Torque-based vehicle control method and device

Abstract

This application provides a torque-based vehicle control method and apparatus. The method includes: acquiring vehicle driving information and environmental information at the current moment, and acquiring the actual torque value of the vehicle at the previous moment; wherein the driving information represents the vehicle's driving status, the environmental information represents the physical characteristics of the road where 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; determining a target torque value for the vehicle at the current moment based on the driving information and environmental information; wherein the target torque value represents the desired torque value of the vehicle in the environment; and determining the torque request value for the vehicle at the current moment based on the target torque value at the current moment and the actual torque value at the previous moment. This method improves the accuracy of vehicle torque control.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a torque-based vehicle control method and apparatus. Background Technology

[0002] Vehicle torque represents the output torque of the vehicle's engine and is one of the key indicators for measuring vehicle power performance. With the development of new energy vehicles, controlling the vehicle's torque output is particularly important in order to balance the vehicle's economy and power.

[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 consequently a poor user experience.

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

[0005] This application provides a torque-based vehicle control method and apparatus to improve the accuracy of vehicle torque control.

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

[0007] The system acquires the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment. The driving information represents the vehicle's driving status, the environmental information represents the physical characteristics of the road where 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. The torque request value is used to control the vehicle's driving on the road.

[0008] Based on driving information and environmental information, determine the target torque value of the vehicle at the current moment; where the target torque value represents the expected torque value of the vehicle in the environment;

[0009] Based on the target torque 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.

[0010] Optionally, as described above, the torque request value of the vehicle at the current moment is determined based on the target torque value at the current moment and the actual torque value at the previous moment, including:

[0011] Based on the target torque value at the current moment and the actual torque value at the previous moment, the corresponding filtering coefficient for the current moment is determined; the filtering coefficient is used to filter the target torque value at the current moment.

[0012] Based on the filter coefficients at the current moment and the target torque value at the current moment, determine the torque request value at the current moment.

[0013] Optionally, as described above, the filter coefficients corresponding to the current moment are determined based on the target torque value at the current moment and the actual torque value at the previous moment, including:

[0014] The difference between the target torque value at the current moment and the actual torque value at the previous moment is defined 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 described above, the driving information includes mode information and torque type. The mode information represents the vehicle's operating state, and the torque type is either drive type or regeneration type. Based on the torque difference and the actual torque value from the previous moment, the filter coefficient corresponding to the current moment is determined, including:

[0017] Based on the target torque value at the current moment and the actual torque value at the previous moment, determine the torque change trend information; where the torque change trend information is either a torque increase trend or a torque decrease trend;

[0018] The mode information, torque type, and torque change trend information are identified as operating condition information;

[0019] Based on the operating condition information, torque difference, and the actual torque value at the previous moment, determine the filter coefficient corresponding to the current moment.

[0020] Optionally, as described above, the filter coefficients for the current moment are determined based on the operating condition information, torque difference, and the actual torque value at the previous moment, including:

[0021] Based on the preset working condition correlation, the coefficient mapping relationship corresponding to the working condition information is determined as the target mapping relationship; wherein, the preset working condition correlation represents the correlation between the working condition information and the coefficient mapping relationship, and 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.

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

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

[0024] Based on the accelerator pedal information and motor speed information, the rated torque value of the vehicle at the current moment is determined; whereby the rated torque value represents the preset torque value corresponding to the accelerator pedal information and motor speed information.

[0025] Based on the current torque rating and environmental information, determine the vehicle's target torque value for the current moment.

[0026] Optionally, as described above, the target torque value of the vehicle at the current moment is determined based on the current torque rating and environmental information, including:

[0027] Based on environmental information, the torque rating at the current moment is corrected to obtain an intermediate torque value; whereby the intermediate torque value represents the corrected torque rating.

[0028] Based on the median torque value, determine the target torque value for the vehicle at the current moment.

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

[0030] Based on a preset first correlation, a first coefficient corresponding to the slope information is determined; wherein, the preset first correlation 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.

[0031] Based on the first coefficient, the torque demand value at the current moment is corrected to obtain the intermediate torque value.

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

[0033] Based on a preset second correlation, a second coefficient corresponding to the gear information is determined; wherein, the preset second correlation characterizes the correlation between the gear information and the second coefficient, and the second coefficient characterizes the degree of influence of the gear information on the torque rating.

[0034] Based on the preset third correlation, the third coefficient corresponding to the load information is determined; wherein, the preset third correlation 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.

[0035] Based on the first, second, and third coefficients, the torque demand value at the current moment is corrected to obtain the intermediate torque value.

[0036] Optionally, as described above, the driving information includes vehicle speed information; based on the median torque value, the target torque value of the vehicle at the current moment is determined, including:

[0037] Based on the vehicle speed information and the preset vehicle speed threshold information, a first torque value is determined; wherein, the first torque value represents the torque value that takes into account the vehicle speed limit;

[0038] The minimum value between the median torque value and the first torque value is determined as the target median torque value.

[0039] Determine the target torque value at the current moment based on the median value of the target torque.

[0040] Optionally, as described above, the driving information includes motor speed information and torque type, where the torque type is the drive type; based on the median torque target value, the torque target value at the current moment is determined, including:

[0041] The second torque value is determined based on the motor speed information and the preset battery discharge power threshold; wherein, the second torque value represents the torque value when the torque type is drive type, taking into account the battery power.

[0042] Obtain the third and fourth torque values ​​at the current moment; where the third torque value represents the torque value considering the motor state when the torque type is drive type, and the fourth torque value represents the torque value considering the drive axle when the torque type is drive type.

[0043] The minimum value among the intermediate torque target, 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 described above, the driving information includes motor speed information and torque type, where the torque type is regeneration type; based on the median torque target value, the torque target value at the current moment is determined, including:

[0045] The fifth torque value is determined based on the motor speed information and the preset battery charging power threshold; the fifth torque value represents the torque value when the torque type is recovery type, taking into account the battery power.

[0046] Obtain the sixth and seventh torque values ​​at the current moment; where the sixth torque value represents the torque value considering the motor state when the torque type is regenerative, and the seventh torque value represents the torque value considering the drive axle when the torque type is regenerative.

[0047] The maximum value among the median torque target, 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] Secondly, this application provides a torque-based vehicle control device, comprising:

[0049] The acquisition unit is used to acquire the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment. The driving information represents the vehicle's driving status, the environmental information represents the physical characteristics of the road where 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. The torque request value is used to control the vehicle's driving on the road.

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

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

[0052] Thirdly, this application provides an electronic device, including: a memory and a processor;

[0053] The memory stores the instructions that the computer executes;

[0054] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0055] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible embodiments of the first aspect.

[0056] Fifthly, this application provides a computer program product, comprising: a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0057] The torque-based vehicle control method and apparatus provided in this application acquires the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment. Further, based on the driving information and environmental information, it determines the target torque value of the vehicle at the current moment. Further, based on the target torque value at the current moment and the actual torque value at the previous moment, it determines the requested torque value of the vehicle at the current moment. Here, driving information represents the vehicle's driving status, environmental information represents the physical characteristics of the road where the vehicle is located, the target torque value represents the desired torque value of the vehicle in the environment, and the actual torque value at the previous moment is measured after the vehicle has driven based on the requested torque value at the previous moment. The requested torque value is used to control the vehicle's driving on the road. The method of this application considers the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment, to determine the requested torque value of the vehicle at the current moment. It not only comprehensively considers the driving information and environmental information during vehicle use but also combines the actual torque value of the vehicle at the previous moment, ensuring that the determined requested torque value of the vehicle at the current moment meets the user's needs for a better user experience. The method described in this application improves the accuracy of torque control in vehicles. Attached Figure Description

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

[0059] Figure 1 A flowchart illustrating a torque-based vehicle control method provided in this application. Figure 1 ;

[0060] Figure 2 A flowchart illustrating a torque-based vehicle control method provided in this application. Figure 2 ;

[0061] Figure 3 A flowchart illustrating 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 accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0066] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0068] Torque in a vehicle represents the output torque of its engine and is one of the key indicators for measuring a vehicle's power performance. The unit of torque is Newton-meter (N·m). With the development of new energy vehicles, more than 90% of the energy consumption of a vehicle comes from electric motor drive. In order to balance the vehicle's economy and power, controlling the vehicle's torque output is particularly important.

[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 consequently a poor user experience.

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

[0071] The torque-based vehicle control method and apparatus provided in this application acquires the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment. Further, based on the driving information and environmental information, it determines the target torque value of the vehicle at the current moment. Further, based on the target torque value at the current moment and the actual torque value at the previous moment, it determines the requested torque value of the vehicle at the current moment. Here, the driving information represents the vehicle's driving status, the environmental information represents the physical characteristics of the road where the vehicle is located, the target torque value represents the torque value expected by the vehicle in the environment, and the actual torque value at the previous moment is measured after the vehicle has driven based on the requested torque value at the previous moment. The requested torque value is used to control the vehicle's driving on the road.

[0072] The method of this application considers the vehicle's driving information and environmental information 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 during the use of the vehicle, but also combines the actual torque value of the vehicle at the previous moment, so that the determined torque request value of the vehicle at the current moment meets the user's needs for the experience.

[0073] The method described in this application improves the accuracy of torque control in vehicles.

[0074] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

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

[0076] S101. Obtain the vehicle's driving information and environmental information at the current moment, and obtain the vehicle's actual torque value at the previous moment; wherein, the driving information represents the vehicle's driving situation, the environmental information represents the physical characteristics of the road where 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.

[0077] The vehicle can also be referred to as a complete vehicle, and vehicles can include, but are not limited to, new energy vehicles.

[0078] Driving information can characterize the driving status of a vehicle. For example, 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, gear information can refer to the vehicle's current gear position, such as 1st, 2nd, 3rd, 4th, or 5th gear. It can be understood that the higher the gear, the faster the vehicle speed. Load information can refer to the weight the vehicle is currently carrying; for example, this includes the weight of passengers and cargo. Accelerator pedal information can indicate the degree to which the accelerator pedal is depressed; for example, the degree of depression is within the range [0%, 100%]. Motor speed information can refer to the vehicle's motor speed at the current moment; for example, the unit of motor speed information can be revolutions per minute (rpm). Vehicle speed information can refer to the vehicle's current driving speed; for example, the vehicle speed... The unit of information can be kilometers per hour; battery power information can refer to the output power or available power of the battery at the current moment. It can be understood that battery power information reflects the maximum energy output capability that the battery can provide, and the unit of battery power information can be kilowatts; drive axle information can refer to the state or parameters of the drive axle at the current moment. For example, drive axle information characterizes the mechanical structure of the drive axle; torque type can include drive type and regeneration type. Drive type can characterize the torque output by the motor to drive the vehicle forward or backward during acceleration or normal driving. Regeneration type can characterize the torque generated by the vehicle recovering energy through the preset regenerative braking system during deceleration or braking.

[0080] Environmental information can characterize the physical features of the road where the vehicle is located. For example, environmental information may include, but is not limited to, road slope information, road surface friction information, and road surface moisture information.

[0081] Specifically, road slope information can refer to the inclination angle or slope of the current road segment traveled by the vehicle. For example, the slope can be expressed as a percentage, or the unit of slope is degrees. Road surface friction information can refer to the coefficient of friction between the road surface and the vehicle's tires on the current road segment traveled by the vehicle. For example, the coefficient of friction is in the range [0,1]. It can be understood that the larger the coefficient of friction, the greater the friction between the road surface and the vehicle's tires. In one possible implementation, the coefficient of friction is determined by the vehicle's preset tire sensors and feedback data from the braking system. Road surface moisture information can refer to the degree of road surface wetness on the current road segment traveled by the vehicle. For example, the degree of road surface wetness can be expressed as a percentage, such as 0% indicating that the road surface is completely dry and 100% indicating that the road surface is completely covered by water. In one possible implementation, the road surface moisture information can be obtained through the vehicle's preset rain sensor.

[0082] For example, driving information and environmental information can both be obtained or determined through relevant sensors, and the specific methods of obtaining driving information and environmental information are not limited here.

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

[0084] 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. The torque request value is used to control the vehicle's movement 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 value of torque can be measured using a torque sensor deployed in the vehicle.

[0086] It is understandable that, due to delays or noise affecting the execution of torque requests by the vehicle's motor, there may be slight differences between the requested torque value and the actual torque value at the same moment. For example, the requested torque value at the previous moment may be 100 N·m, while the actual torque value at the previous moment may be 99 N·m. By obtaining the actual torque value at the previous moment instead of the requested torque value at the previous moment, the torque request value determined at the current moment can better meet the user's needs for vehicle stability and comfort.

[0087] S102. Based on driving information and environmental information, determine the target torque value of the vehicle at the current moment; wherein, the target torque value represents the expected torque value of the vehicle in the environment.

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

[0089] In one possible implementation, the method for determining the target torque value may include: determining the target torque value corresponding to the vehicle's driving information and environmental information based on a preset first torque mapping relationship, wherein the preset first torque mapping relationship characterizes the correlation between the vehicle's driving information, environmental information, and the target torque value. For example, the preset first torque mapping relationship can be obtained by personnel through relevant experimental calibration.

[0090] In one possible implementation, the method for determining the target torque 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 characterizes 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 characterizes 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 according to the correction coefficient to obtain a second initial torque value; and limiting the second initial torque value according to a preset maximum vehicle speed, preset drive axle information, battery power information in the driving information, and motor status information to obtain the torque target value.

[0091] The correction processing characterizes the multiplication of the correction coefficient with the initial torque target value; the battery power information can characterize the battery's maximum discharge power or maximum charging power; the preset maximum vehicle speed can characterize the maximum vehicle speed allowed under traffic regulations; the motor status information can include, but is not limited to, the motor's speed information and temperature; the limitation processing characterizes the adjustment of the second initial torque value based on the preset maximum vehicle speed, preset drive axle information, battery power information in the driving information, and 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 rules.

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

[0093] S103. Determine the torque request value of the vehicle at the current moment based on the target torque value at the current moment and the actual torque value at the previous moment.

[0094] By combining the target torque value at the current moment with the actual torque value at the previous moment, the torque request value of the vehicle at the current moment is determined. The advantage of this setting is that it avoids sudden changes between the 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, determining the vehicle's torque request value at the current moment may include: determining the vehicle's torque request value at the current moment based on the target torque value at the current moment, the actual torque value at the previous moment, and a preset smoothing factor; the vehicle's torque request value at the current moment can be characterized as:

[0096] T 请求 =αT 当前时刻 +(1-α)T 前一时刻 ;

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

[0098] It is understandable that by introducing a smoothing factor, the change in the target torque value at the current moment can be guaranteed to be smooth, avoiding vehicle instability caused by sudden torque changes, thereby improving the accuracy of vehicle torque control and enhancing vehicle driving stability and comfort.

[0099] The method of this application considers the vehicle's driving and environmental information at the current moment, 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 at the current moment meets the user's experience requirements. This method improves the accuracy of vehicle torque control.

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

[0101] S201. Obtain the vehicle's driving information and environmental information at the current moment, and obtain the vehicle's actual torque value at the previous moment; wherein, the driving information represents the vehicle's driving situation, the environmental information represents the physical characteristics of the road where 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.

[0102] For example, this step can refer to step S101 above, and will not be repeated here.

[0103] S202. Based on driving information and environmental information, determine the target torque value of the vehicle at the current moment; wherein, the target torque value represents the expected torque value of the vehicle in the environment.

[0104] For example, this step can refer to step S102 above, and will not be repeated here.

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

[0106] The filtering coefficient can be used to filter the torque target value at the current moment. For example, the filtering coefficient is in the range (0,1). The closer the filtering 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] Filtering can refer to multiplying the current torque target value with a filtering coefficient to smooth changes in the torque target value.

[0108] It is understandable that the filter coefficient corresponding to the current moment can be determined based on the target torque 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 one alternative implementation, step S203 may include:

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

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

[0112] In one optional implementation, the driving information includes mode information and torque type, where the mode information characterizes the vehicle's operating state and the torque type is either drive type or regeneration type.

[0113] Based on the torque difference and the actual torque value at the previous moment, the filter coefficient corresponding to the current moment can be determined, which may include:

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

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

[0116] The mode information represents the vehicle's operating status. For example, the mode information includes, but is not limited to, D mode, R mode, regenerative braking mode, regenerative coasting mode, and default mode. This mode information can be obtained from the vehicle's VCU (Vehicle Control Unit) via the vehicle's CAN bus (Controller Area Network). Specifically, D mode indicates the vehicle is in drive and is currently moving forward or preparing to move forward; R mode indicates the vehicle is in reverse and is currently moving backward or preparing to move backward; regenerative braking mode indicates the vehicle is braking and recovering energy through the vehicle's preset regenerative braking system; regenerative coasting mode indicates the vehicle is coasting and recovering energy through the vehicle's preset regenerative braking system; and default mode indicates the vehicle is in its default state, i.e., the vehicle is either running or in standby mode.

[0117] Torque type includes drive type and regeneration type. For example, torque type can also be obtained from the vehicle's VCU via the vehicle's CAN bus.

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

[0119] In one optional implementation, determining the filter coefficient for the current moment based on operating condition information, torque difference, and the actual torque value at the previous moment may include:

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

[0121] 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 represented by a filter coefficient graph, where the horizontal axis of the filter coefficient graph represents the actual torque value at the previous moment, the vertical axis represents the torque difference, and the preset points in the filter coefficient graph represent the filter coefficient.

[0122] For example, the coefficient mapping relationship corresponding to the operating condition information may include, but is not limited to, the following: D-mode drive torque increase filter coefficient diagram, D-mode drive torque decrease filter coefficient diagram, D-mode regenerative torque increase filter coefficient diagram, D-mode regenerative torque decrease filter coefficient diagram, R-mode drive torque increase filter coefficient diagram, R-mode drive torque decrease filter coefficient diagram, R-mode regenerative torque increase filter coefficient diagram, R-mode regenerative torque decrease filter coefficient diagram, brake energy recovery mode drive torque increase filter coefficient diagram, brake energy recovery mode drive torque decrease filter coefficient diagram, brake energy recovery mode regenerative torque increase filter coefficient diagram, brake energy recovery mode regenerative torque decrease filter coefficient diagram, coasting energy recovery mode drive torque increase filter coefficient diagram, coasting energy recovery mode regenerative torque increase filter coefficient diagram, coasting energy recovery mode regenerative torque decrease filter coefficient diagram, default mode drive torque increase filter coefficient diagram, default mode drive torque decrease filter coefficient diagram, default mode regenerative torque increase filter coefficient diagram, and default mode regenerative torque decrease filter coefficient diagram.

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

[0124] After determining the coefficient mapping relationship corresponding to the working condition information, i.e. the target mapping relationship, the filter coefficients corresponding to the torque difference and the actual torque value at the previous moment can be determined from the target mapping relationship based on the torque difference and the actual torque value at the previous moment, which are the filter coefficients corresponding to the current moment.

[0125] The advantage of this setting is that it takes into account different operating conditions and presets the coefficient mapping relationship corresponding to different operating conditions, so that the filter coefficient corresponding to the current moment 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 based on the filter coefficient corresponding to the current moment and the torque target value at the current moment.

[0127] It is understandable that by filtering the target torque value at the current moment using the corresponding filter coefficient, the requested torque value at the current moment can be determined. This requested torque value is used to control the vehicle's movement on the road.

[0128] For example, filtering the target torque value at the current moment essentially limits the slope of torque increase or decrease, ensuring that the output of the torque request value is smooth and without jitter.

[0129] In one possible implementation, the filter coefficients are parameter information in the filter, and the filter is used to multiply the target torque value at the current moment with the filter coefficients, that is, to filter the target torque value at the current moment.

[0130] The advantage of this setup is that it can improve the smoothness of vehicle driving.

[0131] The method of this application considers the vehicle's driving and environmental information at the current moment, 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 comprehensively considers both the vehicle's driving and environmental information during use, and also incorporates the vehicle's actual torque value at the previous moment, ensuring that the determined torque request value at the current moment meets the user's experience requirements. Furthermore, based on the target torque value at the current moment and the actual torque value at the previous moment, a filtering coefficient is determined for the current moment. This filtering coefficient can be used to filter the target torque value at the current moment, thereby improving the smoothness of vehicle driving. The method of this application improves the accuracy of vehicle torque control.

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

[0133] S301. Obtain the vehicle's driving information and environmental information at the current moment, and obtain the vehicle's actual torque value at the previous moment; wherein, the driving information represents the vehicle's driving status, the environmental information represents the physical characteristics of the road where 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 can refer to step S101 above, and will not be repeated here.

[0135] S302. Based on the accelerator pedal information and motor speed information in the driving information, determine the rated torque value of the vehicle at the current moment; wherein, the rated torque value represents the preset torque value corresponding to the accelerator pedal information and motor speed information.

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

[0137] In one possible implementation, the driving information includes driving mode information, which is an economy mode, a power mode, and a recovery mode. The economy mode indicates that the vehicle prioritizes 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 and higher speed; and the recovery mode indicates that the vehicle prioritizes energy recovery during driving to achieve higher energy recovery efficiency.

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

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

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

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

[0142] If the driving mode information is recovery mode, then based on the preset recovery mode mapping relationship, the torque value corresponding to the accelerator pedal information and motor speed information is determined; whereby the preset recovery mode mapping relationship represents the correlation between the accelerator pedal information, motor speed information and torque value.

[0143] It is understandable that the preset economic model mapping relationship, the preset power model mapping relationship, and the preset recycling model mapping relationship can all be determined by staff through relevant experiments or other means.

[0144] The beneficial effect of this 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 relationships corresponding to different driving mode information (preset economy mode mapping relationship, preset power mode mapping relationship, and preset recovery mode mapping relationship), the torque value corresponding to the accelerator pedal information and motor speed information can be determined more accurately to meet the vehicle's performance requirements in different driving modes, thereby improving the accuracy of the vehicle's torque control and thus improving the vehicle's adaptability and driving experience.

[0145] S303. Based on the current torque rating and environmental information, determine the target torque value of the vehicle at the current moment.

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

[0147] S3031. Based on environmental information, the torque rating at the current moment is corrected to obtain an intermediate torque value; wherein, the intermediate torque value represents the corrected torque rating.

[0148] It can be understood that the correction process characterizes the correction coefficient corresponding to the environmental information, and multiplies the correction coefficient corresponding to the environmental information with the torque rating at the current moment to obtain the intermediate torque value.

[0149] In one alternative implementation, the environmental information includes road slope information;

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

[0151] Based on the preset first correlation, the first coefficient corresponding to the slope information is determined; wherein, the preset first correlation 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 rated torque value; according to the first coefficient, the torque demand value at the current moment is corrected to obtain the intermediate torque value.

[0152] For example, the preset first association can be in the form of a table, used to map slope information to a first coefficient.

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

[0154] T 中间 =μT 额定 ;

[0155] Among them, T 中间 T represents the median value of torque. 额定 The torque rating is represented by μ, which represents the first coefficient.

[0156] The advantage of this setting is that it takes into account the influence of road slope information in the environmental data on the torque rating, so that the obtained intermediate torque value has reliability and stability.

[0157] In one optional implementation, the driving information includes gear information and load information;

[0158] Based on the first coefficient, the torque demand value at the current moment is corrected to obtain an intermediate torque value, which may include:

[0159] Based on a preset second correlation, a second coefficient corresponding to the gear information is determined; wherein, the preset second correlation 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 rated torque value; based on a preset third correlation, a third coefficient corresponding to the load information is determined; wherein, the preset third correlation 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 rated torque value; based on the first coefficient, the second coefficient, and the third coefficient, the torque demand value at the current moment is corrected to obtain the intermediate torque value.

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

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

[0162] T 中间 =μζλT 额定 ;

[0163] Among them, T 中间 T represents the median value of torque.额定 The torque rating is represented by μ, the first coefficient is represented by ζ, and the third coefficient is represented by λ.

[0164] The advantage of this setting is that, in addition to considering the impact of road gradient information from the environmental data on the torque rating, it also considers the impact of gear and load information from the driving data on the torque rating, making the obtained intermediate torque value reliable and stable. Specifically, the impact of driving information on the torque rating is reflected in the fact that the vehicle's power delivery will not be too rapid or abrupt under light loads, and the vehicle's acceleration will not be affected under heavy loads or steep inclines.

[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 the actual driving needs of a vehicle are limited by a variety of factors, such as the vehicle's maximum torque output capability, safe driving requirements, and energy consumption optimization. Therefore, it is necessary to limit the corrected torque rating to avoid the torque output exceeding the vehicle's performance range, affecting driving safety, or causing unnecessary energy consumption increases. Thus, it is necessary to determine the target torque value of the vehicle at the current moment based on the torque median value.

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

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

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

[0170] For example, a 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 vehicle speed threshold information 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 vehicle speed threshold information is input into the preset PID algorithm to obtain the output first torque value.

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

[0172] The advantage of this setting is that, taking into account the vehicle's speed information and in compliance with relevant laws and regulations, limiting the intermediate torque value can effectively avoid safety hazards caused by speeding, while ensuring the vehicle's driving stability, comfort, and safety.

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

[0174] Determining the target torque value at the current moment based on the median target torque value can include:

[0175] Based on the motor speed information and the preset battery discharge power threshold, a second torque value is determined; wherein, the second torque value represents the torque value when the torque type is drive type, taking into account the battery power; the third torque value and the fourth torque value at the current moment are obtained; wherein, the third torque value represents the torque value when the torque type is drive type, taking into account the motor state, and the fourth torque value represents the torque value when the torque type is drive type, taking into account the drive axle; the minimum value among the torque target median 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] For example, the second torque value can be characterized as:

[0177]

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

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

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

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

[0182]

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

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

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

[0186] Among them, T 目标 The MIN function represents the target torque value at the current moment, and the T function represents the minimum value. 目标中间 Characterizing the target median value of torque, Tbm dmax Characterized by the second torque value, Tm dmax Characterizing the third torque value, Tam dmax Characterizes the fourth torque value.

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

[0188] In one optional implementation, the driving information includes motor speed information and torque type, wherein the torque type is regeneration type;

[0189] Determining the target torque value at the current moment based on the median target torque value can include:

[0190] Based on the motor speed information and the preset battery charging power threshold, the fifth torque value is determined; the fifth torque value represents the torque value when the torque type is regeneration, taking into account the battery power. The sixth and seventh torque values ​​at the current moment are obtained; the sixth torque value represents the torque value when the torque type is regeneration, taking into account the motor state, and the seventh torque value represents the torque value when the torque type is regeneration, taking into account the drive axle. The maximum value among the median torque target 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] For example, the fifth torque value can be characterized as:

[0192]

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

[0194] It is understandable that the fifth torque value represents the maximum torque value achievable when the torque type is regenerative braking and battery power is taken into account. The preset battery charging power threshold represents the maximum charging power that the vehicle's battery can achieve at the current moment.

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

[0196] For example, the seventh torque value represents the maximum torque value achievable when the torque type is regenerative braking, taking into account the drive axle. It is understood that due to constraints in 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 Characterizing the seventh torque value, Ta rmax θ represents the maximum regenerative torque that the vehicle's axle can withstand, and θ represents the gear ratio of the vehicle's transmission, i.e., the ratio of the transmission's input shaft speed to its output shaft speed. In one possible implementation, θ can be preset by the operator based on the transmission's gear position; Ta dmax It can also be pre-set by staff based on the axle design and the overall vehicle structure.

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

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

[0201] Among them, T 目标 The MAX value represents the target torque value at the current moment, and the T value represents the maximum value of the function. 目标中间 Characterizing the target median value of torque, Tbm rmax The fifth torque value, Tm rmax Characterizing the sixth torque value, Tam rmax This represents the seventh torque value.

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

[0203] S304. Determine the torque request value of the vehicle at the current moment based on the target torque value at the current moment and the actual torque value at the previous moment.

[0204] For example, this step can refer to step S103 above, and will not be repeated here.

[0205] The method of this application considers the vehicle's driving and environmental information at the current moment, 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 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 meets the user's experience requirements. Furthermore, the torque rating is sequentially corrected and limited, resulting in a smoother and safer torque request value. The method of this application improves the accuracy of vehicle 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] The acquisition unit 401 is used to acquire the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment; wherein, the driving information represents the vehicle's driving situation, the environmental information represents the physical characteristics of the road where 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.

[0208] The first determining unit 402 is used to determine the target torque value of the vehicle at the current moment based on driving information and environmental information; wherein the target torque value represents the torque value expected by the vehicle in the environment;

[0209] The second determining unit 403 is used to determine the torque request value of the vehicle at the current moment based on the torque target value at the current moment and the actual torque value at the 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. The first determination unit 502 further includes a first processing module 5021 and a second processing module 5022, and the second determination unit 503 further includes a third processing module 5031 and a fourth processing module 5032.

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

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

[0213] The second processing module 5022 is used to determine the target torque value of the vehicle at the current moment based on the rated torque value 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 used to correct the torque rating at the current moment based on environmental information to obtain an intermediate torque value; whereby the intermediate torque value represents the corrected torque rating.

[0216] In an optional example, the environmental information includes road slope information; the first submodule is specifically used to determine the 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 rating; 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 a 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 rated torque value; based on a preset third correlation relationship, determine a third coefficient corresponding to the load information; 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 rated torque value; and based on the first coefficient, the second coefficient, and the third coefficient, correct the torque demand value at the current moment to obtain an intermediate torque value.

[0218] The second submodule is used to determine the target torque value of the vehicle at the current moment based on 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 median value and the first torque value is determined as the torque target median value; and the torque target value at the current moment is determined based on the torque target median value.

[0220] In an optional example, the driving information includes motor speed information and torque type, where the torque type is 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. The second torque value represents the torque value when the torque type is drive type, taking into account the battery power. The module also obtains a third torque value and a fourth torque value at the current moment. The third torque value represents the torque value when the torque type is drive type, taking into account the motor state, and the fourth torque value represents the torque value when the torque type is drive type, taking into account the drive axle. The minimum value among the target torque value, the second torque value, the third torque value, and the fourth torque value is determined as the target torque value at the current moment.

[0221] In an optional example, the driving information includes motor speed information and torque type, where the torque type is regeneration 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. The fifth torque value represents the torque value when the torque type is regeneration type, taking into account the battery power. The module also obtains a sixth and a seventh torque value at the current moment. The sixth torque value represents the torque value when the torque type is regeneration type, taking into account the motor state, and the seventh torque value represents the torque value when the torque type is regeneration type, taking into account the drive axle. The maximum value among the median torque target 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.

[0222] The third processing module 5031 is used to determine the filtering coefficient corresponding to the current moment based on the target torque value at the current moment and the actual torque value at the previous moment; wherein, the filtering coefficient is used to filter the target torque 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 used to determine the torque difference as the difference between the target torque value at the current moment and the actual torque value at the previous moment.

[0225] The fourth submodule is used to determine the filter coefficient corresponding to the current moment based on 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 vehicle's operating state, and the torque type is either drive type or regeneration type. The fourth submodule is specifically used to determine torque change trend information based on the current torque target value and the previous torque actual value. The torque change trend information is either a torque increase trend or a torque decrease trend. The mode information, torque type, and torque change trend information are determined as operating condition information. Based on the operating condition information, torque difference, and the previous torque actual value, the corresponding filter coefficient for the current moment is determined.

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

[0228] The fourth processing module 5032 is used to determine the torque request value at the current moment based on 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, memory 602, and communication component 603 are connected via a bus 604.

[0230] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0231] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0232] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0233] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[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, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0235] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0236] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0237] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0238] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0239] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0240] When integrated units / modules are implemented in hardware, the hardware can 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 can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic 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 as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0242] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0243] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

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

Claims

1. A torque-based vehicle control method, characterized in that, include: The system acquires the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment. The driving information represents the vehicle's driving status, the environmental information represents the physical characteristics of the road where 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. The torque request value is used to control the vehicle's driving on the road. The driving information includes accelerator pedal information, motor speed information, and vehicle speed information. Based on the accelerator pedal information and motor speed information, the rated torque value of the vehicle at the current moment is determined; wherein, the rated torque value represents a preset torque value corresponding to the accelerator pedal information and motor speed information; Based on the environmental information, the torque rating at the current moment is corrected to obtain an intermediate torque value; wherein, the intermediate torque value represents the corrected torque rating. Based on the vehicle speed information and the preset vehicle speed threshold information, a first torque value is determined; wherein, the first torque value represents the torque value that takes into account the vehicle speed limit; The minimum value between the intermediate torque value and the first torque value is determined as the target intermediate torque value; Based on the intermediate value of the torque target, the torque target value at the current moment is determined, wherein the torque target value represents the torque value expected by the vehicle in the environment; Based on the target torque value at the current moment and the actual torque value at the previous moment, the torque request value of the vehicle at the current moment is determined.

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

3. The method according to claim 2, characterized in that, Based on the target torque value at the current moment and the actual torque value at the previous moment, the filter coefficient corresponding to the current moment is determined, including: The difference between the target torque value at the current moment and the actual torque value at the previous moment is determined as the torque difference. The filtering coefficient corresponding to the current moment is determined based on 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. The mode information represents the vehicle's operating state, and the torque type is either drive type or regeneration type. Based on the torque difference and the actual torque value at the previous moment, the filter coefficient corresponding to the current moment is determined, including: Based on the target torque value at the current moment and the actual torque value at the previous moment, torque change trend information is determined; 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; Based on the operating condition information, the torque difference, and the actual torque value at the previous moment, the filter coefficient corresponding to the current moment is determined.

5. The method according to claim 1, characterized in that, The driving information includes motor speed information and torque type, wherein the torque type is the drive type; Determining the target torque value at the current moment based on the median target torque value includes: 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 torque type is drive type, taking into account the battery power. Obtain the third torque value and the fourth torque value at the current moment; wherein, the third torque value represents the torque value considering the motor state when the torque type is drive type, and the fourth torque value represents the torque value considering the drive axle when the torque type is drive type. The minimum value among the target torque value, the second torque value, the third torque value, and the fourth torque value is determined as the target torque value at the current moment.

6. The method according to claim 1, characterized in that, The driving information includes motor speed information and torque type, wherein the torque type is regeneration type; Determining the target torque value at the current moment based on the median target torque value includes: 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 torque type is recovery type, taking into account the battery power. Obtain the sixth and seventh torque values ​​at the current moment; wherein, the sixth torque value represents the torque value considering the motor state when the torque type is recovery type, and the seventh torque value represents the torque value considering the drive axle when the torque type is recovery type. The maximum value among the intermediate torque target 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.

7. A torque-based vehicle control device, characterized in that, include: The acquisition unit is used to acquire the vehicle's driving information and environmental information at the current moment, as well as the actual torque value of the vehicle at the previous moment; wherein, the driving information represents the vehicle's driving status, the environmental information represents the physical characteristics of the road where 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, the torque request value being used to control the vehicle's driving on the road; the driving information includes accelerator pedal information, motor speed information, and vehicle speed information; The first determining unit is configured to: determine the rated torque value of the vehicle at the current moment based on the accelerator pedal information and motor speed information; wherein the rated torque value represents a preset torque value corresponding to the accelerator pedal information and motor speed information; correct the rated torque value at the current moment based on the environmental information to obtain an intermediate torque value; wherein the intermediate torque value represents the corrected rated torque value; determine 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 considering vehicle speed limits; determine the minimum value between the intermediate torque value and the first torque value as the target torque value; and determine the target torque value at the current moment based on the target torque value, wherein the target torque value represents the torque value expected by the vehicle in the environment. The second determining unit is used to determine the torque request value of the vehicle at the current moment based on the torque target value at the current moment and the actual torque value at the previous moment.

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