Vehicle torque control method, device and equipment
By matching the torque maintenance duration according to the vehicle speed when the vehicle motor switches between positive and negative torque, and keeping the torque constant, the problem of vehicle impact caused by motor torque switching is solved, and driving comfort is improved.
Patent Information
- Application Number
- CN202410634550.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-20
- Publication Date
- 2025-11-21
AI Technical Summary
在汽车行驶过程中，电机正负扭矩切换时，导致的车辆冲击和抖动异响，影响驾驶舒适性。
By acquiring the torque request value of the vehicle motor and, upon detecting zero-crossing torque, matching the target torque maintenance duration based on the current vehicle speed, the torque request value is input to the vehicle motor as a fixed input value within this duration to avoid sudden torque changes.
It effectively reduces vehicle shock when torque crosses zero, improving the driving experience.
Smart Images
Figure CN120986203A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control, and more specifically to a vehicle torque control method, device, and equipment. Background Technology
[0002] During vehicle operation, the motor torque frequently switches between positive and negative torque. During this switching process, there will inevitably be moments when the torque crosses zero. When the motor's positive and negative torque crosses zero, the contact surface of the drive gear from the motor to the reducer changes from one tooth to the other. This change in torque and the resulting shift in the contact surface of the drive gear causes a shock to the vehicle, resulting in vibrations and abnormal noises when the driver releases or presses the accelerator, severely impacting driving comfort. Summary of the Invention
[0003] In view of this, this application provides a vehicle torque control method, device, and equipment to help solve the problem of vehicle impact caused by the switching of positive and negative torque of the motor in the prior art.
[0004] In a first aspect, embodiments of this application provide a vehicle torque control method, including:
[0005] Obtain the torque request value of the vehicle motor;
[0006] When the torque request value is detected to be zero-crossing torque, a target torque maintenance duration that matches the current vehicle speed is determined from a plurality of preset torque maintenance durations;
[0007] During the target torque maintenance duration, the current torque request value is input to the vehicle motor as a fixed input value.
[0008] In one optional embodiment, obtaining the torque request value of the vehicle motor includes:
[0009] The torque request value of the vehicle motor is determined based on the vehicle pedal opening, wherein the torque request value is used to indicate the actual torque output by the vehicle motor.
[0010] In an optional embodiment, before obtaining the torque request value of the vehicle motor, the method further includes:
[0011] Multiple vehicle speed ranges are preset, and each vehicle speed range is associated with a torque maintenance duration;
[0012] The greater the speed range covered by the vehicle speed range, the shorter the duration of the associated torque maintenance.
[0013] In one optional embodiment, when the torque request value is detected to be zero-crossing torque, determining a target torque maintenance duration that matches the current vehicle speed from a preset plurality of torque maintenance durations includes:
[0014] When the requested torque value is detected to be zero-crossing torque, the vehicle speed at the current moment is obtained;
[0015] Determine the target speed range to which the vehicle's current speed belongs from among multiple preset speed ranges;
[0016] The torque maintenance duration associated with the target vehicle speed range is determined as the target torque maintenance duration.
[0017] In one optional embodiment, when the torque request value is detected to be a zero-crossing torque, determining a target torque maintenance duration that matches the current vehicle speed from a preset plurality of torque maintenance durations includes:
[0018] When it is detected that the current torque request value has a different sign from the previous torque request value and the current torque request value is within the preset zero-crossing torque range, a target torque maintenance duration that matches the current vehicle speed is determined from a preset set of multiple torque maintenance durations.
[0019] In one optional embodiment, the zero-crossing torque range includes an upper torque value and a lower torque value, wherein the upper torque value is a positive torque value and the lower torque value is a negative torque value.
[0020] In an optional embodiment, the method further includes:
[0021] After the target torque is maintained for a certain period of time, the torque request value of the vehicle motor is periodically acquired, and the acquired torque request value is used as the input value for the current time and input into the vehicle motor.
[0022] Secondly, embodiments of this application provide a vehicle torque control device, comprising:
[0023] The acquisition module is used to acquire the torque request value of the vehicle motor;
[0024] The determination module is used to determine a target torque maintenance duration that matches the current vehicle speed from a set of preset torque maintenance durations when the torque request value is detected to be a zero-crossing torque.
[0025] An input module is used to input the current torque request value as a fixed input value into the vehicle motor during the target torque maintenance duration.
[0026] Thirdly, embodiments of this application provide an electronic device, including a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method described in any of the first aspects above.
[0027] Fourthly, embodiments of this application provide a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method described in any of the first aspects.
[0028] Fifthly, embodiments of this application provide a computer program product comprising executable instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.
[0029] The solution provided in this application obtains the torque request value of the vehicle motor. When the torque request value is detected to be within the zero-crossing torque range, a target torque maintenance duration matching the current vehicle speed is determined from a set of preset torque maintenance durations. Within the target torque maintenance duration, the current torque request value is input to the vehicle motor as a fixed input value. When the torque of the vehicle motor switches between positive and negative, this application determines the target torque maintenance time based on the current vehicle speed and inputs a fixed value to the vehicle motor within the target torque maintenance time. This effectively reduces the impact of torque zero-crossing on the vehicle and improves the driving experience. Attached Figure Description
[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0031] Figure 1 This is a schematic diagram illustrating an example of a vehicle torque control method provided in an embodiment of this application;
[0032] Figure 2 This is an example schematic diagram of another vehicle torque control method provided in the embodiments of this application;
[0033] Figure 3 A schematic flowchart illustrating a vehicle torque control method provided in an embodiment of this application;
[0034] Figure 4 This is an example schematic diagram of another vehicle torque control method provided in the embodiments of this application;
[0035] Figure 5 This is an example schematic diagram of another vehicle torque control method provided in the embodiments of this application;
[0036] Figure 6 This is an example schematic diagram of another vehicle torque control method provided in the embodiments of this application;
[0037] Figure 7 This is an example schematic diagram of another vehicle torque control method provided in the embodiments of this application;
[0038] Figure 8 This is a schematic diagram of the structure of a vehicle torque control device provided in an embodiment of this application;
[0039] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0040] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0041] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.
[0042] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.
[0043] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.
[0044] Vehicle torque is used to represent the force of the crankshaft rotation of an engine or motor. For new energy vehicles, especially pure electric vehicles, when the user experiences rapid deceleration and acceleration, the vehicle will vibrate, accompanied by a knocking noise. The main reasons for this phenomenon include: backlash between the transmission chain gears and the motor torque commutation rate being too fast.
[0045] The transmission chain gear includes a driving gear and a driven gear, see reference. Figure 1 The left side is the driving gear, and the right side is the driven gear. When the vehicle is moving, the driving gear rotates counter-clockwise to provide power, while the driven gear meshes with the driving gear and rotates clockwise as the driving gear rotates. Normally, the driving and driven gears mesh on one side, but there will be a larger gap on the other side, such as... Figure 1As shown, the position indicated by arrow 11 is engaged, while the position indicated by arrow 12 has a gap. When the motor experiences a torque shift (positive torque becomes negative torque, and negative torque becomes positive torque), the meshing surface of the gear transmission immediately changes, shifting from one side to the other. (Refer to...) Figure 2 Arrow 21 indicates a gap, while arrow 22 indicates engagement. Due to this gap, the drive wheel experiences a brief acceleration before impacting the meshing surface, resulting in a significant impact and noise, affecting the user's driving experience. Gear backlash is primarily caused by gear design, manufacturing, and assembly, and is difficult to avoid.
[0046] To address the aforementioned problems, this application provides a vehicle torque control method, which can be executed by a vehicle controller to resolve the vehicle shock problem caused by torque switching.
[0047] Figure 3 This is a flowchart illustrating a vehicle torque control method provided in an embodiment of this application, as shown below. Figure 3 As shown, the method may include:
[0048] Step 301: Obtain the torque request value of the vehicle motor;
[0049] Step 302: When the torque request value is detected to be zero-crossing torque, determine the target torque maintenance duration that matches the current vehicle speed from among a number of preset torque maintenance durations;
[0050] Step 303: During the target torque maintenance period, input the current torque request value as a fixed input value to the vehicle motor.
[0051] During vehicle operation, the vehicle controller determines the torque request value based on the user's operation and sends it to the vehicle motor. The vehicle motor then outputs the corresponding actual torque based on the torque request value. Specifically, the user can trigger different torque request values by changing the opening of the accelerator pedal or brake pedal. The vehicle motor will respond promptly to the received torque request value and output the same actual torque as the requested value.
[0052] Generally, we want the motor torque response to be as fast as possible, referring to... Figure 4 The solid line represents the requested torque value, and the dashed line represents the actual torque output by the motor. When the requested torque value changes, the response time of the actual torque is typically tens of milliseconds. Figure 4 The trajectory of the dashed line is very close to the actual result. However, when the motor torque reverses (crosses zero), the faster the torque response, the greater the impact, which in turn affects the user's driving experience.
[0053] Each time the vehicle controller acquires a torque request value, it first checks whether the current torque request value is a zero-crossing torque. The zero-crossing torque is used to indicate the first torque request value received after the motor torque commutation. For example, if the torque request values acquired by the vehicle controller are all positive torques for a certain period of time, the motor will also continuously output positive torque until a certain moment when the torque request value acquired by the vehicle controller becomes negative. The torque request value acquired at that moment is the zero-crossing torque.
[0054] In one optional embodiment, the specific method for the vehicle controller to determine whether a torque request value is a zero-crossing torque may include: when it detects that the current torque request value has a different sign than the previous torque request value and the current torque request value is within a preset zero-crossing torque range, the current torque request value is determined to be a zero-crossing torque. The zero-crossing torque range includes an upper torque limit and a lower torque limit, where the upper torque limit is a positive torque value and the lower torque limit is a negative torque value. When the torque request value switches from negative to positive torque, the resulting torque request value will be between 0 and the upper torque limit; when the torque request value switches from positive to negative torque, the resulting torque request value will be between the lower torque limit and 0. The zero-crossing torque range can be adaptively set according to the time interval at which the vehicle controller acquires the torque request value, ensuring that the first torque request value after the torque request value reversal is within the zero-crossing torque range.
[0055] If the current torque request value is not a zero-crossing torque, the vehicle controller can directly send it to the vehicle motor so that the vehicle motor outputs the corresponding torque. If the current torque request value is a zero-crossing torque, the vehicle controller will determine the corresponding target torque maintenance duration, starting from the current moment. During the target torque maintenance duration, the vehicle controller will continuously send the torque request value that is a zero-crossing torque to the vehicle motor as input to the vehicle motor.
[0056] After the target torque is maintained for the specified duration, the vehicle controller periodically retrieves the torque request value again and sends it to the vehicle motor. For example, the vehicle controller retrieves the torque request value every 10 milliseconds and sends it to the vehicle motor. If the torque request value is detected as zero-crossing torque, no new torque request value is retrieved. For the subsequent 80 milliseconds (the target torque maintenance duration), the aforementioned zero-crossing torque request value is sent to the vehicle motor every 10 milliseconds. After 80 milliseconds, the vehicle controller again retrieves the torque request value every 10 milliseconds and sends it to the vehicle motor.
[0057] In one optional embodiment, the target torque maintenance duration can be determined by the current vehicle speed. The vehicle controller can pre-set multiple speed ranges, each associated with a torque maintenance duration, wherein the larger the speed range covered by the range, the shorter the associated torque maintenance duration. The specific steps for the vehicle controller to determine the target torque maintenance duration may include: when a torque request value is detected to be zero-crossing torque, obtaining the current vehicle speed; determining the target speed range to which the current vehicle speed belongs from the preset multiple speed ranges; and determining the torque maintenance duration associated with the target speed range as the target torque maintenance duration. When the vehicle motor torque commutates, the lower the vehicle speed, the more obvious the vibration and abnormal noise, and the longer the abnormal time; the higher the vehicle speed, the less obvious the vibration and abnormal noise, and the shorter the abnormal time. Therefore, the vehicle controller sets a shorter torque maintenance duration for larger vehicle speeds and a longer torque maintenance duration for smaller vehicle speeds.
[0058] For example, the vehicle speed range may include (0,20], (20,40], (40,60], (60,80], (80,100], and (100,120], with associated torque maintenance durations of 0.08 seconds, 0.07 seconds, 0.06 seconds, 0.05 seconds, 0.04 seconds, and 0.03 seconds, respectively. The vehicle speed range can be adaptively set according to the actual conditions of the vehicle; the smaller the speed range, the more precise the torque maintenance duration. (Refer to...) Figure 5 The horizontal axis represents vehicle speed, and the vertical axis represents torque duration. As vehicle speed gradually increases, torque duration gradually decreases.
[0059] Based on the method of this application embodiment, the image of the vehicle motor when torque commutation occurs can be as follows: Figure 6 As shown, Figure 6 The solid line represents the torque request value triggered by user operation, and the dashed line represents the torque request value sent by the vehicle controller to the vehicle motor, which can also be seen as the actual torque output by the vehicle motor. The vehicle controller detects when the torque request value changes from negative to positive torque and falls within the zero-crossing torque range. Arrow 61 indicates the torque request value, arrow 62 indicates the upper limit of the zero-crossing torque range, and arrow 63 indicates the lower limit. The current torque request value is between 0 and the upper limit, which is considered zero-crossing torque. The vehicle controller acquires the torque maintenance duration associated with the current vehicle speed. Within the time range covered by the torque maintenance duration, the vehicle controller continuously sends the same torque request value to the vehicle motor to prevent the vehicle motor from further increasing its actual output torque. After the torque maintenance duration has elapsed, the vehicle controller acquires the torque request value again and sends it to the vehicle motor, which then resumes increasing its actual output torque.
[0060] In this embodiment, by setting a torque maintenance duration associated with vehicle speed, the actual torque output of the vehicle motor remains unchanged during the torque maintenance duration after torque commutation, effectively reducing abnormal vehicle vibration during this period. The principle is that when the gear meshing side changes, the torque is not increased further, but rather kept constant for a certain period, allowing the gear sufficient time for elastic oscillation release to absorb microscopic stiffness deformation. Furthermore, this application also considers the influence of vehicle speed on the gear's recovery speed after impact. The faster the vehicle speed, the faster the gear recovers after impact, and the shorter the time the vehicle controller keeps the torque constant, allowing the actual torque output of the vehicle motor to respond promptly and improving the user's driving experience.
[0061] In one embodiment, the vehicle torque control method of this application can be implemented as follows: Figure 7 As shown. After acquiring the torque request value, the vehicle controller performs a zero-crossing torque determination to determine whether the current torque request value is a zero-crossing torque. Different control signals are output to the switch based on different determination results. The switch has two inputs: one is fixed at 0 seconds, and the other is determined by the vehicle speed. The vehicle is equipped with a module that monitors vehicle speed, acquiring the vehicle speed in real time and sending it to the vehicle controller. The vehicle controller determines the target torque maintenance duration associated with the vehicle speed. When the torque request value is a zero-crossing torque, the vehicle controller outputs control signal A to the switch, and the switch outputs the target torque maintenance duration as the torque duration. When the torque request value is not a zero-crossing torque, the vehicle controller outputs control signal B to the switch, and the switch outputs 0 seconds as the torque duration.
[0062] Figure 8 This is a schematic diagram of a vehicle torque control device provided in an embodiment of this application. This device can be deployed in electronic devices, such as… Figure 3 As shown, the device may include: an acquisition module 810, a determination module 820, and an input module 830.
[0063] The acquisition module is used to acquire the torque request value of the vehicle motor;
[0064] The determination module is used to determine a target torque maintenance duration that matches the current vehicle speed from a set of preset torque maintenance durations when the detected torque request value is zero-crossing torque.
[0065] The input module is used to input the current torque request value as a fixed input value to the vehicle motor during the target torque maintenance duration.
[0066] For the specific process, please refer to the description in the flowchart above.
[0067] Corresponding to the above embodiments, this application also provides an electronic device that can be used to implement the above vehicle controller. Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 900 may include a processor 901, a memory 902, and a communication unit 903. These components communicate through one or more buses. Those skilled in the art will understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiment of this application. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0068] The communication unit 903 is used to establish a communication channel, enabling the electronic device to communicate with other devices. It receives user data from other devices or sends user data to other devices.
[0069] The processor 901 serves as the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes software programs, instructions, and / or modules stored in the memory 902, and calls data stored in the memory to perform various functions and / or process data. The processor may be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 901 may consist only of a central processing unit (CPU). In this embodiment, the CPU may have a single processing core or include multiple processing cores.
[0070] The memory 902 is used to store the execution instructions of the processor 901. The memory 902 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.
[0071] When the execution instructions in memory 902 are executed by processor 901, the electronic device 900 is able to perform operations. Figure 3 Some or all of the steps in the illustrated embodiments.
[0072] In a specific implementation, this application also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps of the various embodiments of the vehicle torque control method provided in this application. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.
[0073] In a specific implementation, this application also provides a computer program product, wherein the computer program product includes executable instructions, which, when executed on a computer, cause the computer to perform some or all of the steps in various embodiments of the vehicle torque control method provided in this application.
[0074] This application also provides a non-transitory computer-readable storage medium that stores computer instructions that cause the computer to execute the vehicle torque control method provided in this application.
[0075] The aforementioned non-transitory computer-readable storage medium may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in connection with an instruction execution system, apparatus, or device.
[0076] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.
[0077] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.
[0078] Those skilled in the art will clearly understand that the techniques in the embodiments of this application can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application or some parts of the embodiments.
[0079] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments and terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.
Claims
1. A vehicle torque control method, characterized in that, include: Obtain the torque request value of the vehicle motor; When the torque request value is detected to be zero-crossing torque, a target torque maintenance duration that matches the current vehicle speed is determined from a plurality of preset torque maintenance durations; During the target torque maintenance duration, the current torque request value is input to the vehicle motor as a fixed input value.
2. The method according to claim 1, characterized in that, The process of obtaining the torque request value of the vehicle motor includes: The torque request value of the vehicle motor is determined based on the vehicle pedal opening, wherein the torque request value is used to indicate the actual torque output by the vehicle motor.
3. The method according to claim 1, characterized in that, Before obtaining the torque request value of the vehicle motor, the method further includes: Multiple vehicle speed ranges are preset, and each vehicle speed range is associated with a torque maintenance duration; The greater the speed range covered by the vehicle speed range, the shorter the duration of the associated torque maintenance.
4. The method according to claim 1, characterized in that, When the torque request value is detected to be zero-crossing torque, a target torque maintenance duration matching the current vehicle speed is determined from a set of preset torque maintenance durations, including: When the requested torque value is detected to be zero-crossing torque, the vehicle speed at the current moment is obtained; Determine the target speed range to which the vehicle's current speed belongs from among multiple preset speed ranges; The torque maintenance duration associated with the target vehicle speed range is determined as the target torque maintenance duration.
5. The method according to claim 1, characterized in that, When the torque request value is detected to be zero-crossing torque, a target torque maintenance duration matching the current vehicle speed is determined from a set of preset torque maintenance durations, including: When it is detected that the current torque request value is different from the previous torque request value and the current torque request value is within the preset zero-crossing torque range, a target torque maintenance duration that matches the current vehicle speed is determined from a preset number of torque maintenance durations.
6. The method according to claim 5, characterized in that, The zero-crossing torque range includes an upper torque value and a lower torque value, wherein the upper torque value is a positive torque value and the lower torque value is a negative torque value.
7. The method according to claim 1, characterized in that, The method further includes: After the target torque is maintained for a certain period of time, the torque request value of the vehicle motor is periodically acquired, and the acquired torque request value is used as the input value for the current time and input into the vehicle motor.
8. A vehicle torque control device, characterized in that, include The acquisition module is used to acquire the torque request value of the vehicle motor; The determination module is used to determine a target torque maintenance duration that matches the current vehicle speed from a set of preset torque maintenance durations when the torque request value is detected to be a zero-crossing torque. An input module is used to input the current torque request value as a fixed input value into the vehicle motor during the target torque maintenance duration.
9. An electronic device, characterized in that, The device includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device performs the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.