehicle at a previous moment; wherein the driving information represents the driving condition of the vehicle, the environmental information represents the physical characteristics of the road on which the vehicle is traveling, and the actual torque value at a previous moment is measured after the vehicle has driven based on a torque request value at a previous moment, the torque request value being used to control the vehicle's driving on the road;

[0050] a first determining unit, configured to determine a target torque value of the vehicle at a current moment based on driving information and environmental information;

[0051] The second determining unit is configured to determine a torque request value of the vehicle at a current moment according to the torque target value at a current moment and the actual torque value at a previous moment.

[0052] In a third aspect, the present application provides an electronic device, comprising: a memory, a processor;

[0053] Memory stores computer-executable instructions;

[0054] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0055] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementation methods of the first aspect.

[0056] In a fifth aspect, the present application provides a computer program product, comprising: a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.

[0057] The torque-based vehicle control method and apparatus provided herein obtains the vehicle's current driving information and environmental information, as well as the vehicle's actual torque value at a previous moment. Further, based on the driving information and environmental information, the method determines the vehicle's current torque target value. Furthermore, based on the current torque target value and the vehicle's actual torque value at a previous moment, the method determines the vehicle's current torque request value. The driving information represents the vehicle's driving conditions, the environmental information represents the physical characteristics of the road on which the vehicle is located, the torque target value represents the desired torque value for the vehicle in the environment, and the actual torque value at a previous moment is measured after the vehicle has driven based on the vehicle's torque request value at a previous moment. The torque request value is used to control the vehicle's driving on the road. The method considers the vehicle's current driving information and environmental information, as well as the vehicle's actual torque value at a previous moment, to determine the vehicle's current torque request value. This method not only comprehensively considers the vehicle's driving information and environmental information during use, but also incorporates the vehicle's actual torque value at a previous moment, ensuring that the torque request value determined for the vehicle at the current moment meets the user's desired experience. The method of the present application improves the accuracy of vehicle torque control. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 A schematic diagram of a torque-based vehicle control method provided in this application Figure 1 ;

[0060] Figure 2 A schematic diagram of a torque-based vehicle control method provided in this application Figure 2 ;

[0061] Figure 3 A schematic diagram of a torque-based vehicle control method provided in this application Figure 3 ;

[0062] Figure 4 A schematic diagram of the structure of a torque-based vehicle control device provided in this application Figure 1 ;

[0063] Figure 5 A schematic diagram of the structure of a torque-based vehicle control device provided in this application Figure 2 ;

[0064] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this application.

[0065] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0066] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0067] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0068] Vehicle torque represents the output torque of the vehicle's engine and is a key indicator of vehicle power performance. Torque is measured in Newton-meters (N·m). With the development of new energy vehicles, over 90% of a vehicle's energy consumption comes from the electric motor. To balance vehicle economy and power, controlling the vehicle's torque output is crucial.

[0069] Current torque-based vehicle control methods have many problems when controlling torque, including but not limited to incomplete consideration of factors affecting torque, resulting in poor accuracy in controlling vehicle torque and a poor user experience.

[0070] Therefore, it is necessary to effectively control the torque output of the vehicle and improve the accuracy of the torque control of the vehicle.

[0071] The torque-based vehicle control method and device provided in the present application obtain driving information and environmental information of the vehicle at a current moment, as well as the actual torque value of the vehicle at a previous moment, and further, based on the driving information and environmental information, determine the torque target value of the vehicle at the current moment, and further, based on the torque target value at the current moment and the actual torque value at the previous moment, determine the torque request value of the vehicle at the current moment, wherein the driving information represents the driving condition of the vehicle, the environmental information represents the physical characteristics of the road on which the vehicle is located, the torque target value represents the torque value expected by the vehicle in the environment, the actual torque value at the previous moment is measured after the vehicle has driven based on the torque request value at the previous moment, and the torque request value is used to control the vehicle's driving on the road.

[0072] The method of the present application takes into account the driving information and environmental information of the vehicle at the current moment, as well as the actual torque value of the vehicle at the previous moment, to determine the torque request value of the vehicle at the current moment. It not only comprehensively considers the driving information and environmental information of the vehicle during use, but also combines the actual torque value of the vehicle at the previous moment, so that the torque request value of the vehicle at the current moment determined meets the user's needs for experience.

[0073] The method of the present application improves the accuracy of vehicle torque control.

[0074] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0075] Figure 1 A schematic diagram of a torque-based vehicle control method provided in this application Figure 1 The execution subject of this method can be VCU (vehicle control unit), server, host or other equipment, such as Figure 1 As shown, the method may include:

[0076] S101. Obtaining driving information and environmental information of the vehicle at a current moment, and obtaining an actual torque value of the vehicle at a previous moment; wherein the driving information represents the driving condition of the vehicle, the environmental information represents the physical characteristics of the road on which the vehicle is located, and the actual torque value at a previous moment is measured after the vehicle has driven based on a torque request value at a previous moment, and the torque request value is used to control the vehicle's driving on the road.

[0077] Among them, the vehicle can also be called a complete vehicle, and the vehicle can include but is not limited to new energy vehicles.

[0078] Driving information can characterize the driving condition of the vehicle. For example, the driving information may include but is not limited to gear information, load information, accelerator pedal information, motor speed information, vehicle speed information, battery power information, drive axle information, torque type, etc.

[0079] Specifically, the gear information may refer to the gear status of the vehicle at the current moment, such as 1st gear, 2nd gear, 3rd gear, 4th gear, and 5th gear. It can be understood that the higher the gear status of the vehicle, the faster the vehicle speed; the load information may refer to the weight borne by the vehicle at the current moment. For example, the weight borne by the vehicle at the current moment includes the weight of passengers and cargo, etc.; the accelerator pedal information may refer to the degree to which the accelerator pedal is depressed. For example, the degree to which the accelerator pedal is depressed is within the range of [0%, 100%]; the motor speed information may refer to the speed of the vehicle's motor at the current moment. For example, the unit of the motor speed information may be revolutions per minute; the vehicle speed information may refer to the driving speed maintained by the vehicle at the current moment. For example, the vehicle speed The unit of information may be kilometers per hour; the battery power information may refer to the output power or available power of the battery at the current moment of the vehicle. It can be understood that the battery power information reflects the maximum energy output capacity that the battery can provide, and the unit of battery power information may be kilowatts; the drive axle information may refer to the state or parameters of the drive axle of the vehicle at the current moment. For example, the drive axle information represents the mechanical structure of the drive axle; the torque type may include a drive type and a recovery type. The drive type may represent the torque output by the motor to drive the vehicle forward or backward during acceleration or normal driving. The recovery type may represent the torque generated by the vehicle during deceleration or braking through the regenerative braking system preset in the vehicle to recover energy.

[0080] Environmental information may represent the physical characteristics of the road on which the vehicle is located. For example, the environmental information may include but is not limited to road slope information, road surface friction information, road surface humidity information, etc.

[0081] Specifically, the slope information of the road may refer to the inclination angle or slope of the current driving section of the vehicle. For example, the slope can be expressed in the form of a percentage, or the unit of the slope is degrees; the road surface friction information may refer to the friction coefficient between the road surface of the current driving section of the vehicle and the tires of the vehicle. For example, the friction coefficient is in the range of [0,1]. It can be understood that the greater the friction coefficient, the greater the friction between the road surface and the tires of the vehicle. In a possible implementation method, the friction coefficient is determined by the tire sensor and braking system feedback data preset by the vehicle; the road surface humidity information may refer to the wetness of the road surface of the current driving section of the vehicle. For example, the wetness of the road surface can be expressed in the form of a percentage, for example, 0% means that the road surface is completely dry, and 100% means that the road surface is completely covered with water. In a possible implementation method, the road surface humidity information can be obtained through the rain sensor preset by the vehicle.

[0082] Exemplarily, both the driving information and the environmental information may be acquired or determined through relevant sensors, and the specific manner of acquiring the driving information and the environmental information is not limited herein.

[0083] The previous moment may refer to the moment before the current moment. For example, the time interval between the previous moment and the current moment may be 10 milliseconds.

[0084] The actual torque value at the previous moment is measured after the vehicle is driven based on the torque request value at the previous moment. The torque request value is used to control the vehicle's driving on the road. Specifically, the torque request value is used to request the motor in the vehicle to drive the vehicle forward or backward, or to brake the vehicle to decelerate.

[0085] For example, the actual torque value may be measured by a torque sensor deployed in the vehicle.

[0086] It is understandable that due to the delay or noise influence when the vehicle's motor executes the torque request value, there is a slight gap between the torque request value and the actual torque value at the same moment. For example, the torque request value at the previous moment is 100 N·m, and the actual torque value at the previous moment is 99 N·m. By obtaining the actual torque value at the previous moment instead of the torque request value at the previous moment, the torque request value at the current moment determined subsequently can better meet the user's requirements for vehicle driving stability and comfort.

[0087] S102 . Determine a target torque value of the vehicle at the current moment based on driving information and environmental information; wherein the target torque value represents a desired torque value of the vehicle in the environment.

[0088] It can be understood that the torque target value of the vehicle at the current moment can be determined based on the driving information and environmental information of the vehicle at the current moment.

[0089] In one possible implementation, the method for determining a torque target value may include determining a torque target value corresponding to vehicle driving information and environmental information based on a preset first torque mapping relationship, wherein the preset first torque mapping relationship represents an association between the vehicle driving information and environmental information and the torque target value. For example, the preset first torque mapping relationship may be obtained by a staff member through relevant experimental calibration.

[0090] In one possible implementation, the method for determining a torque target value may further include: determining a first initial torque value corresponding to the accelerator pedal information and motor speed information in the vehicle's driving information based on a preset second torque mapping relationship, wherein the preset second torque mapping relationship represents the correlation between the vehicle's accelerator pedal information and motor speed information, and the first initial torque value; determining a correction coefficient based on the road slope information in the vehicle's environmental information and the gear information and load information in the driving information, wherein the correction coefficient represents the degree of influence of the slope information, gear information, and load information on the first initial torque value; correcting the first initial torque target value based on the correction coefficient to obtain a second initial torque value; and limiting the second initial torque value based on the preset maximum vehicle speed, the preset drive axle information, the battery power information in the driving information, and the motor status information to obtain a torque target value.

[0091] Among them, the correction processing representation multiplies the correction coefficient by the initial torque target value; the battery power information can represent the maximum discharge power or maximum charging power of the battery, the preset maximum vehicle speed can represent the maximum speed that the vehicle can allow under traffic regulations, and the motor status information can include but is not limited to the motor speed information, the motor temperature, etc. The restriction processing representation adjusts the second initial torque value according to the preset maximum vehicle speed, the preset drive axle information, the battery power information in the driving information, and the motor status information to ensure that the second initial torque value corresponding to the vehicle speed information, drive axle information, battery power information and motor status information complies with relevant laws, regulations or relevant rules.

[0092] It can be understood that by comprehensively considering the vehicle's driving information and environmental information, the torque target value can be determined more accurately, thereby improving the vehicle's driving stability, comfort, and safety.

[0093] S103 : Determine a torque request value of the vehicle at the current moment according to the torque target value at the current moment and the actual torque value at the previous moment.

[0094] By combining the torque target value at the current moment with the actual torque value at the previous moment, the vehicle's torque request value at the current moment is determined. The beneficial effect of this setting is that it avoids a sudden change between the vehicle's actual torque value at the previous moment and the torque request value at the current moment, thereby improving the vehicle's driving stability and comfort.

[0095] In one possible implementation method, determining the torque request value of the vehicle at a current moment may include: determining the torque request value of the vehicle at the current moment based on the torque target value at the current moment, the actual torque value at a previous moment, and a preset smoothing factor; the torque request value of the vehicle at the current moment may be represented as:

[0096] T 请求 =αT 当前时刻 +(1-α)T 前一时刻 ;

[0097] Among them, T 请求 represents the torque request value at the current moment, α represents the preset smoothing factor, α is in the range of (0,1), T 当前时刻 Represents the torque target value at the current moment, T 前一时刻 Represents the actual torque value at the previous moment.

[0098] It can be understood that by introducing a smoothing factor, the smoothness of the change of the torque target value at the current moment can be guaranteed, and the unstable driving of the vehicle due to sudden changes in torque can be avoided, thereby improving the accuracy of the vehicle's torque control and improving the vehicle's driving stability and comfort.

[0099] The method of this application considers the vehicle's current driving and environmental information, as well as the vehicle's actual torque value at the previous moment, to determine the vehicle's current torque request. This comprehensive consideration of the vehicle's current driving and environmental information during use and its integration with the vehicle's actual torque value at the previous moment ensures that the torque request determined at the current moment satisfies the user's desired experience. This method improves the accuracy of the vehicle's torque control.

[0100] Figure 2 A schematic diagram of a torque-based vehicle control method provided in this application Figure 2 The execution subject of this method can be VCU, server, host or other devices, such as Figure 2 As shown, the method may include:

[0101] S201. Obtaining driving information and environmental information of the vehicle at a current moment, and obtaining an actual torque value of the vehicle at a previous moment; wherein the driving information represents the driving condition of the vehicle, the environmental information represents the physical characteristics of the road on which the vehicle is located, and the actual torque value at a previous moment is measured after the vehicle has driven based on a torque request value at a previous moment, and the torque request value is used to control the vehicle's driving on the road.

[0102] For example, this step may refer to the above-mentioned step S101 and will not be described in detail.

[0103] S202 . Determine a target torque value of the vehicle at the current moment based on the driving information and the environmental information; wherein the target torque value represents a desired torque value of the vehicle in the environment.

[0104] For example, this step may refer to the above-mentioned step S102 and will not be described in detail.

[0105] S203 . Determine a filter coefficient corresponding to the current moment according to the torque target value at the current moment and the actual torque value at the previous moment; wherein the filter coefficient is used to filter the torque target value at the current moment.

[0106] The filter coefficient may be used to filter the torque target value at the current moment. For example, the filter coefficient is in the range of (0, 1). The closer the filter coefficient is to 1, the greater the influence of the torque target value at the current moment on the torque request value at the current moment.

[0107] The filtering process may refer to multiplying the torque target value at the current moment by a filtering coefficient to smooth changes in the torque target value.

[0108] It can be understood that the filter coefficient corresponding to the current moment can be determined based on the torque target value at the current moment and the actual torque value at the previous moment, that is, the filter coefficient at each moment is not necessarily the same.

[0109] In an optional implementation, step S203 may include:

[0110] The difference between the torque target value at the current moment and the actual torque value at the previous moment is determined as the torque difference; and the filter coefficient corresponding to the current moment is determined according to the torque difference and the actual torque value at the previous moment.

[0111] In one possible implementation method, a filter coefficient graph is preset, the horizontal axis in the filter coefficient graph represents the actual torque value at the previous moment, the vertical axis represents the torque difference, and the preset point in the filter coefficient graph represents the filter coefficient. It can be understood that if the torque difference and the actual torque value at the previous moment are known, the filter coefficient corresponding to the torque difference and the actual torque value at the previous moment can be determined, which is the filter coefficient corresponding to the current moment.

[0112] In an optional embodiment, the driving information includes mode information and torque type, the mode information represents the operating state of the vehicle, and the torque type is a driving type or a recovery type;

[0113] Determining the filter coefficient corresponding to the current moment based on the torque difference and the actual torque value at the previous moment may include:

[0114] Torque change trend information is determined based on the torque target value at the current moment and the actual torque value at the previous moment; wherein the torque change trend information is a torque increase trend or a torque decrease trend; the mode information, the torque type, and the torque change trend information are determined as operating condition information; and the filter coefficient corresponding to the current moment is determined based on the operating condition information, the torque difference, and the actual torque value at the previous moment.

[0115] For example, if the torque target value at the current moment is greater than the torque actual value at the previous moment, the torque change trend information is a torque increase trend. Similarly, if the torque target value at the current moment is less than the torque actual value at the previous moment, the torque change trend information is a torque decrease trend.

[0116] Mode information represents the operating state of the vehicle. For example, the mode information includes, but is not limited to, D gear mode, R gear mode, brake energy recovery mode, coasting energy recovery mode, and default mode. The mode information can be obtained from the vehicle's VCU (Vehicle Control Unit) via the vehicle's CAN line (Controller Area Network). Specifically, D gear mode indicates that the vehicle is in forward gear, meaning it is or is about to travel forward; R gear mode indicates that the vehicle is in reverse gear, meaning it is or is about to travel backward; brake energy recovery mode indicates that the vehicle is in a braking state, recovering energy through the vehicle's preset regenerative braking system; coasting energy recovery mode indicates that the vehicle is in a coasting state, recovering energy through the vehicle's preset regenerative braking system; and default mode indicates that the vehicle is in its default state, i.e., the vehicle is in the starting state or the standby state.

[0117] The torque type includes a driving type and a recovery type. For example, the torque type can also be obtained from the VCU of the vehicle via the CAN line of the vehicle.

[0118] The mode information, torque type, and torque change trend information are determined as operating condition information. Further, the filter coefficient corresponding to the current moment can be determined based on the operating condition information, the torque difference, and the actual torque value at the previous moment.

[0119] In an optional embodiment, determining the filter coefficient corresponding to the current moment based on the operating condition information, the torque difference, and the actual torque value at the previous moment may include:

[0120] Based on a preset working condition association relationship, a coefficient mapping relationship corresponding to the working condition information is determined as a target mapping relationship; wherein the preset working condition association relationship represents the association relationship between the working condition information and the coefficient mapping relationship, and the coefficient mapping relationship represents the association relationship between the torque difference and the actual torque value at the previous moment corresponding to the torque difference, and the filter coefficient; according to the torque difference and the actual torque value at the previous moment, based on the target mapping relationship, the filter coefficient corresponding to the current moment is determined.

[0121] Among them, the coefficient mapping relationship represents the correlation between the torque difference and the actual torque value at the previous moment corresponding to the torque difference, and the filter coefficient. For example, the coefficient mapping relationship can be expressed in the form of a filter coefficient graph, the horizontal axis in the filter coefficient graph represents the actual torque value at the previous moment, the vertical axis represents the torque difference, and the preset point in the filter coefficient graph represents the filter coefficient.

[0122] Exemplarily, the coefficient mapping relationship corresponding to the operating condition information may include but is not limited to a D gear mode driving torque increase filter coefficient map, a D gear mode driving torque reduction filter coefficient map, a D gear mode recovery torque increase filter coefficient map, a D gear mode recovery torque reduction filter coefficient map, an R gear mode driving torque increase filter coefficient map, an R gear mode driving torque reduction filter coefficient map, an R gear mode recovery torque increase filter coefficient map, an R gear mode recovery torque reduction filter coefficient map, a braking energy recovery mode driving torque increase filter coefficient map, a braking energy recovery mode driving torque reduction filter coefficient map, a braking energy recovery mode recovery torque increase filter coefficient, a braking energy recovery mode recovery torque reduction filter coefficient map, a coasting energy recovery mode driving torque increase filter coefficient map, a coasting energy recovery mode driving torque reduction filter coefficient map, a coasting energy recovery mode recovery torque increase filter coefficient map, a coasting energy recovery mode recovery torque reduction filter coefficient map, a default mode driving torque increase filter coefficient map, a default mode driving torque reduction filter coefficient map, a default mode recovery torque increase filter coefficient map, and a default mode recovery torque reduction filter coefficient map.

[0123] It can be understood that the coefficient mapping relationship can be determined by the staff through relevant experiments or other forms.

[0124] After determining the coefficient mapping relationship corresponding to the operating condition information, that is, the target mapping relationship, the filter coefficient corresponding to the torque difference and the actual torque value at the previous moment can be determined from the target mapping relationship, which is the filter coefficient corresponding to the current moment.

[0125] The beneficial effect of this setting is that, by taking into account different operating condition information and presetting the coefficient mapping relationship corresponding to different operating condition information, the filter coefficient corresponding to the current moment determined is more in line with the actual needs of the vehicle under different operating conditions, thereby improving the accuracy of the vehicle's torque control.

[0126] S204 : Determine the torque request value at the current moment according to the filter coefficient corresponding to the current moment and the torque target value at the current moment.

[0127] It can be understood that by filtering the torque target value at the current moment according to the filter coefficient corresponding to the current moment, the torque request value at the current moment can be determined. The torque request value is used to control the vehicle on the road.

[0128] For example, filtering is performed on the torque target value at the current moment, which essentially limits the slope of the increase or decrease of the torque to ensure that the output of the torque request value is smooth and jitter-free.

[0129] In a possible implementation method, the filter coefficient is parameter information in the filter, and the filter is used to multiply the torque target value at the current moment by the filter coefficient, that is, to filter the torque target value at the current moment.

[0130] The beneficial effect of such an arrangement is that the smoothness of vehicle driving can be improved.

[0131] The method of the present application considers the vehicle's current driving and environmental information, as well as the vehicle's actual torque value at the previous moment, to determine the vehicle's torque request value at the current moment. This comprehensive consideration not only considers the vehicle's driving and environmental information during use but also incorporates the vehicle's actual torque value at the previous moment, ensuring that the torque request value determined at the current moment satisfies the user's experience needs. Simultaneously, based on the current torque target value and the previous torque actual value, a filter coefficient corresponding to the current moment is determined. This filter coefficient can be used to filter the current torque target value, thereby improving the vehicle's driving smoothness. The method of the present application improves the accuracy of the vehicle's torque control.

[0132] Figure 3 A schematic diagram of a torque-based vehicle control method provided in this application Figure 3The execution subject of this method can be VCU, server, host or other devices, such as Figure 3 As shown, the method may include:

[0133] S301. Obtaining the vehicle's driving information and environmental information at the current moment, and obtaining the vehicle's actual torque value at the previous moment; wherein the driving information represents the vehicle's driving condition, the environmental information represents the physical characteristics of the road on which the vehicle is located, and the actual torque value at the previous moment is measured after the vehicle has driven based on the torque request value at the previous moment, and the torque request value is used to control the vehicle's driving on the road.

[0134] For example, this step may refer to the above-mentioned step S101 and will not be described in detail.

[0135] S302. Determine a torque rating of the vehicle at the current moment based on the accelerator pedal information and the motor speed information in the driving information; wherein the torque rating represents a preset torque value corresponding to the accelerator pedal information and the motor speed information.

[0136] The torque rating represents a preset torque value corresponding to the accelerator pedal information and the motor speed information.

[0137] In one possible implementation, the driving information includes driving mode information, which includes an economic mode, a power mode, and a recovery mode. The economic mode indicates that the vehicle prioritizes electrical energy efficiency during driving to achieve lower energy consumption; the power mode indicates that the vehicle prioritizes power performance during driving to achieve stronger acceleration performance and higher speed; the recovery mode indicates that the vehicle prioritizes energy recovery during driving to achieve higher energy recovery efficiency.

[0138] It can be understood that the driving mode information can be obtained from the vehicle's VCU via the vehicle's CAN line.

[0139] In one possible implementation, determining the torque rating of the vehicle at the current moment may include:

[0140] If the driving mode information is the economy mode, determining a torque value corresponding to the accelerator pedal information and the motor speed information based on a preset economy mode mapping relationship; wherein the preset economy mode mapping relationship represents a correlation between the accelerator pedal information, the motor speed information, and the torque value;

[0141] If the driving mode information is a power mode, determining a torque value corresponding to the accelerator pedal information and the motor speed information based on a preset power mode mapping relationship; wherein the preset power mode mapping relationship represents a correlation between the accelerator pedal information, the motor speed information, and the torque value;

[0142] If the driving mode information is a recuperation mode, determining a torque value corresponding to the accelerator pedal information and the motor speed information based on a preset recuperation mode mapping relationship; wherein the preset recuperation mode mapping relationship represents a correlation between the accelerator pedal information, the motor speed information, and the torque value;

[0143] It can be understood that the preset economic mode mapping relationship, the preset power mode mapping relationship, and the preset recovery mode mapping relationship can all be determined by the staff through relevant experiments or other forms.

[0144] The beneficial effect of such a setting is that by considering the vehicle's driving mode information as power mode, economy mode, and recovery mode, and based on the preset mapping relationship corresponding to different driving mode information (the preset economy mode mapping relationship, the preset power mode mapping relationship, and the preset recovery mode mapping relationship), the torque value corresponding to the accelerator pedal information and the motor speed information is determined, which can more accurately meet the vehicle performance requirements under different driving modes, thereby improving the accuracy of the vehicle's torque control, and then improving the vehicle's adaptability and driving experience.

[0145] S303: Determine a target torque value of the vehicle at the current moment according to the torque rating and environmental information at the current moment.

[0146] In an optional implementation, step S303 may include:

[0147] S3031. Correct the torque rated value at the current moment according to the environmental information to obtain an intermediate torque value; wherein the intermediate torque value represents the corrected torque rated value.

[0148] It can be understood that the correction process represents determining a correction coefficient corresponding to the environmental information, and multiplying the correction coefficient corresponding to the environmental information by the torque rated value at the current moment to obtain the intermediate torque value.

[0149] In an optional embodiment, the environmental information includes road slope information;

[0150] Based on the environmental information, the torque rated value at the current moment is corrected to obtain the intermediate torque value, which may include:

[0151] Based on a preset first correlation relationship, a first coefficient corresponding to the slope information is determined; wherein the preset first correlation relationship represents the correlation between the slope information and the first coefficient, and the first coefficient represents the degree of influence of the slope information on the torque rating; according to the first coefficient, the torque demand value at the current moment is corrected to obtain the torque intermediate value.

[0152] Exemplarily, the preset first association relationship may be in the form of a table, which is used to map the slope information to the first coefficient.

[0153] Furthermore, the torque demand value at the current moment can be corrected according to the first coefficient to obtain the intermediate torque value. For example, the intermediate torque value can be represented as:

[0154] T 中间 =μT 额定 ;

[0155] Among them, T 中间 Characterizes the intermediate value of torque, T 额定 represents the torque rating, and μ represents the first coefficient.

[0156] The beneficial effect of such a setting is that the influence of the road gradient information in the environmental information on the torque rating is taken into account, so that the obtained intermediate torque value has reliability and stability.

[0157] In an optional embodiment, the driving information includes gear information and load information;

[0158] Correcting the torque demand value at the current moment according to the first coefficient to obtain the intermediate torque value may include:

[0159] Based on a preset second correlation relationship, a second coefficient corresponding to the gear information is determined; wherein, the preset second correlation relationship represents the correlation between the gear information and the second coefficient, and the second coefficient represents the degree of influence of the gear information on the torque rating; based on a preset third correlation relationship, a third coefficient corresponding to the load information is determined; wherein, the preset third correlation relationship represents the correlation between the load information and the third coefficient, and the third coefficient represents the degree of influence of the load information on the torque rating; according to the first coefficient, the second coefficient, and the third coefficient, the torque demand value at the current moment is corrected to obtain the torque intermediate value.

[0160] For example, the preset second association relationship may also be in the form of a table, for mapping the gear information to the second coefficient; the preset third association relationship may also be in the form of a table, for mapping the load information to the third coefficient.

[0161] Furthermore, the torque demand value at the current moment can be corrected based on the first coefficient, the second coefficient, and the third coefficient to obtain the intermediate torque value. For example, the intermediate torque value can be represented as:

[0162] T 中间 =μζλT 额定 ;

[0163] Among them, T 中间 Characterizes the intermediate value of torque, T额定 represents the torque rating, μ represents the first coefficient, ζ represents the second coefficient, and λ represents the third coefficient.

[0164] This configuration has the beneficial effect of not only considering the impact of road slope information (environmental information) on the torque rating, but also the impact of gear position and load information (driving information), resulting in a reliable and stable intermediate torque value. Specifically, the impact of driving information on the torque rating means that vehicle power is not applied too quickly or too abruptly when the load is light, and vehicle acceleration is not affected when the load is heavy or when the vehicle is on a steep slope.

[0165] S3032. Determine the target torque value of the vehicle at the current moment based on the intermediate torque value.

[0166] It is understandable that since the actual driving needs of the vehicle are subject to various factors, such as the vehicle's maximum torque output capacity, safe driving requirements, energy consumption optimization, etc., the revised torque rating needs to be limited to avoid the torque output exceeding the vehicle's performance range, affecting driving safety or causing unnecessary energy consumption increases. Therefore, it is necessary to determine the vehicle's torque target value at the current moment based on the torque intermediate value.

[0167] In an optional implementation, the driving information includes vehicle speed information; step S3032 may include:

[0168] A first torque value is determined based on vehicle speed information and preset vehicle speed threshold information; wherein the first torque value represents a torque value that takes the vehicle speed limit into consideration; a minimum value between the intermediate torque value and the first torque value is determined as a torque target intermediate value; and a torque target value at the current moment is determined based on the torque target intermediate value.

[0169] The preset speed threshold information represents the maximum speed that the vehicle is allowed to reach while complying with relevant laws and regulations.

[0170] For example, the first torque value can be determined using a preset PID (Proportional-Integral-Derivative) algorithm. Specifically, if the difference between the vehicle speed information and a preset speed threshold is less than or equal to a preset speed difference threshold (e.g., 10 km / h), the difference between the vehicle speed information and the preset speed threshold is input into the preset PID algorithm to obtain the output first torque value.

[0171] The minimum value between the intermediate torque value and the first torque value is determined as the intermediate torque target value. Further, the torque target value at the current moment is determined based on the intermediate torque target value.

[0172] The beneficial effect of this setting is that it takes into account the vehicle's speed information and limits the intermediate torque value in accordance with relevant laws and regulations, which can effectively avoid the safety hazards caused by speeding while ensuring the vehicle's driving stability, comfort and safety.

[0173] In an optional embodiment, the driving information includes motor speed information and torque type, where the torque type is the drive type;

[0174] Determining the torque target value at the current moment based on the torque target intermediate value may include:

[0175] A second torque value is determined based on the motor speed information and a preset battery discharge power threshold; wherein the second torque value represents the torque value when the battery power is taken into account when the torque type is the drive type; a third torque value and a fourth torque value at the current moment are obtained; wherein the third torque value represents the torque value when the motor state is taken into account when the torque type is the drive type, and the fourth torque value represents the torque value when the drive axle is taken into account when the torque type is the drive type; and a minimum value among the torque target intermediate value, the second torque value, the third torque value, and the fourth torque value is determined as the torque target value at the current moment.

[0176] Exemplarily, the second torque value may be represented as:

[0177]

[0178] Among them, Tbm dmax Characterize the second torque value, P d Characterizes the preset battery discharge power threshold, M s Represents the motor speed information.

[0179] It is understood that the second torque value represents the maximum torque value that can be achieved when the torque type is the driving type and the battery power is taken into account. The preset battery discharge power threshold represents the maximum discharge power that the vehicle battery can achieve at the current moment.

[0180] For example, the third torque value can be expressed as Tm dmax It is understood that the third torque value represents the maximum torque value that can be achieved when the torque type is the drive type, taking into account the motor state. The motor state may include but is not limited to performance information such as motor speed information and motor temperature.

[0181] For example, the fourth torque value represents the maximum torque value that can be achieved when the torque type is the drive type, taking into account the drive axle (also called the vehicle axle). It is understood that due to the constraints of the axle design and the overall vehicle structure, the maximum torque that the axle can withstand for each drive type is different. The fourth torque value can be represented as:

[0182]

[0183] Among them, Tam dmax Characterize the fourth torque value, Ta dmax represents the maximum driving torque value that the vehicle's axle can withstand, and θ represents the speed ratio of the vehicle's gearbox, that is, the ratio of the input shaft speed to the output shaft speed of the gearbox. In a possible implementation, θ can be preset by the staff according to the gear position of the gearbox, for example, if the gear position of the gearbox is 1, the gear ratio of the gearbox is 3.5; if the gear position of the gearbox is 2, the gear ratio of the gearbox is 2.0, etc.; Ta dmax It can also be pre-set for the staff according to the axle design and the entire vehicle structure.

[0184] The torque target value at the current moment can be expressed as:

[0185] T 目标 =MIN(T 目标中间 , Tm dmax , Tbm dmax , Tam dmax );

[0186] Among them, T 目标 Indicates the torque target value at the current moment, MIN represents the minimum function, T 目标中间 Characterizes the torque target middle value, Tbm dmax Characterize the second torque value, Tm dmax Characterize the third torque value, Tam dmax Characterizes a fourth torque value.

[0187] The beneficial effect of this setting is that when the torque type is the drive type, factors such as battery power, motor status, drive axle design, etc. are taken into consideration, which can ensure that the torque target value determined at the current moment is more reasonable and safe, and improve the accuracy of the vehicle's torque control.

[0188] In an optional embodiment, the driving information includes motor speed information and torque type, and the torque type is a recovery type;

[0189] Determining the torque target value at the current moment based on the torque target intermediate value may include:

[0190] A fifth torque value is determined based on the motor speed information and a preset battery charging power threshold; wherein the fifth torque value represents the torque value when the battery power is taken into account when the torque type is a recovery type; a sixth torque value and a seventh torque value at the current moment are obtained; wherein the sixth torque value represents the torque value when the motor state is taken into account when the torque type is a recovery type, and the seventh torque value represents the torque value when the drive axle is taken into account when the torque type is a recovery type; and a maximum value among the torque target intermediate value, the fifth torque value, the sixth torque value, and the seventh torque value is determined as the torque target value at the current moment.

[0191] Exemplarily, the fifth torque value may be represented as:

[0192]

[0193] Among them, Tbm rmax Characterize the fifth torque value, P c Characterizes the preset battery charging power threshold, M s Represents the motor speed information.

[0194] It is understood that the fifth torque value represents the maximum torque value that can be achieved when the torque type is the regenerative type, taking into account the battery power. The preset battery charging power threshold represents the maximum charging power that the vehicle battery can achieve at the current moment.

[0195] For example, the sixth torque value may be expressed as Tm rmax It is understood that the sixth torque value represents the maximum torque value that can be achieved when the torque type is the recovery type, taking into account the motor state. The motor state may include but is not limited to performance information such as motor speed information and motor temperature.

[0196] For example, the seventh torque value represents the maximum torque value that can be achieved when the torque type is a recuperation type, taking into account the drive axle. It is understood that due to the constraints of the axle design and the overall vehicle structure, the maximum regenerative torque that the axle can withstand varies. The seventh torque value can be represented as:

[0197]

[0198] Among them, Tam dmax Characterizes the seventh torque value, Ta rmax represents the maximum regenerative torque value that the vehicle's axle can withstand, and θ represents the speed ratio of the vehicle's gearbox, that is, the ratio of the input shaft speed to the output shaft speed of the gearbox. In a possible implementation, θ can be pre-set by the staff according to the gear position of the gearbox; Ta dmax It can also be pre-set for the staff according to the axle design and the entire vehicle structure.

[0199] The torque target value at the current moment can be expressed as:

[0200] T 目标 =MAX(T 目标中间 , Tm rmax , Tbm rmax , Tam rmax );

[0201] Among them, T 目标 Represents the torque target value at the current moment, MAX represents the maximum function, T 目标中间 Characterizes the torque target middle value, Tbm rmax Characterize the fifth torque value, Tm rmax Characterize the sixth torque value, Tam rmax Characterizes a seventh torque value.

[0202] The beneficial effect of this setting is that when the torque type is the recovery type, factors such as battery power, motor status, drive axle design are taken into consideration, which can ensure that the torque target value determined at the current moment is more reasonable and safe, and improve the accuracy of the vehicle's torque control.

[0203] S304 : Determine a torque request value of the vehicle at the current moment according to the torque target value at the current moment and the actual torque value at the previous moment.

[0204] For example, this step may refer to the above-mentioned step S103 and will not be described in detail.

[0205] The method of this application considers the vehicle's current driving and environmental information, as well as the vehicle's actual torque value at the previous moment, to determine the vehicle's torque request value at the current moment. This method not only comprehensively considers the vehicle's driving and environmental information during use, but also incorporates the vehicle's actual torque value at the previous moment, ensuring that the determined torque request value of the vehicle at the current moment meets the user's needs for a comfortable driving experience. At the same time, the torque rating is sequentially corrected and limited, making the determined torque request value smoother and safer. This method improves the accuracy of the vehicle's torque control.

[0206] Figure 4 A schematic diagram of the structure of a torque-based vehicle control device provided in this application Figure 1 ,like Figure 4 As shown, the torque-based vehicle control device 40 includes: an acquisition unit 401 , a first determination unit 402 , and a second determination unit 403 .

[0207] an acquisition unit 401 configured to acquire driving information and environmental information of the vehicle at a current moment, and an actual torque value of the vehicle at a previous moment; wherein the driving information represents the driving condition of the vehicle, the environmental information represents the physical characteristics of the road on which the vehicle is traveling, and the actual torque value at a previous moment is measured after the vehicle has driven based on a torque request value at a previous moment, which is used to control the vehicle's driving on the road;

[0208] A first determining unit 402 is configured to determine a target torque value of the vehicle at a current moment based on driving information and environmental information; wherein the target torque value represents a desired torque value of the vehicle in the environment;

[0209] The second determining unit 403 is configured to determine a torque request value of the vehicle at a current moment according to the torque target value at a current moment and the actual torque value at a previous moment.

[0210] Figure 5 A schematic diagram of the structure of a torque-based vehicle control device provided in this application Figure 2 ,like Figure 5 As shown, the torque-based vehicle control device 50 includes: an acquisition unit 501, a first determination unit 502, and a second determination unit 503, wherein the first determination unit 502 also includes a first processing module 5021 and a second processing module 5022, and the second determination unit 503 also includes a third processing module 5031 and a fourth processing module 5032.

[0211] In an optional example, the driving information includes accelerator pedal information and motor speed information;

[0212] The first processing module 5021 is used to determine the torque rating of the vehicle at the current moment according to the accelerator pedal information and the motor speed information; wherein the torque rating represents a preset torque value corresponding to the accelerator pedal information and the motor speed information.

[0213] The second processing module 5022 is configured to determine a target torque value of the vehicle at the current moment according to the torque rating and environmental information at the current moment.

[0214] In an optional example, the second processing module 5022 includes a first submodule and a second submodule;

[0215] The first submodule is configured to correct the torque rated value at the current moment according to the environmental information to obtain an intermediate torque value; wherein the intermediate torque value represents the corrected torque rated value.

[0216] In an optional example, the environmental information includes road slope information; the first submodule is specifically used to determine a first coefficient corresponding to the slope information based on a preset first correlation relationship; wherein the preset first correlation relationship represents the correlation between the slope information and the first coefficient, and the first coefficient represents the degree of influence of the slope information on the torque rated value; according to the first coefficient, the torque demand value at the current moment is corrected to obtain the torque intermediate value.

[0217] In an optional example, the driving information includes gear information and load information; the second submodule is specifically used to determine the second coefficient corresponding to the gear information based on a preset second correlation relationship; wherein the preset second correlation relationship represents the correlation between the gear information and the second coefficient, and the second coefficient represents the degree of influence of the gear information on the torque rating; based on a preset third correlation relationship, the third coefficient corresponding to the load information is determined; wherein the preset third correlation relationship represents the correlation between the load information and the third coefficient, and the third coefficient represents the degree of influence of the load information on the torque rating; according to the first coefficient, the second coefficient, and the third coefficient, the torque demand value at the current moment is corrected to obtain the torque intermediate value.

[0218] The second submodule is used to determine the torque target value of the vehicle at the current moment according to the intermediate torque value.

[0219] In an optional example, the driving information includes vehicle speed information; the second submodule is specifically used to determine a first torque value based on the vehicle speed information and preset vehicle speed threshold information; wherein the first torque value represents the torque value taking into account the vehicle speed limit; the minimum value between the torque intermediate value and the first torque value is determined as the torque target intermediate value; and the torque target value at the current moment is determined based on the torque target intermediate value.

[0220] In an optional example, the driving information includes motor speed information and torque type, and the torque type is a drive type; the second submodule is further specifically used to determine a second torque value based on the motor speed information and a preset battery discharge power threshold; wherein the second torque value represents the torque value when the battery power is taken into account when the torque type is a drive type; obtain a third torque value and a fourth torque value at the current moment; wherein the third torque value represents the torque value when the motor state is taken into account when the torque type is a drive type, and the fourth torque value represents the torque value when the drive axle is taken into account when the torque type is a drive type; determine the minimum value among the torque target intermediate value, the second torque value, the third torque value, and the fourth torque value as the torque target value at the current moment.

[0221] In an optional example, the driving information includes motor speed information and torque type, and the torque type is a recovery type; the second submodule is further specifically used to determine a fifth torque value based on the motor speed information and a preset battery charging power threshold; wherein the fifth torque value represents the torque value when the battery power is taken into account when the torque type is a recovery type; obtain the sixth torque value and the seventh torque value at the current moment; wherein the sixth torque value represents the torque value when the motor state is taken into account when the torque type is a recovery type, and the seventh torque value represents the torque value when the drive axle is taken into account when the torque type is a recovery type; determine the maximum value among the torque target intermediate value, the fifth torque value, the sixth torque value, and the seventh torque value as the torque target value at the current moment.

[0222] The third processing module 5031 is used to determine the filter coefficient corresponding to the current moment according to the torque target value at the current moment and the actual torque value at the previous moment; wherein the filter coefficient is used to filter the torque target value at the current moment.

[0223] In an optional example, the third processing module 5031 includes a third submodule and a fourth submodule;

[0224] The third submodule is configured to determine a difference between the torque target value at a current moment and the torque actual value at a previous moment as a torque difference.

[0225] The fourth submodule is used to determine the filter coefficient corresponding to the current moment according to the torque difference and the actual torque value at the previous moment.

[0226] In an optional example, the driving information includes mode information and torque type, the mode information represents the operating state of the vehicle, and the torque type is a driving type or a recovery type; the fourth submodule is specifically used to determine the torque change trend information based on the torque target value at the current moment and the actual torque value at the previous moment; wherein the torque change trend information is a torque increase trend or a torque decrease trend; the mode information, the torque type, and the torque change trend information are determined as the operating condition information; and the filter coefficient corresponding to the current moment is determined based on the operating condition information, the torque difference, and the actual torque value at the previous moment.

[0227] In an optional example, the fourth submodule is further specifically used to determine the coefficient mapping relationship corresponding to the operating condition information based on a preset operating condition association relationship, which is a target mapping relationship; wherein the preset operating condition association relationship represents the association relationship between the operating condition information and the coefficient mapping relationship, and the coefficient mapping relationship represents the association relationship between the torque difference and the actual torque value at the previous moment corresponding to the torque difference, and the filter coefficient; according to the torque difference and the actual torque value at the previous moment, based on the target mapping relationship, the filter coefficient corresponding to the current moment is determined.

[0228] The fourth processing module 5032 is configured to determine the torque request value at the current moment according to the filter coefficient corresponding to the current moment and the torque target value at the current moment.

[0229] Figure 6 A schematic diagram of the structure of an electronic device provided in this application, such as Figure 6 As shown, the electronic device 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the electronic device 60 further includes a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus 604.

[0230] During the specific implementation process, at least one processor 601 executes the computer-executable instructions stored in the memory 602, so that the at least one processor 601 performs the above method.

[0231] The specific implementation process of the processor 601 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0232] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0233] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0234] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0235] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0236] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0237] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0238] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0239] In addition, unless otherwise specified, the functional units / modules in the various embodiments of the present application may be integrated into a single unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The aforementioned integrated units / modules may be implemented in the form of hardware or software program modules.

[0240] If the integrated unit / module is implemented in hardware, the hardware may be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor may be any appropriate hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC. Unless otherwise specified, the storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), etc.

[0241] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0242] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0243] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0244] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A torque-based vehicle control method, characterized in that: include: Obtaining driving information and environmental information of the vehicle at a current moment, and obtaining an actual torque value of the vehicle at a previous moment; wherein the driving information represents a driving condition of the vehicle, the environmental information represents a physical characteristic of a road on which the vehicle is traveling, and the actual torque value at the previous moment is measured after the vehicle has driven based on a torque request value at the previous moment, the torque request value being used to control the vehicle's driving on the road; Determining a torque target value of the vehicle at a current moment based on the driving information and the environmental information; wherein the torque target value represents a torque value expected by the vehicle in the environment; A torque request value of the vehicle at a current moment is determined according to the torque target value at the current moment and the actual torque value at the previous moment.

2. The method according to claim 1, characterized in that Determining a torque request value of the vehicle at a current moment according to the torque target value at the current moment and the actual torque value at the previous moment includes: Determining a filter coefficient corresponding to the current moment based on the torque target value at the current moment and the actual torque value at the previous moment; wherein the filter coefficient is used to filter the torque target value at the current moment; The torque request value at the current moment is determined according to the filter coefficient corresponding to the current moment and the torque target value at the current moment.

3. The method according to claim 2, characterized in that Determining a filter coefficient corresponding to the current moment according to the torque target value at the current moment and the actual torque value at the previous moment includes: determining a difference between the torque target value at the current moment and the torque actual value at the previous moment as a torque difference; A filter coefficient corresponding to the current moment is determined according to the torque difference and the actual torque value at the previous moment.

4. The method according to claim 3, characterized in that The driving information includes mode information and torque type, wherein the mode information represents the operating state of the vehicle, and the torque type is a driving type or a recovery type; Determining a filter coefficient corresponding to the current moment according to the torque difference and the actual torque value at the previous moment includes: Determining torque change trend information based on the torque target value at the current moment and the torque actual value at the previous moment; wherein the torque change trend information is a torque increase trend or a torque decrease trend; determining the mode information, the torque type, and the torque change trend information as operating condition information; The filter coefficient corresponding to the current moment is determined according to the operating condition information, the torque difference, and the actual torque value at the previous moment.

5. The method according to claim 1, wherein The driving information includes accelerator pedal information and motor speed information; Determining a torque target value of the vehicle at a current moment according to the driving information and the environmental information includes: Determining a torque rating of the vehicle at a current moment based on the accelerator pedal information and the motor speed information; wherein the torque rating represents a preset torque value corresponding to the accelerator pedal information and the motor speed information; A torque target value of the vehicle at the current moment is determined according to the torque rated value at the current moment and the environmental information.

6. The method according to claim 5, characterized in that Determining a torque target value of the vehicle at a current moment according to the torque rated value at a current moment and the environmental information includes: According to the environmental information, the torque rated value at the current moment is corrected to obtain an intermediate torque value; wherein the intermediate torque value represents the corrected torque rated value; A torque target value of the vehicle at a current moment is determined according to the intermediate torque value.

7. The method according to claim 6, characterized in that The driving information includes vehicle speed information; determining the torque target value of the vehicle at the current moment based on the intermediate torque value includes: Determining a first torque value based on the vehicle speed information and preset vehicle speed threshold information; wherein the first torque value represents a torque value that takes vehicle speed limit into consideration; determining the minimum value between the intermediate torque value and the first torque value as the intermediate torque target value; The torque target value at the current moment is determined according to the torque target intermediate value.

8. The method according to claim 7, characterized in that The driving information includes motor speed information and torque type, and the torque type is a driving type; Determining the torque target value at the current moment according to the torque target intermediate value includes: Determining a second torque value based on the motor speed information and a preset battery discharge power threshold; wherein the second torque value represents a torque value when the torque type is a driving type and the battery power is taken into account; Obtaining a third torque value and a fourth torque value at the current moment; wherein the third torque value represents a torque value when the motor state is taken into account when the torque type is the drive type, and the fourth torque value represents a torque value when the drive axle is taken into account when the torque type is the drive type; The minimum value among the torque target intermediate value, the second torque value, the third torque value, and the fourth torque value is determined as the torque target value at the current moment.

9. The method according to claim 7, characterized in that The driving information includes motor speed information and torque type, and the torque type is a recovery type; Determining the torque target value at the current moment according to the torque target intermediate value includes: determining a fifth torque value based on the motor speed information and a preset battery charging power threshold; wherein the fifth torque value represents a torque value when the torque type is a regenerative type and the battery power is taken into account; Obtaining a sixth torque value and a seventh torque value at the current moment; wherein the sixth torque value represents a torque value when the torque type is a regenerative type and the motor state is taken into account, and the seventh torque value represents a torque value when the torque type is a regenerative type and the drive axle is taken into account; A maximum value among the torque target intermediate value, the fifth torque value, the sixth torque value, and the seventh torque value is determined as the torque target value at the current moment.

10. A torque-based vehicle control device, characterized in that: include: an acquisition unit, configured to acquire driving information and environmental information of the vehicle at a current moment, and an actual torque value of the vehicle at a previous moment; wherein the driving information represents the driving condition of the vehicle, the environmental information represents the physical characteristics of the road on which the vehicle is located, and the actual torque value at the previous moment is measured after the vehicle has driven based on a torque request value at the previous moment, the torque request value being used to control the vehicle's driving on the road; a first determining unit, configured to determine a torque target value of the vehicle at a current moment based on the driving information and the environmental information; wherein the torque target value represents a torque value expected by the vehicle in the environment; The second determining unit is configured to determine a torque request value of the vehicle at a current moment according to the torque target value at the current moment and the actual torque value at a previous moment.

Images