Torque gradient control method, device, system, and program product

Abstract

The present disclosure relates to a torque gradient control method, device, system and program product, and relates to the technical field of vehicle control. The torque gradient control method comprises: acquiring slope information of an environment in which a mechanical device is located, pedal change rate information of the mechanical device, load information and torque direction information; determining a target torque gradient gain coefficient of the mechanical device according to torque gradient characteristics of the slope information, torque gradient characteristics of the pedal change rate information, torque gradient characteristics of the load information and torque gradient characteristics of the torque direction information; determining a reference torque gradient of the mechanical device according to the load information; and determining a target torque gradient of the mechanical device according to the target torque gradient gain coefficient and the reference torque gradient.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, and particularly relates to a torque gradient control method, device, system and program product. BACKGROUND

[0002] With the development of new energy technology field, the market share of electric vehicles is steadily increasing, and the components of electric vehicles are gradually converging. The torque gradient control of mechanical equipment has attracted widespread attention. SUMMARY

[0003] One of the technical problems to be solved by the present disclosure is how to realize adaptive control of the torque gradient of the mechanical equipment, and guarantee the dynamic performance of the mechanical equipment during the torque gradient adjustment process.

[0004] According to some embodiments of the first aspect of the present disclosure, a torque gradient control method is provided, comprising: obtaining slope information of an environment in which a mechanical equipment is located, pedal rate information of the mechanical equipment, load information and torque direction information; determining a target torque gradient gain coefficient of the mechanical equipment according to torque gradient characteristics of the slope information, torque gradient characteristics of the pedal rate information, torque gradient characteristics of the load information and torque gradient characteristics of the torque direction information; determining a reference torque gradient of the mechanical equipment according to the load information; and determining a target torque gradient of the mechanical equipment according to the target torque gradient gain coefficient and the reference torque gradient.

[0005] In some embodiments, determining the target torque gradient gain coefficient of the mechanical equipment according to the torque gradient characteristics of the slope information, the torque gradient characteristics of the pedal rate information, the torque gradient characteristics of the load information and the torque gradient characteristics of the torque direction information comprises: determining a first torque gradient gain coefficient according to the torque gradient characteristics of the slope information; determining a second torque gradient gain coefficient according to the torque gradient characteristics of the pedal rate information; determining a third torque gradient gain coefficient according to the torque gradient characteristics of the load information; determining a fourth torque gradient gain coefficient according to the torque gradient characteristics of the torque direction information; and determining the target torque gradient gain coefficient according to the product of the first torque gradient gain coefficient, the second torque gradient gain coefficient, the third torque gradient gain coefficient and the fourth torque gradient gain coefficient.

[0006] In some embodiments, the torque gradient characteristic of the slope information comprises: in a case where the slope information is greater than zero, the magnitude of the slope information is in a positive proportion to the torque gradient of the slope information, in a case where the slope information is less than or equal to zero, the magnitude of the slope information is in an inverse proportion to the torque gradient of the slope information, in a case where the slope information is greater than zero and greater than a first slope information threshold, the first torque gradient gain coefficient is a first torque gradient gain coefficient threshold, in a case where the slope information is less than zero and less than a second slope information threshold, the first torque gradient gain coefficient is a second torque gradient gain coefficient threshold, the second torque gradient gain coefficient threshold is less than the first torque gradient gain coefficient threshold, and determining the first torque gradient gain coefficient according to the torque gradient characteristic of the slope information comprises: determining a slope function in the first torque gradient gain coefficient according to the torque gradient characteristic of the slope information; determining a slope mode coefficient in the first torque gradient gain coefficient according to the slope information; and determining the first torque gradient gain coefficient according to the slope mode coefficient and the slope function.

[0007] In some embodiments, determining the slope mode coefficient in the first torque gradient gain coefficient according to the slope information comprises: in a case where the slope information is greater than zero, the slope mode coefficient is a first slope mode coefficient; and in a case where the slope information is less than or equal to zero, the slope mode coefficient is a second slope mode coefficient, wherein the second slope mode coefficient is less than the first slope mode coefficient.

[0008] In some embodiments, the torque gradient characteristic of the pedal rate information comprises: in a case where the pedal rate is greater than a first pedal rate threshold, the second torque gradient gain coefficient is a third torque gradient gain coefficient threshold, in a case where the pedal rate is less than a second pedal rate threshold, the second torque gradient gain coefficient is a fourth torque gradient gain coefficient threshold, in a case where the pedal rate is less than or equal to the first pedal rate threshold and greater than or equal to the second pedal rate threshold, the magnitude of the pedal rate is in a positive proportion to the torque gradient of the pedal rate, and determining the second torque gradient gain coefficient according to the second torque gradient characteristic corresponding to the pedal rate information comprises: determining a pedal rate function in the second torque gradient gain coefficient according to the torque gradient characteristic of the pedal rate; determining a pedal rate mode coefficient in the second torque gradient gain coefficient according to the pedal rate; and determining the second torque gradient gain coefficient according to the pedal rate function and the pedal rate mode coefficient.

[0009] In some embodiments, determining the pedal rate mode coefficient in the second torque gradient gain coefficient according to the pedal rate comprises: in a case where the pedal rate is greater than or equal to zero, the pedal rate mode coefficient is a first pedal rate mode coefficient; and in a case where the pedal rate is less than zero, the pedal rate mode coefficient is a second pedal rate mode coefficient, wherein the first pedal rate mode coefficient is less than the second pedal rate mode coefficient.

[0010] In some embodiments, the torque gradient characteristic of the load information comprises that the size of the load information is in a positive correlation with the torque gradient of the load information, and determining the third torque gradient gain coefficient according to the torque gradient characteristic of the load information comprises: in a case where the load information is less than or equal to a first load threshold, determining the third torque gradient gain coefficient as a fifth torque gradient gain coefficient threshold; in a case where the load information is greater than the first load threshold and less than or equal to a second load threshold, determining the third torque gradient gain coefficient as a sixth torque gradient gain coefficient threshold, wherein the sixth torque gradient gain coefficient threshold is greater than the fifth torque gradient gain coefficient threshold; in a case where the load information is greater than the second load threshold, determining the third torque gradient gain coefficient as a seventh torque gradient gain coefficient threshold, wherein the seventh torque gradient gain coefficient threshold is greater than the sixth torque gradient gain coefficient threshold.

[0011] In some embodiments, determining the fourth torque gradient gain coefficient according to the torque gradient characteristic of the torque direction information comprises: determining a torque product of the actual torque of the mechanical device and the requested torque of the mechanical device; in a case where the torque product is greater than or equal to zero, determining the fourth torque gradient gain coefficient threshold as an eighth torque gradient gain coefficient threshold; in a case where the torque product is less than zero, determining the fourth torque gradient gain coefficient threshold as a ninth torque gradient gain coefficient threshold, wherein the ninth torque gradient gain coefficient threshold is less than the eighth torque gradient gain coefficient threshold.

[0012] In some embodiments, determining the reference torque gradient of the mechanical device according to the load information comprises: in a case where the load information is less than or equal to a third load threshold, determining the reference torque gradient as a first reference torque gradient threshold; in a case where the load information is greater than the third load threshold and less than or equal to a fourth load threshold, determining the reference torque gradient as a second reference torque gradient threshold, wherein the second reference torque gradient threshold is greater than the first reference torque gradient threshold; in a case where the load information is greater than the fourth load threshold, determining the reference torque gradient as a third reference torque gradient threshold, wherein the third reference torque gradient threshold is greater than the second reference torque gradient threshold.

[0013] In some embodiments, the torque gradient control method further comprises: determining a torque gradient change amplitude at the current moment according to the target torque gradient at the previous moment and the target torque gradient at the current moment; determining a torque gradient filtering coefficient at the current moment according to the torque gradient change amplitude at the current moment; and updating the target torque gradient at the current moment according to the torque gradient filtering coefficient at the current moment.

[0014] In some embodiments, updating the target torque gradient of the current moment according to the torque gradient filtering coefficient of the current moment comprises: updating the target torque gradient of the current moment according to the torque gradient filtering coefficient of the current moment and the target torque gradient of the previous moment.

[0015] In some embodiments, the slope function comprises an arctangent function.

[0016] In some embodiments, the pedal rate function comprises a hyperbolic tangent function.

[0017] According to some embodiments of the second aspect of the present disclosure, a torque gradient control device is provided, comprising: an acquisition unit configured to acquire slope information of an environment in which a mechanical device is located, pedal rate information of the mechanical device, load information, and torque direction information; a first determination unit configured to determine a target torque gradient gain coefficient of the mechanical device according to torque gradient characteristics of the slope information, torque gradient characteristics of the pedal rate information, torque gradient characteristics of the load information, and torque gradient characteristics of the torque direction information; a second determination unit configured to determine a reference torque gradient of the mechanical device according to the load information; and a third determination unit configured to determine a target torque gradient of the mechanical device according to the target torque gradient gain coefficient and the reference torque gradient.

[0018] According to some embodiments of the third aspect of the present disclosure, a torque gradient control device is provided, comprising: a memory and a processor coupled to the memory, the processor being configured to execute the torque gradient control method in any of the above embodiments based on instructions stored in the memory.

[0019] According to some embodiments of the fourth aspect of the present disclosure, a torque gradient control system is provided, comprising the torque gradient control device in any of the above embodiments; and a sensor configured to acquire the slope information, the pedal rate, the load information, and the torque direction information.

[0020] According to some embodiments of the fifth aspect of the present disclosure, a computer readable storage medium is provided, having computer instructions stored thereon, the instructions being executed by a processor to implement the torque gradient control method in any of the above embodiments.

[0021] According to some embodiments of the sixth aspect of the present disclosure, a computer program product is provided, comprising computer instructions, the computer instructions being executed by a processor to implement the torque gradient control method in any of the above embodiments.

[0022] In the above embodiment, a torque gradient control strategy of four-dimensional parameter real-time coupling decision is provided. The target torque gradient gain coefficient is determined according to the torque gradient characteristics of the slope information of the environment where the mechanical equipment is located, the torque gradient characteristics of the pedal change rate, the torque gradient characteristics of the load information, and the torque gradient characteristics of the torque direction information. In the process of determining the target torque gradient gain coefficient, multiple dimensions of parameters are fused, and the influences of the environment where the mechanical equipment is located, the driving habits of the driver, the load state of the mechanical equipment, and the driving state of the mechanical equipment on the torque gradient are considered. Therefore, a more accurate torque gradient gain coefficient can be determined, and a more accurate torque gradient can be determined, thereby guaranteeing the dynamic performance of the mechanical equipment. In the process of determining the torque gradient gain coefficient, the torque gradient characteristics of the pedal change rate information are considered, the driving habits of the driver are effectively combined, the accuracy of the torque gradient is guaranteed, and the torque gradient characteristics of the torque direction information are considered, sudden situations can be responded to, and the stability of the mechanical equipment during driving is guaranteed. The target torque gradient is determined by the target torque gradient gain coefficient and the reference torque gradient, and adaptive control of the torque gradient is realized. Furthermore, the torque gradient control method is applicable to any working condition (for example, braking, driving, etc.), and in the process of determining the target torque gradient, no pre-data learning or training is required, thereby guaranteeing the wide applicability of the control method. In addition, the torque gradient control method does not involve additional cost increase to realize adaptive control of the torque gradient, has the characteristics of high feasibility, easy popularization, and OTA (Over-The-Air Maintenance, Over-The-Air Maintenance) maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] The present disclosure can be more clearly understood and appreciated from the following detailed description, with reference to the following drawings.

[0025] Figure 1 The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0026] Figure 2 The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] Figure 3 The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0028] Figure 4 The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0029] Figure 5 A schematic diagram showing some embodiments of the torque gradient control system of the present disclosure. DETAILED DESCRIPTION

[0030] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in the embodiments, numerical expressions, and numerical values are not limiting to the scope of the present disclosure unless specifically stated otherwise.

[0031] It should be understood, of course, that the various embodiments herein disclosed are not limited in their application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above-described drawings. The various exemplary embodiments are capable of being practiced or being carried out in various ways.

[0032] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the present disclosure, its application, or uses.

[0033] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, the techniques, methods, and apparatus should be considered as being part of the specification.

[0034] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation on the scope of the exemplary embodiments. Thus, other examples of the exemplary embodiments can have different values.

[0035] It should be noted that like reference numerals and letters in the various figures indicate similar items, and thus, once any term is defined in one figure, it is not necessary to discuss it further in connection with other figures.

[0036] As the market share of electric vehicles is steadily increasing, how to carry out accurate and reliable torque control and guarantee the dynamic performance of mechanical equipment has become an important issue for determining user experience and mechanical equipment use, wherein the torque gradient (upper limit of torque change per cycle) has become the focus of research.

[0037] Therefore, how to realize the adaptive control of the torque gradient of the mechanical equipment, and guarantee the dynamic performance of the mechanical equipment in the torque gradient adjustment process is a problem to be solved. In view of the problem of how to realize the adaptive control of the torque gradient of the mechanical equipment, and guarantee the dynamic performance of the mechanical equipment in the torque gradient adjustment process, the present disclosure proposes a torque gradient control method, which is as follows.

[0038] Figure 1 A schematic diagram showing some embodiments of the torque gradient control method of the present disclosure.

[0039] As Figure 1As shown, the torque gradient control method includes steps 110 to 140, which is executed by the torque gradient control device.

[0040] In step 110, the slope information of the environment where the mechanical equipment is located, the pedal change rate information of the mechanical equipment, the load information and the torque direction information are acquired.

[0041] For example, the slope information, pedal change rate information, load information and torque direction information are acquired according to a preset period.

[0042] The load information of the mechanical equipment refers to the weight of the articles carried by the mechanical equipment. Taking the tractor as an example, the load information refers to the weight of the goods towed by the tractor.

[0043] For example, the mechanical equipment includes a pure electric commercial vehicle, a tractor and the like.

[0044] In step 120, according to the torque gradient characteristics of the slope information, the torque gradient characteristics of the pedal change rate information, the torque gradient characteristics of the load information and the torque gradient characteristics of the torque direction information, the target torque gradient gain coefficient of the mechanical equipment is determined.

[0045] The target torque gradient gain coefficient is proportional to the target torque gradient. The greater the target torque gradient gain coefficient, the greater the target torque gradient, and the greater the target torque change degree.

[0046] In step 130, according to the load information, the reference torque gradient of the mechanical equipment is determined.

[0047] For example, the reference torque gradient serves as a basic value for determining the target torque gradient.

[0048] In step 140, according to the target torque gradient gain coefficient and the reference torque gradient, the target torque gradient of the mechanical equipment is determined.

[0049] For example, the target torque gradient is shown in formula (1).

[0050] (1).

[0051] Wherein, represents the target torque gradient, represents the reference torque gradient, represents the target torque gradient gain coefficient, represents the first torque gradient gain coefficient of the slope information, represents the second torque gradient gain coefficient of the pedal change rate information, represents the third torque gradient gain coefficient of the load information, represents the fourth torque gradient gain coefficient of the torque direction information.

[0052] In the above embodiment, a torque gradient control strategy of four-dimensional parameter real-time coupling decision is provided. The target torque gradient gain coefficient is determined according to the torque gradient characteristics of the slope information of the environment in which the mechanical equipment is located, the torque gradient characteristics of the pedal change rate, the torque gradient characteristics of the load information, and the torque gradient characteristics of the torque direction information. In the process of determining the target torque gradient gain coefficient, multiple dimensions of parameters are fused, and the influences of the environment in which the mechanical equipment is located, the driving habits of the driver, the load state of the mechanical equipment, and the driving state of the mechanical equipment on the torque gradient are considered. A more accurate torque gradient gain coefficient can be determined, and a more accurate torque gradient can be determined, thereby guaranteeing the dynamic performance of the mechanical equipment. In the process of determining the torque gradient gain coefficient, the torque gradient characteristics of the pedal change rate information are considered, the driving habits of the driver are effectively combined, the accuracy of the torque gradient is guaranteed, and the torque gradient characteristics of the torque direction information are considered, sudden situations can be responded to, and the stability of the mechanical equipment during driving is guaranteed. The target torque gradient is determined by the target torque gradient gain coefficient and the reference torque gradient, and adaptive control of the torque gradient is realized. Furthermore, the torque gradient control method is applicable to any working condition (for example, braking, driving, etc.). In the process of determining the target torque gradient, no pre-data is required for learning or training, thereby guaranteeing the wide applicability of the control method. In addition, the torque gradient control method does not involve additional cost increase to realize adaptive control of the torque gradient, has the characteristics of high feasibility, easy popularization, and OTA (Over-The-Air Maintenance, Over-The-Air Maintenance) maintenance.

[0053] For example, after the target torque gradient of the mechanical equipment is determined, the torque of the mechanical equipment can be controlled according to the target torque gradient, so that stable and smooth adjustment of the torque of the mechanical equipment can be realized, the dynamic performance of the mechanical equipment is guaranteed, and the driving experience of the user is improved.

[0054] The following embodiments are combined to describe how to determine the target torque gradient gain coefficient of the mechanical equipment in detail, as follows.

[0055] In some embodiments, the determining the target torque gradient gain coefficient of the mechanical device according to the torque gradient characteristic of the slope information, the torque gradient characteristic of the pedal rate information, the torque gradient characteristic of the load information, and the torque gradient characteristic of the torque direction information comprises: determining a first torque gradient gain coefficient according to the torque gradient characteristic of the slope information; determining a second torque gradient gain coefficient according to the torque gradient characteristic of the pedal rate information; determining a third torque gradient gain coefficient according to the torque gradient characteristic of the load information; determining a fourth torque gradient gain coefficient according to the torque gradient characteristic of the torque direction information; and determining the target torque gradient gain coefficient according to a product of the first torque gradient gain coefficient, the second torque gradient gain coefficient, the third torque gradient gain coefficient, and the fourth torque gradient gain coefficient.

[0056] By determining the target torque gradient gain coefficient based on the torque gradient characteristics corresponding to the multi-dimensional parameters, a target torque gradient gain coefficient that meets the torque requirements corresponding to the multi-dimensional parameters can be designed, which guarantees the accuracy of the target torque gradient gain coefficient and helps to achieve the stability of the target torque gradient gain coefficient.

[0057] The determination method of the torque gradient characteristic of the slope information and the first torque gradient gain coefficient is described in combination with the following embodiments.

[0058] In some embodiments, the torque gradient characteristic of the slope information comprises: in a case where the slope information is greater than zero, the size of the slope information is in a direct proportional relationship with the torque gradient of the slope information; in a case where the slope information is less than or equal to zero, the size of the slope information is in an inverse proportional relationship with the torque gradient of the slope information; in a case where the slope information is greater than zero and greater than a first slope information threshold, the first torque gradient gain coefficient is a first torque gradient gain coefficient threshold; in a case where the slope information is less than zero and less than a second slope information threshold, the first torque gradient gain coefficient is a second torque gradient gain coefficient threshold, the second torque gradient gain coefficient threshold being less than the first torque gradient gain coefficient threshold; and the determining the first torque gradient gain coefficient according to the torque gradient characteristic of the slope information comprises: determining a slope function in the first torque gradient gain coefficient according to the torque gradient characteristic of the slope information; determining a slope mode coefficient in the first torque gradient gain coefficient according to the slope information; and determining the first torque gradient gain coefficient according to the slope mode coefficient and the slope function.

[0059] For example, the slope function comprises an inverse tangent function.

[0060] The torque gradient can be quickly responded (i.e., the torque gradient is relatively large in the initial stage of the small slope) when the mechanical equipment is running in the initial stage of the small slope (including the small slope stage when climbing and the small slope stage when descending, where the small slope refers to the slope information whose absolute value is less than a preset threshold), and the saturation characteristic is introduced to prevent the torque gradient from being too large to cause impact in the large slope stage (including the large slope stage during the climbing process and the large slope stage during the descending process, where the large slope refers to the slope information whose absolute value is greater than another preset threshold) when the mechanical equipment is running in the large slope stage. By designing the slope function as an arctangent function, a nonlinear saturation function can be provided to meet the nonlinear saturation characteristic.

[0061] Because it is considered that the running direction is opposite to the gravity along the road direction when the mechanical equipment is in the uphill state, the torque needs to be quickly responded to ensure the dynamic performance of the mechanical equipment, and the running direction is the same as the gravity along the road direction when the mechanical equipment is in the downhill state, the torque needs to be suppressed to quickly respond to ensure the driving stability of the mechanical equipment, therefore the second torque gradient gain coefficient threshold is less than the first torque gradient gain coefficient threshold to meet the torque gradient characteristic corresponding to the slope information.

[0062] For example, the first torque gradient gain coefficient is shown in formula (2).

[0063] (2).

[0064] wherein k_grade represents the first torque gradient gain coefficient, represents the slope information, the slope information is an angle corresponding to the current slope, and k_mode represents a slope mode coefficient.

[0065] In some embodiments, according to the slope information, the slope mode coefficient in the first torque gradient gain coefficient is determined, including: in the case that the slope information is greater than zero, the slope mode coefficient is a first slope mode coefficient; in the case that the slope information is less than or equal to zero, the slope mode coefficient is a second slope mode coefficient, wherein the second slope mode coefficient is less than the first slope mode coefficient.

[0066] When the mechanical device is on an uphill, the torque establishment speed needs to be strengthened, for example, the slope mode coefficient can be designed as 0.08, and when the mechanical device is on a downhill, the risk of torque mutation needs to be inhibited, that is, the torque gradient should be smaller when the mechanical device is on a downhill, that is, the first torque gradient gain coefficient is smaller when the mechanical device is on a downhill, for example, the slope mode coefficient can be designed as 0.05 when the mechanical device is on a downhill. Wherein, the mechanical device is in an uphill state, that is, the slope information of the mechanical device is greater than zero, the mechanical device is in a downhill state, that is, the slope information of the mechanical device is less than zero, and the slope mode coefficient on the uphill and the slope mode coefficient on the downhill can be adjusted according to the type of the mechanical device (or the type of the vehicle).

[0067] By making the second slope mode coefficient smaller than the first slope mode coefficient, the corresponding first torque gradient gain coefficient of the mechanical device on the uphill is larger, which can guarantee the dynamic performance of the mechanical device in the uphill state, and the corresponding first torque gradient gain coefficient of the mechanical device on the downhill is smaller, which can guarantee the safety and stability of the mechanical device in the downhill state, and reduce the risk of wheel edge slipping caused by too fast torque change under the action of gravity.

[0068] The torque gradient characteristics of the pedal change rate information and the determination method of the second torque gradient gain coefficient are described in combination with the following embodiments.

[0069] In some embodiments, the torque gradient characteristics of the pedal change rate information include: when the pedal change rate is greater than a first pedal change rate threshold, the second torque gradient gain coefficient is a third torque gradient gain coefficient threshold, when the pedal change rate is less than a second pedal change rate threshold, the second torque gradient gain coefficient is a fourth torque gradient gain coefficient threshold, and when the pedal change rate is less than or equal to the first pedal change rate threshold and greater than or equal to the second pedal change rate threshold, the pedal change rate is in a proportional relationship with the torque gradient of the pedal change rate. According to the second torque gradient characteristics corresponding to the pedal change rate information, the second torque gradient gain coefficient is determined, including: determining the pedal change rate function in the second torque gradient gain coefficient according to the torque gradient characteristics of the pedal change rate; determining the pedal change rate mode coefficient in the second torque gradient gain coefficient according to the pedal change rate; and determining the second torque gradient gain coefficient according to the pedal change rate function and the pedal change rate mode coefficient.

[0070] For example, the pedal change rate function includes a hyperbolic tangent function.

[0071] Considering the saturation characteristics of the hyperbolic tangent function, the second torque gradient gain coefficient can guarantee the linearity near the center zero point and the smooth transition at both ends of the second torque gain coefficient, which realizes the smoothness and saturation of the torque gradient change corresponding to the second torque gradient gain coefficient.

[0072] For example, the second torque gradient gain coefficient is shown in equation (3).

[0073] (3).

[0074] wherein k_accped represents the second torque gradient gain coefficient, k represents a pedal rate mode coefficient, represents the pedal rate, and the pedal rate is a percentage rate of change of the accelerator pedal depth (% / s 2 ).

[0075] In some embodiments, according to the pedal rate, determining the pedal rate mode coefficient in the second torque gradient gain coefficient comprises: in a case where the pedal rate is greater than or equal to zero, the pedal rate mode coefficient is a first pedal rate mode coefficient; and in a case where the pedal rate is less than zero, the pedal rate mode coefficient is a second pedal rate mode coefficient, wherein the first pedal rate mode coefficient is less than the second pedal rate mode coefficient.

[0076] For example, considering that the pedal rate information has a greater impact on the torque gradient than the slope information, the load information and the torque direction information, i.e., the weight corresponding to the pedal rate information is greater, the second torque gradient gain coefficient corresponding to the pedal rate information can be controlled to be between 0.3 and 1.8, the pedal rate mode coefficient can be 0.02 when the pedal rate information is greater than or equal to zero, and the pedal rate mode coefficient can be 0.03 when the pedal rate information is less than zero, wherein the specific value of the pedal rate mode coefficient can be adjusted according to the type of the mechanical equipment.

[0077] In addition, the pedal rate information greater than zero means that the pedal depth is changing from small to large, the pedal rate equal to zero means that the pedal depth is not changing, and the pedal rate less than zero means that the pedal depth is changing from large to small.

[0078] The torque gradient characteristics of the load information and the determination method of the third torque gradient gain coefficient are described below in combination with embodiments.

[0079] In some embodiments, the torque gradient characteristic of the load information includes that the size of the load information is in a positive proportional relationship with the torque gradient of the load information. According to the torque gradient characteristic of the load information, determining the third torque gradient gain coefficient includes: in a case where the load information is less than or equal to a first load threshold, determining the third torque gradient gain coefficient as a fifth torque gradient gain coefficient threshold; in a case where the load information is greater than the first load threshold and less than or equal to a second load threshold, determining the third torque gradient gain coefficient as a sixth torque gradient gain coefficient threshold, where the sixth torque gradient gain coefficient threshold is greater than the fifth torque gradient gain coefficient threshold; in a case where the load information is greater than the second load threshold, determining the third torque gradient gain coefficient as a seventh torque gradient gain coefficient threshold, where the seventh torque gradient gain coefficient threshold is greater than the sixth torque gradient gain coefficient threshold.

[0080] In view of the fact that mechanical devices under different loads have a large difference in response speed to torque request, that is, the torque gradient corresponding to mechanical devices under different loads has a large difference, that is, the torque gradient gain coefficient corresponding to mechanical devices under different loads has a large difference, fusing the third torque gradient gain coefficient corresponding to the load information in the process of determining the target torque gradient gain coefficient and setting a larger gain coefficient for the third torque gradient gain coefficient under heavy load state can effectively compensate the torque response ability of the reinforced mechanical device under heavy load state.

[0081] For example, according to the load information of the mechanical device, the load information of the mechanical device is classified into three load states, which are empty load state, standard load state and heavy load state. In a case where the load information is less than or equal to a first load threshold, it indicates that the mechanical device is in an empty load state, in a case where the load information is greater than the first load threshold and less than or equal to a second load threshold, it indicates that the mechanical device is in a standard load state, and in a case where the load information is greater than the second load threshold, it indicates that the mechanical device is in a heavy load state, where the first load threshold is less than the second load threshold.

[0082] For another example, the third torque gradient gain coefficient is as shown in formula (4).

[0083] (4).

[0084] As shown in formula (4), when the mechanical device is in an empty load state, 30% of the torque gradient is limited, and when the mechanical device is in a heavy load state, 30% of the torque gradient is amplified, so as to determine the load state (or load level) of the mechanical device according to the load information of the mechanical device, and adjust the third torque gradient gain coefficient of the mechanical device.

[0085] The determination method of the fourth torque gradient gain coefficient is described in combination with the following embodiments.

[0086] In some embodiments, determining the fourth torque gradient gain coefficient according to the torque gradient characteristic of the torque direction information comprises: determining a torque product of the actual torque of the mechanical device and the requested torque of the mechanical device; determining the fourth torque gradient gain coefficient threshold as the eighth torque gradient gain coefficient threshold in a case that the torque product is greater than or equal to zero; determining the fourth torque gradient gain coefficient threshold as the ninth torque gradient gain coefficient threshold in a case that the torque product is less than zero, wherein the ninth torque gradient gain coefficient threshold is less than the eighth torque gradient gain coefficient threshold.

[0087] For example, the fourth torque gradient gain coefficient is shown as formula (5).

[0088] (5).

[0089] Wherein, k_sign represents the fourth torque gradient gain coefficient, and sign_product represents the torque product, which is shown as formula (6).

[0090] (6).

[0091] Wherein, represents the actual torque of the mechanical device, represents the requested torque of the mechanical device.

[0092] By zero-crossing detection on the torque product, when the torque product is less than zero, it indicates that the directions of the actual torque and the requested torque are opposite (or inconsistent). Considering that when the directions of the actual torque and the requested torque are inconsistent, if the torque gradient is too large, the torque direction changes too fast (for example, the positive torque is quickly cleared to zero and the negative torque is quickly output), which is easy to cause the mechanical device to shake and the discomfort of the driving experience, that is, the torque state of the mechanical device is in the zero-crossing area. Therefore, in order to reduce the torque impact, the fourth torque gradient gain coefficient is designed to be small to ensure smooth zero-crossing, for example, 0.25, when the torque product is greater than or equal to zero, it indicates that the directions of the actual torque and the requested torque are consistent, and the fourth torque gradient gain coefficient is designed to be, for example, 1.

[0093] After the target torque gradient gain coefficient is determined, the reference torque gradient also needs to be determined in order to determine the target torque gradient. The determination method of the reference torque gradient is described in combination with the following embodiments.

[0094] In some embodiments, determining the reference torque gradient of the mechanical device according to the load information comprises: determining the reference torque gradient as a first reference torque gradient threshold value when the load information is less than or equal to a third load threshold value; determining the reference torque gradient as a second reference torque gradient threshold value when the load information is greater than the third load threshold value and less than or equal to a fourth load threshold value, wherein the second reference torque gradient threshold value is greater than the first reference torque gradient threshold value; determining the reference torque gradient as a third reference torque gradient threshold value when the load information is greater than the fourth load threshold value, wherein the third reference torque gradient threshold value is greater than the second reference torque gradient threshold value.

[0095] For example, according to the load information of the mechanical device, the state of the mechanical device can be determined as an empty load state, a standard load state, and a heavy load state.

[0096] For another example, when the mechanical device is in the empty load state, the reference torque gradient can be 600 Nm / s, i.e., the first reference torque gradient threshold value is 600 Nm / s, when the mechanical device is in the standard load state, the reference torque gradient can be 1000 Nm / s, i.e., the second reference torque gradient threshold value is 1000 Nm / s, and when the mechanical device is in the heavy load state, the reference torque gradient can be 1400 Nm / s, i.e., the third reference torque gradient threshold value is 1400 Nm / s, wherein the load information less than or equal to the third load threshold value indicates that the mechanical device is in the empty load state, the load information greater than the third load threshold value and less than or equal to the fourth load threshold value indicates that the mechanical device is in the standard load state, and the load information greater than the fourth load threshold value indicates that the mechanical device is in the heavy load state, and the fourth load threshold value is greater than the third load threshold value. In addition, the first load threshold value and the third load threshold value can be equal or not equal, and the second load threshold value and the fourth load threshold value can be equal or not equal.

[0097] By constructing a smooth target torque gradient function including four-dimensional data, the traditional discrete step torque gradient control is upgraded to real-time dynamic tuning, which improves the experience of passengers and ensures the smoothness of the mechanical device in all working conditions.

[0098] On the basis of determining the target torque gradient of the mechanical device, the target torque gradient can also be smoothed to ensure the stability of the torque gradient control process. How to smooth the target torque gradient is described in combination with the following embodiments.

[0099] In some embodiments, the torque gradient change amplitude at the current moment is determined according to the target torque gradient at the previous moment and the target torque gradient at the current moment; the torque gradient filtering coefficient at the current moment is determined according to the torque gradient change amplitude at the current moment; and the target torque gradient at the current moment is updated according to the torque gradient filtering coefficient at the current moment.

[0100] For example, the torque gradient change amplitude at the current moment is shown in formula (7).

[0101] (7).

[0102] wherein, represents the torque gradient change amplitude at the current moment, represents the target torque gradient at the current moment, represents the target torque gradient at the previous moment.

[0103] For example, the torque gradient change amplitude at the current moment is shown in formula (7).

[0104] For example, when the absolute value of the torque gradient change amplitude at the current moment is greater than 70%, the torque gradient filtering coefficient can be 0.1, when the absolute value of the torque gradient change amplitude at the current moment is greater than 50% and less than or equal to 70%, the torque gradient filtering coefficient can be 0.2, when the absolute value of the torque gradient change amplitude at the current moment is greater than 20% and less than or equal to 50%, the torque gradient filtering coefficient can be 0.4, and when the absolute value of the torque gradient change amplitude at the current moment is less than or equal to 20%, the torque gradient filtering coefficient can be 0.5.

[0105] The torque gradient filtering coefficient is dynamically adjustable, and is adjusted based on the torque gradient change amplitude, which helps to obtain an accurate torque gradient filtering coefficient, thereby helping to accurately update the target torque gradient and obtain a relatively smooth updated target torque gradient.

[0106] In some embodiments, updating the target torque gradient at the current moment according to the torque gradient filtering coefficient at the current moment comprises: updating the target torque gradient at the current moment according to the torque gradient filtering coefficient at the current moment and the target torque gradient at the previous moment.

[0107] By updating the target torque gradient, the torque response rule (i.e. torque gradient) when the target torque gradient at the previous moment and the target torque gradient at the current moment change greatly is optimized, the driving experience of the driver and passenger is better guaranteed, the dynamic performance of the mechanical equipment is better guaranteed, and the dynamic performance of the mechanical equipment is more stable.

[0108] For example, the target torque gradient at the current moment is updated as shown in equation (8).

[0109] (8).

[0110] wherein, denotes the torque gradient filtering coefficient, denotes the updated target torque gradient at the current moment (i.e., the t-th moment), denotes the target torque gradient at the current moment before updating, denotes the updated target torque gradient at the previous moment (i.e., the (t-1)-th moment). In the process of updating the target torque gradient at the current moment, the updating is based on the torque gradient filtering coefficient and the target torque gradient at the previous moment, wherein the target torque gradient at the previous moment refers to the updated target torque gradient at the previous moment, and the updating of the target torque gradient at the current moment can also be referred to as the first-order filtering of the target torque gradient at the current moment.

[0111] Figure 2 A schematic diagram showing another embodiment of the torque gradient control method of the present disclosure.

[0112] As Figure 2 shown, the torque gradient control method mainly includes a data processing part 201, a fusion algorithm part 202, and a torque gradient (i.e., target torque gradient) smoothing processing part 203.

[0113] In the data processing part 201, the driving data of the mechanical equipment is analyzed 208 according to the road slope 204 (i.e., slope information), the pedal change rate 205 (i.e., pedal change rate information), the load level 206, and the torque direction 207 (i.e., torque direction information). Among them, the load level 206 can be determined according to the load information of the mechanical equipment, and the load level 206 can be divided into an empty state, a standard load state, and a heavy load state.

[0114] Through the driving data analysis, the first torque gradient gain coefficient corresponding to the road slope 204, the second torque gradient gain coefficient corresponding to the pedal change rate 205, the third torque gradient gain coefficient corresponding to the load level 206, and the fourth torque gradient gain coefficient corresponding to the torque direction 207 can be determined.

[0115] In the fusion algorithm part 202, the first torque gradient gain coefficient, the second torque gradient gain coefficient, the third torque gradient gain coefficient, and the fourth torque gradient gain coefficient are fused by performing the step torque gradient fusion algorithm 209 to obtain the target torque gradient.

[0116] In the torque gradient smoothing processing part 203, the target torque gradient obtained in the fusion algorithm part 202 is subjected to torque gradient smoothing 210 processing to obtain a smoothed target torque gradient (i.e. an updated target torque gradient).

[0117] The target torque gradient combines four factors of working condition slope, pedal change rate, load level and torque direction to comprehensively output, and through a four-dimensional model formula, the optimal target torque gradient is calculated in real time, the wide working condition coverage in the process of determining the torque gradient is realized, and a smooth torque gradient is provided for the mechanical equipment (or vehicle) during driving, thereby guaranteeing the smoothness of the mechanical equipment during driving.

[0118] Figure 3 A schematic diagram showing some embodiments of the torque gradient control device of the present disclosure.

[0119] As shown in Figure 3 The torque gradient control device 30 includes an acquisition unit 31, a first determination unit 32, a second determination unit 33 and a third determination unit 34.

[0120] The acquisition unit 31 is configured to acquire slope information of an environment in which the mechanical equipment is located, pedal change rate information of the mechanical equipment, load information and torque direction information.

[0121] The first determination unit 32 is configured to determine a target torque gradient gain coefficient of the mechanical equipment according to torque gradient characteristics of the slope information, torque gradient characteristics of the pedal change rate information, torque gradient characteristics of the load information and torque gradient characteristics of the torque direction information.

[0122] The second determination unit 33 is configured to determine a reference torque gradient of the mechanical equipment according to the load information.

[0123] The third determination unit 34 is configured to determine a target torque gradient of the mechanical equipment according to the target torque gradient gain coefficient and the reference torque gradient.

[0124] In the above embodiment, a torque gradient control strategy of four-dimensional parameter real-time coupling decision is provided. The target torque gradient gain coefficient is determined according to the torque gradient characteristics of the slope information of the environment in which the mechanical equipment is located, the torque gradient characteristics of the pedal change rate, the torque gradient characteristics of the load information, and the torque gradient characteristics of the torque direction information. In the process of determining the target torque gradient gain coefficient, multiple dimensions of parameters are fused, and the influences of the environment in which the mechanical equipment is located, the driving habits of the driver, the load state of the mechanical equipment, and the driving state of the mechanical equipment on the torque gradient are considered. Therefore, a more accurate torque gradient gain coefficient can be determined, and a more accurate torque gradient can be determined, thereby guaranteeing the dynamic performance of the mechanical equipment. In the process of determining the torque gradient gain coefficient, the torque gradient characteristics of the pedal change rate information are considered, the driving habits of the driver are effectively combined, the accuracy of the torque gradient is guaranteed, and the torque gradient characteristics of the torque direction information are considered, sudden situations can be coped with, and the stability of the mechanical equipment during driving is guaranteed. The target torque gradient is determined by the target torque gradient gain coefficient and the reference torque gradient, and adaptive control of the torque gradient is realized. Furthermore, the torque gradient control method is applicable to any working condition (for example, braking, driving, etc.), and in the process of determining the target torque gradient, no pre-data learning or training is required, thereby guaranteeing the wide applicability of the control method. In addition, the torque gradient control method does not involve additional cost increase to realize adaptive control of the torque gradient, has the characteristics of high feasibility, easy popularization, and OTA (Over-The-Air Maintenance, Over-The-Air Maintenance) maintenance.

[0125] In some embodiments, the first determination unit 32 is further configured to determine a first torque gradient gain coefficient according to the torque gradient characteristics of the slope information, determine a second torque gradient gain coefficient according to the torque gradient characteristics of the pedal change rate information, determine a third torque gradient gain coefficient according to the torque gradient characteristics of the load information, and determine a fourth torque gradient gain coefficient according to the torque gradient characteristics of the torque direction information. The target torque gradient gain coefficient is determined according to the product of the first torque gradient gain coefficient, the second torque gradient gain coefficient, the third torque gradient gain coefficient, and the fourth torque gradient gain coefficient.

[0126] In some embodiments, the torque gradient characteristic of the slope information comprises: in a case where the slope information is greater than zero, the magnitude of the slope information is in a positive proportion to the torque gradient of the slope information, in a case where the slope information is less than or equal to zero, the magnitude of the slope information is in an inverse proportion to the torque gradient of the slope information, in a case where the slope information is greater than zero and greater than a first slope information threshold, the first torque gradient gain coefficient is a first torque gradient gain coefficient threshold, in a case where the slope information is less than zero and less than a second slope information threshold, the first torque gradient gain coefficient is a second torque gradient gain coefficient threshold, the second torque gradient gain coefficient threshold is less than the first torque gradient gain coefficient threshold, the first determining unit 32 is further configured to determine a slope function in the first torque gradient gain coefficient according to the torque gradient characteristic of the slope information, determine a slope mode coefficient in the first torque gradient gain coefficient according to the slope information, and determine the first torque gradient gain coefficient according to the slope mode coefficient and the slope function.

[0127] In some embodiments, the slope function comprises an inverse tangent function.

[0128] In some embodiments, the first determining unit 32 is further configured to, in a case where the slope information is greater than zero, the slope mode coefficient is a first slope mode coefficient, and in a case where the slope information is less than or equal to zero, the slope mode coefficient is a second slope mode coefficient, wherein the second slope mode coefficient is less than the first slope mode coefficient.

[0129] In some embodiments, the torque gradient characteristic of the pedal rate information comprises: in a case where the pedal rate is greater than a first pedal rate threshold, the second torque gradient gain coefficient is a third torque gradient gain coefficient threshold, in a case where the pedal rate is less than a second pedal rate threshold, the second torque gradient gain coefficient is a fourth torque gradient gain coefficient threshold, in a case where the pedal rate is less than or equal to the first pedal rate threshold and greater than or equal to the second pedal rate threshold, the magnitude of the pedal rate is in a positive proportion to the torque gradient of the pedal rate, the first determining unit 32 is further configured to determine a pedal rate function in the second torque gradient gain coefficient according to the torque gradient characteristic of the pedal rate, determine a pedal rate mode coefficient in the second torque gradient gain coefficient according to the pedal rate, and determine the second torque gradient gain coefficient according to the pedal rate function and the pedal rate mode coefficient.

[0130] In some embodiments, the pedal rate function comprises a hyperbolic tangent function.

[0131] In some embodiments, the first determining unit 32 is further configured to determine the pedal change rate mode coefficient as a first pedal change rate mode coefficient when the pedal change rate is greater than or equal to zero, and determine the pedal change rate mode coefficient as a second pedal change rate mode coefficient when the pedal change rate is less than zero, wherein the first pedal change rate mode coefficient is less than the second pedal change rate mode coefficient.

[0132] In some embodiments, the torque gradient characteristic of the load information comprises that the magnitude of the load information is in a positive proportional relationship with the torque gradient of the load information, and the first determining unit 32 is further configured to determine the third torque gradient gain coefficient as a fifth torque gradient gain coefficient threshold when the load information is less than or equal to a first load threshold, determine the third torque gradient gain coefficient as a sixth torque gradient gain coefficient threshold when the load information is greater than the first load threshold and less than or equal to a second load threshold, wherein the sixth torque gradient gain coefficient threshold is greater than the fifth torque gradient gain coefficient threshold, and determine the third torque gradient gain coefficient as a seventh torque gradient gain coefficient threshold when the load information is greater than the second load threshold, wherein the seventh torque gradient gain coefficient threshold is greater than the sixth torque gradient gain coefficient threshold.

[0133] In some embodiments, the first determining unit 32 is further configured to determine a torque product of an actual torque of the mechanical device and a requested torque of the mechanical device, determine the fourth torque gradient gain coefficient threshold as an eighth torque gradient gain coefficient threshold when the torque product is greater than or equal to zero, and determine the fourth torque gradient gain coefficient threshold as a ninth torque gradient gain coefficient threshold when the torque product is less than zero, wherein the ninth torque gradient gain coefficient threshold is less than the eighth torque gradient gain coefficient threshold.

[0134] In some embodiments, the second determining unit 33 is further configured to determine the reference torque gradient as a first reference torque gradient threshold when the load information is less than or equal to a third load threshold, determine the reference torque gradient as a second reference torque gradient threshold when the load information is greater than the third load threshold and less than or equal to a fourth load threshold, wherein the second reference torque gradient threshold is greater than the first reference torque gradient threshold, and determine the reference torque gradient as a third reference torque gradient threshold when the load information is greater than the fourth load threshold, wherein the third reference torque gradient threshold is greater than the second reference torque gradient threshold.

[0135] In some embodiments, the torque gradient control device 30 further comprises an updating unit configured to determine a torque gradient change amplitude at a current time according to a target torque gradient at a previous time and a target torque gradient at the current time, determine a torque gradient filtering coefficient at the current time according to the torque gradient change amplitude at the current time, and update the target torque gradient at the current time according to the torque gradient filtering coefficient at the current time.

[0136] In some embodiments, the updating unit is further configured to update the target torque gradient of the current time according to the torque gradient filtering coefficient of the current time and the target torque gradient of the previous time.

[0137] Figure 4 A schematic diagram showing another embodiment of the torque gradient control apparatus of the present disclosure.

[0138] As Figure 4 shown, the torque gradient control apparatus 30 of this embodiment includes a memory 41 and a processor 42 coupled to the memory 41, the processor 42 being configured to perform the torque gradient control method in any one of the foregoing embodiments based on instructions stored in the memory 41.

[0139] The memory 41 may, for example, include a system memory, a fixed non-volatile storage medium, etc. The system memory, for example, stores an operating system, application programs, a Boot Loader, and other programs, etc.

[0140] The torque gradient control apparatus 30 can further include an input / output interface 43, a network interface 44, a storage interface 45, etc. These interfaces 43, 44, 45, and the memory 41 and the processor 42 may, for example, be connected through a bus 46. Among them, the input / output interface 43 provides a connection interface for input / output devices such as a display, a mouse, a keyboard, a touch screen, a microphone, a speaker, etc. The network interface 44 provides a connection interface for various networking devices. The storage interface 45 provides a connection interface for external storage devices such as an SD card, a U disk, etc.

[0141] In the above embodiment, a torque gradient control strategy of four-dimensional parameter real-time coupling decision is provided. The target torque gradient gain coefficient is determined according to the torque gradient characteristics of the slope information of the environment where the mechanical equipment is located, the torque gradient characteristics of the pedal change rate, the torque gradient characteristics of the load information, and the torque gradient characteristics of the torque direction information. In the process of determining the target torque gradient gain coefficient, multiple dimensions of parameters are fused, and the influences of the environment where the mechanical equipment is located, the driving habits of the driver, the load state of the mechanical equipment, and the driving state of the mechanical equipment on the torque gradient are considered. A more accurate torque gradient gain coefficient can be determined, so that a more accurate torque gradient is determined, and the dynamic performance of the mechanical equipment is ensured. In the process of determining the torque gradient gain coefficient, the torque gradient characteristics of the pedal change rate information are considered, the driving habits of the driver are effectively combined, the accuracy of the torque gradient is ensured, and the torque gradient characteristics of the torque direction information are considered, sudden situations are responded to, and the stability of the mechanical equipment during driving is ensured. The target torque gradient is determined by the target torque gradient gain coefficient and the reference torque gradient, and adaptive control of the torque gradient is realized. Furthermore, the torque gradient control method is applicable to any working condition (for example, braking, driving, etc.). In the process of determining the target torque gradient, no pre-data is required for learning or training, and the application universality of the control method is ensured. In addition, the torque gradient control method does not involve additional cost increase to realize adaptive control of the torque gradient, has the characteristics of high feasibility, easy popularization and OTA (Over-The-Air Maintenance, Over-The-Air Maintenance) maintenance.

[0142] Figure 5 A schematic diagram showing some embodiments of the torque gradient control system of the present disclosure.

[0143] As Figure 5 shown, the torque gradient control system 50 includes the torque gradient control device 30 in any of the above embodiments and a sensor 51.

[0144] The sensor 51 is configured to acquire slope information, pedal change rate, load information, and torque direction information.

[0145] In the above embodiment, a torque gradient control strategy of four-dimensional parameter real-time coupling decision is provided. The target torque gradient gain coefficient is determined according to the torque gradient characteristics of the slope information of the environment where the mechanical equipment is located, the torque gradient characteristics of the pedal change rate, the torque gradient characteristics of the load information, and the torque gradient characteristics of the torque direction information. In the process of determining the target torque gradient gain coefficient, multiple dimensions of parameters are fused, and the influences of the environment where the mechanical equipment is located, the driving habits of the driver, the load state of the mechanical equipment, and the driving state of the mechanical equipment on the torque gradient are considered. Therefore, a more accurate torque gradient gain coefficient can be determined, and a more accurate torque gradient can be determined, thereby guaranteeing the dynamic performance of the mechanical equipment. In the process of determining the torque gradient gain coefficient, the torque gradient characteristics of the pedal change rate information are considered, the driving habits of the driver are effectively combined, the accuracy of the torque gradient is guaranteed, and the torque gradient characteristics of the torque direction information are considered, sudden situations can be coped with, and the stability of the mechanical equipment during driving is guaranteed. The target torque gradient is determined by the target torque gradient gain coefficient and the reference torque gradient, and adaptive control of the torque gradient is realized. Furthermore, the torque gradient control method is applicable to any working condition (for example, braking, driving, etc.). In the process of determining the target torque gradient, no pre-data learning or training is required, thereby guaranteeing the wide applicability of the control method. In addition, the torque gradient control method does not involve additional cost increase to realize adaptive control of the torque gradient, has the characteristics of high feasibility, easy popularization, and OTA (Over-The-Air Maintenance, Over-The-Air Maintenance) maintenance.

[0146] In some embodiments, a computer program product is protected, including a computer program or instructions, which, when executed by a processor, implements the above-mentioned torque gradient control method. The computer program product includes a computer program carried on a computer readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from the network by the torque gradient control device, or installed from the storage device, or installed from the ROM. When the computer program is executed by the CPU, the above-mentioned functions defined in the method of the embodiments of the present disclosure are executed.

[0147] Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as methods, systems, or computer program products. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure can take the form of a computer program product on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, and the like) embodying computer readable program code thereon for use by a computer.

[0148] Thus far, the torque gradient control method, device, system, and program product of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0149] The methods and systems of the present disclosure can be implemented in a number of ways. For example, the methods and systems of the present disclosure can be implemented via software, hardware, firmware, or any combination of software, hardware, and firmware. The above described order of steps for the methods is merely for illustration, and the steps of the methods of the present disclosure are not limited to the above specifically described order, unless otherwise specifically stated. Furthermore, in some embodiments, the present disclosure can also be implemented as programs recorded in recording media, which include machine readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers recording media storing programs for executing the methods according to the present disclosure.

[0150] While some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are merely for illustration, and are not intended to limit the scope of the present disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A torque gradient control method, comprising: Acquire information about the slope of the environment in which the mechanical equipment is located, the rate of change of the pedals of the mechanical equipment, the load information, and the torque direction information; Determining the target torque gradient gain coefficient of the mechanical equipment based on the torque gradient characteristics of the slope information, the torque gradient characteristics of the pedal change rate information, the torque gradient characteristics of the load information, and the torque direction information includes: determining a first torque gradient gain coefficient based on the torque gradient characteristics of the slope information, wherein the torque gradient characteristics of the slope information include: when the slope information is greater than zero, the magnitude of the slope information is directly proportional to the torque gradient of the slope information; when the slope information is less than or equal to zero, the magnitude of the slope information is inversely proportional to the torque gradient of the slope information; when the slope information is greater than zero and greater than a first slope information threshold, the first torque gradient gain coefficient is a first torque gradient gain coefficient threshold; when the slope information is less than zero and less than a second slope information threshold, the first torque gradient gain coefficient is a second torque gradient gain coefficient threshold, and the second torque gradient gain coefficient threshold is less than the first torque gradient gain coefficient threshold. Based on the load information, the reference torque gradient of the mechanical equipment is determined; The target torque gradient of the mechanical equipment is determined based on the target torque gradient gain coefficient and the reference torque gradient.

2. The torque gradient control method according to claim 1, wherein, Determining the target torque gradient gain coefficient of the mechanical equipment based on the torque gradient characteristics of the slope information, the torque gradient characteristics of the pedal change rate information, the torque gradient characteristics of the load information, and the torque direction information further includes: The second torque gradient gain coefficient is determined based on the torque gradient characteristics of the pedal change rate information. Based on the torque gradient characteristics of the load information, determine the third torque gradient gain coefficient; Based on the torque gradient characteristics of the torque direction information, the fourth torque gradient gain coefficient is determined; The target torque gradient gain coefficient is determined by multiplying the first torque gradient gain coefficient, the second torque gradient gain coefficient, the third torque gradient gain coefficient, and the fourth torque gradient gain coefficient.

3. The torque gradient control method according to claim 1, wherein, Based on the torque gradient characteristics of the slope information, the first torque gradient gain coefficient is determined as follows: Based on the torque gradient characteristics of the slope information, determine the slope function in the first torque gradient gain coefficient; Based on the slope information, determine the slope mode coefficient in the first torque gradient gain coefficient; The first torque gradient gain coefficient is determined based on the slope mode coefficient and the slope function.

4. The torque gradient control method according to claim 3, wherein, Based on the slope information, the slope mode coefficient in the first torque gradient gain coefficient is determined as follows: When the slope information is greater than zero, the slope pattern coefficient is the first slope pattern coefficient; When the slope information is less than or equal to zero, the slope pattern coefficient is a second slope pattern coefficient, wherein the second slope pattern coefficient is less than the first slope pattern coefficient.

5. The torque gradient control method according to claim 2, wherein, The torque gradient characteristics of the pedal change rate information include: when the pedal change rate is greater than a first pedal change rate threshold, the second torque gradient gain coefficient is a third torque gradient gain coefficient threshold; when the pedal change rate is less than a second pedal change rate threshold, the second torque gradient gain coefficient is a fourth torque gradient gain coefficient threshold; and when the pedal change rate is less than or equal to the first pedal change rate threshold and greater than or equal to the second pedal change rate threshold, the magnitude of the pedal change rate is directly proportional to the torque gradient of the pedal change rate. Based on the second torque gradient characteristic corresponding to the pedal change rate information, the second torque gradient gain coefficient is determined as follows: Based on the torque gradient characteristics of the pedal change rate, determine the pedal change rate function in the second torque gradient gain coefficient; Based on the pedal change rate, determine the pedal change rate mode coefficient in the second torque gradient gain coefficient; The second torque gradient gain coefficient is determined based on the pedal change rate function and the pedal change rate mode coefficient.

6. The torque gradient control method according to claim 5, wherein, Based on the pedal change rate, the pedal change rate mode coefficient in the second torque gradient gain coefficient is determined as follows: When the pedal change rate is greater than or equal to zero, the pedal change rate mode coefficient is the first pedal change rate mode coefficient. When the pedal change rate is less than zero, the pedal change rate mode coefficient is the second pedal change rate mode coefficient, wherein the first pedal change rate mode coefficient is less than the second pedal change rate mode coefficient.

7. The torque gradient control method according to claim 2, wherein, The torque gradient characteristic of the load information includes: the magnitude of the load information is directly proportional to the torque gradient of the load information. Based on the torque gradient characteristics of the load information, the third torque gradient gain coefficient is determined as follows: If the load information is less than or equal to the first load threshold, the third torque gradient gain coefficient is determined to be the fifth torque gradient gain coefficient threshold. If the load information is greater than the first load threshold and less than or equal to the second load threshold, the third torque gradient gain coefficient is determined as the sixth torque gradient gain coefficient threshold, wherein the sixth torque gradient gain coefficient threshold is greater than the fifth torque gradient gain coefficient threshold. If the load information is greater than the second load threshold, the third torque gradient gain coefficient threshold is determined as the seventh torque gradient gain coefficient threshold, wherein the seventh torque gradient gain coefficient threshold is greater than the sixth torque gradient gain coefficient threshold.

8. The torque gradient control method according to claim 2, wherein, Based on the torque gradient characteristics of the torque direction information, the fourth torque gradient gain coefficient is determined as follows: Determine the torque product of the actual torque of the mechanical equipment and the requested torque of the mechanical equipment; If the torque product is greater than or equal to zero, the fourth torque gradient gain coefficient threshold is determined to be the eighth torque gradient gain coefficient threshold. When the torque product is less than zero, the fourth torque gradient gain coefficient threshold is determined to be the ninth torque gradient gain coefficient threshold, wherein the ninth torque gradient gain coefficient threshold is less than the eighth torque gradient gain coefficient threshold.

9. The torque gradient control method according to any one of claims 1 to 8, wherein, Determining the reference torque gradient of the mechanical equipment based on the load information includes: If the load information is less than or equal to the third load threshold, the reference torque gradient is determined to be the first reference torque gradient threshold. If the load information is greater than the third load threshold and less than or equal to the fourth load threshold, the reference torque gradient is determined to be the second reference torque gradient threshold, wherein the second reference torque gradient threshold is greater than the first reference torque gradient threshold. If the load information is greater than the fourth load threshold, the reference torque gradient is determined to be the third reference torque gradient threshold, wherein the third reference torque gradient threshold is greater than the second reference torque gradient threshold.

10. The torque gradient control method according to any one of claims 1 to 8, further comprising: The magnitude of the torque gradient change at the current moment is determined based on the target torque gradient at the previous moment and the target torque gradient at the current moment. Based on the magnitude of the torque gradient change at the current moment, determine the torque gradient filtering coefficient at the current moment; The target torque gradient at the current moment is updated based on the torque gradient filtering coefficient at the current moment.

11. The torque gradient control method according to claim 10, wherein, Updating the target torque gradient at the current moment based on the torque gradient filtering coefficients at the current moment includes: The target torque gradient at the current moment is updated based on the torque gradient filter coefficient at the current moment and the target torque gradient at the previous moment.

12. The torque gradient control method according to claim 3, wherein, The slope function includes the arctangent function.

13. The torque gradient control method according to claim 5, wherein, The pedal rate of change function includes the hyperbolic tangent function.

14. A torque gradient control device, comprising: The acquisition unit is configured to acquire slope information of the environment in which the mechanical equipment is located, pedal change rate information of the mechanical equipment, load information, and torque direction information; A first determining unit is configured to determine a target torque gradient gain coefficient for the mechanical equipment based on the torque gradient characteristics of the slope information, the torque gradient characteristics of the pedal change rate information, the torque gradient characteristics of the load information, and the torque gradient characteristics of the torque direction information. This includes: determining a first torque gradient gain coefficient based on the torque gradient characteristics of the slope information, wherein the torque gradient characteristics of the slope information include: when the slope information is greater than zero, the magnitude of the slope information is directly proportional to the torque gradient of the slope information; when the slope information is less than or equal to zero, the magnitude of the slope information is inversely proportional to the torque gradient of the slope information; when the slope information is greater than zero and greater than a first slope information threshold, the first torque gradient gain coefficient is a first torque gradient gain coefficient threshold; when the slope information is less than zero and less than a second slope information threshold, the first torque gradient gain coefficient is a second torque gradient gain coefficient threshold, and the second torque gradient gain coefficient threshold is less than the first torque gradient gain coefficient threshold. The second determining unit is configured to determine the reference torque gradient of the mechanical equipment based on the load information. The third determining unit is configured to determine the target torque gradient of the mechanical equipment based on the target torque gradient gain coefficient and the reference torque gradient.

15. A torque gradient control device, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the torque gradient control method of any one of claims 1 to 13 based on instructions stored in the memory.

16. A torque gradient control system, comprising: The torque gradient control device as described in claim 14 or 15; The sensor is configured to acquire the slope information, the rate of change of the pedal, the load information, and the torque direction information.

17. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the torque gradient control method according to any one of claims 1 to 13.

18. A computer program product comprising a computer program that, when executed by a processor, implements the torque gradient control method according to any one of claims 1 to 13.

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