Vehicle torque control method, device and equipment and storage medium

Abstract

The embodiment of the invention relates to the field of computer control, in particular to a vehicle torque control method, device and equipment and a storage medium, and the method comprises the steps that vehicle control parameters and the required torque of a driver are obtained, the vehicle control parameters comprise the rapid torque change rate, the rapid transition torque threshold value and the dead zone threshold value, and the driver needs the vehicle torque change rate; the rapid torque change rate is greater than a basic torque change rate corresponding to the vehicle in a driving state; according to the vehicle control parameters and the demand torque, whether the vehicle meets rapid transition conditions or not is judged, and the rapid transition conditions include that the absolute value of the demand torque is smaller than a rapid transition torque threshold value and the direction of the demand torque is negative; if the vehicle meets the rapid transition condition, the target torque of the vehicle is determined based on the rapid torque change rate, the vehicle torque is controlled according to the target torque, and the technical problem that in the prior art, the vehicle shakes due to the fact that the driving shaft torque repeatedly crosses the zero value is solved.

Description

Technical Field

[0001] This application relates to the field of computer control, and more particularly to a vehicle torque control method, device, equipment, and storage medium. Background Technology

[0002] With the development of new energy vehicle technology, dual-motor four-wheel drive vehicles have become widespread. Dual-motor vehicle systems can independently distribute torque to the front and rear axles as needed, thereby improving driving safety and handling. Under different road conditions, dual-motor four-wheel drive can adjust the torque output of the front and rear axles to ensure vehicle stability. These advantages make dual-motor four-wheel drive vehicles increasingly popular.

[0003] However, current vehicles typically use a fixed gradient to limit the change in torque distribution coefficient in order to prevent sudden torque changes. This fixed gradient control method has obvious defects. When the required torque changes rapidly from positive drive to negative recovery, the drive shaft torque will undergo a double zero-crossing process of "positive torque to zero torque, then to negative torque and zero torque" because the distribution coefficient changes slowly. This ineffective torque zero-crossing change will cause obvious vehicle vibration and shock, which will seriously affect driving stability and ride comfort.

[0004] Therefore, the existing technology has a technical problem that causes vehicle vibration due to the drive shaft torque repeatedly crossing zero.

[0005] Application content The purpose of this application is to provide a vehicle torque control method, device, equipment, and storage medium to achieve the technical effect of avoiding vehicle vibration caused by the drive shaft torque repeatedly crossing zero.

[0006] In a first aspect, this application provides a vehicle torque control method, including: The vehicle control parameters and the driver's required torque are obtained. The vehicle control parameters include the rapid torque change rate, the rapid transition torque threshold, and the dead zone threshold. The rapid torque change rate is greater than the basic torque change rate corresponding to the vehicle in the driving state. Based on the vehicle control parameters and the required torque, determine whether the vehicle meets the rapid transition conditions. The rapid transition conditions include that the absolute value of the required torque is less than the rapid transition torque threshold and that the direction of the required torque is negative. If the vehicle meets the rapid transition conditions, the target torque of the vehicle is determined based on the rapid torque change rate, and the vehicle torque is controlled according to the target torque.

[0007] Furthermore, determining the vehicle's target torque based on the rapid torque change rate includes: The dynamic variation coefficient is determined based on the rapid torque change rate; The torque distribution coefficient of the vehicle at the current moment is calculated according to the first coefficient calculation formula, the dynamic change coefficient, and the torque distribution coefficient of the vehicle at the previous moment. The first coefficient calculation formula satisfies: α(k) = α(k-1) + G_dynamic* [0 - α(k-1)] * ΔT, where α(k) is the torque distribution coefficient of the vehicle at the current moment, α(k-1) is the torque distribution coefficient of the vehicle at the previous moment, G_dynamic is the dynamic change coefficient, and ΔT is the time interval between the current moment and the previous moment. The target torque of the vehicle is determined based on the torque distribution coefficient of the vehicle at the current moment.

[0008] Furthermore, the difference between the absolute value of the required torque and the rapid transition torque threshold is negatively correlated with the dynamic change coefficient.

[0009] Furthermore, based on the rapid torque change rate, the dynamic change coefficient is determined, including: The dynamic change coefficient is determined according to the formula for calculating the dynamic change coefficient, which satisfies the following formula: G_dynamic = G_fast * [1 + 2*(T_th - |T_req|) / T_th], where G_fast is the rapid torque change rate, T_th is the rapid transition torque threshold, and T_req is the required torque.

[0010] Furthermore, after determining the vehicle's target torque based on the rapid torque change rate, the following steps are included: Determine whether the vehicle meets the zero-crossing protection conditions, where the zero-crossing protection conditions include the absolute value of the target torque of the drive shaft being less than the dead zone threshold. If the vehicle meets the zero-crossing protection conditions, the target torque for controlling the drive shaft is zero.

[0011] Furthermore, the rapid transition torque threshold is 5-20 Nm, the dead zone threshold is 2-5 Nm, and the rapid torque change rate is 2-4 times the base torque change rate.

[0012] Furthermore, based on the vehicle's torque distribution coefficient at the current moment, the target torque of the vehicle is determined, including: The front axle torque is calculated according to the front axle torque formula, which satisfies: T_front = α(k)* T_req, where T_front is the front axle torque, the target torque includes the front axle torque, and the maximum rate of change of the front axle torque is 500 Nm / s; The front axle torque is calculated based on the rear axle torque formula, where the rear axle torque formula satisfies: T_rear = (1 - α(k)) * T_req, where T_rear is the rear axle torque, the target torque includes the rear axle torque, and the maximum rate of change of the rear axle torque is 500 Nm / s.

[0013] Secondly, this application also provides a vehicle torque control device, comprising: The acquisition module is used to acquire vehicle control parameters and the driver's required torque. The vehicle control parameters include rapid torque change rate, rapid transition torque threshold and dead zone threshold. The rapid torque change rate is greater than the basic torque change rate corresponding to the vehicle in the driving state. The judgment module is used to determine whether the vehicle meets the rapid transition conditions based on the vehicle control parameters and the required torque. The rapid transition conditions include that the absolute value of the required torque is less than the rapid transition torque threshold and that the direction of the required torque is negative. The control module is used to determine the target torque of the vehicle based on the rapid torque change rate if the vehicle meets the rapid transition conditions, and to control the vehicle torque according to the target torque.

[0014] Thirdly, this application also provides an electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor is used to execute the aforementioned vehicle torque control method by running instructions in memory.

[0015] Fourthly, this application also provides a computer storage medium storing instructions that, when executed, implement the above-described vehicle torque control method.

[0016] This application embodiment obtains vehicle control parameters and the driver's required torque. The vehicle control parameters include a rapid torque change rate, a rapid transition torque threshold, and a dead zone threshold. The rapid torque change rate is greater than the basic torque change rate corresponding to the vehicle in the driving state. Based on the vehicle control parameters and the required torque, it is determined whether the vehicle meets the rapid transition condition. The rapid transition condition includes the absolute value of the required torque being less than the rapid transition torque threshold and the direction of the required torque being negative. If the vehicle meets the rapid transition condition, the target torque of the vehicle is determined based on the rapid torque change rate, and the vehicle torque is controlled according to the target torque. This solves the technical problem in the prior art where the drive shaft torque repeatedly crosses zero, causing vehicle vibration.

[0017] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart of a vehicle torque control method provided in this application embodiment; Figure 2 A structural diagram of a vehicle torque control device provided in an embodiment of this application; Figure 3 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0019] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first threshold and the second threshold are only used to distinguish different thresholds and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0020] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0021] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, a combination of a and b, a combination of a and c, a combination of b and c, or a, b, and c, where a, b, and c can be single or multiple.

[0022] With the development of new energy vehicle technology, dual-motor four-wheel drive models are gradually becoming more common. To improve energy utilization efficiency, these models often adopt an energy management strategy of single-axle drive and energy recovery on the other axle. When the driver releases the accelerator pedal (tip-out), the vehicle switches from drive mode to energy recovery mode.

[0023] In existing technologies, the change in torque distribution coefficient is typically limited by a fixed gradient to prevent sudden torque changes. However, this fixed gradient control method has a significant drawback: when the demand torque rapidly changes from positive drive to negative recovery, the drive shaft torque undergoes a double zero-crossing process—"positive torque → zero torque → negative torque → zero torque"—due to the slow change in the distribution coefficient. This ineffective torque zero-crossing change leads to noticeable vehicle vibration and jolts, severely impacting driving smoothness and ride comfort.

[0024] To address the technical problem in existing technologies where repeated crossings of zero by the drive shaft torque cause vehicle vibration, this application provides a vehicle torque control method, such as... Figure 1 As shown: Figure 1 A flowchart of a vehicle torque control method provided in this application embodiment includes: S101: Obtain vehicle control parameters and the driver's required torque. The vehicle control parameters include rapid torque change rate, rapid transition torque threshold and dead zone threshold. The rapid torque change rate is greater than the basic torque change rate corresponding to the vehicle in the driving state. S102: Based on the vehicle control parameters and the required torque, determine whether the vehicle meets the rapid transition conditions, wherein the rapid transition conditions include the absolute value of the required torque being less than the rapid transition torque threshold and the direction of the required torque being negative. S103: If the vehicle meets the rapid transition conditions, determine the target torque of the vehicle based on the rapid torque change rate, and control the vehicle torque according to the target torque.

[0025] In an optional embodiment, the vehicle torque control method includes: Step S1: Obtain the driver's required torque and vehicle status parameters in real time; Step S2: Determine whether the rapid transition conditions are met. The rapid transition conditions include that the absolute value of the required torque is less than a preset threshold and the direction of the required torque is negative. Step S3: When the rapid transition condition is met, the torque distribution coefficient is adjusted using the first rate of change, where the first rate of change is greater than the base rate of change. Step S4: Calculate the target torques for the drive shaft and the recovery shaft based on the adjusted torque distribution coefficient; Step S5: Perform zero-crossing protection control. When the absolute value of the target torque of the drive shaft is less than the dead zone threshold, force the target torque of the drive shaft to be zero.

[0026] Preferably, step S3 includes: The first rate of change is dynamically calculated based on the difference between the absolute value of the required torque and a preset threshold; the smaller the difference, the larger the first rate of change. (Negative correlation) Preferably, the method further includes step S6: Establish a torque distribution state machine, the state machine including: Normal driving state: Torque distribution coefficient is 1, and all torque is provided by the drive shaft; Transition preparation status: Fast transition conditions have been detected; Rapid transition state: Adjust the torque distribution coefficient from 1 to 0 at the first rate of change; Stable recovery state: The torque distribution coefficient is 0, and all recovery torque is provided by the recovery shaft.

[0027] Preferably, the zero-crossing protection control in step S5 further includes: Apply variable bandwidth filtering to the target torque of the drive shaft, and increase the filtering intensity in the zero-crossing region.

[0028] Preferably, the preset threshold is 5-20 Nm, the dead zone threshold is 2-5 Nm, and the first rate of change is 2-4 times the base rate of change.

[0029] By acquiring vehicle control parameters and the driver's required torque, including rapid torque change rate, rapid transition torque threshold, and dead zone threshold, the rapid torque change rate is greater than the basic torque change rate corresponding to the vehicle in driving state. Based on the vehicle control parameters and required torque, it is determined whether the vehicle meets the rapid transition condition, which includes the absolute value of the required torque being less than the rapid transition torque threshold and the direction of the required torque being negative. If the vehicle meets the rapid transition condition, the target torque of the vehicle is determined based on the rapid torque change rate, and the vehicle torque is controlled according to the target torque. This solves the technical problem of vehicle vibration caused by the drive shaft torque repeatedly crossing zero value in the prior art.

[0030] In an optional embodiment, the above-described scheme for determining the target torque of the vehicle based on the rapid torque change rate in step S103 has been further optimized, and an optional method is provided, the specific implementation steps of which are as follows: S1031: Determine the dynamic variation coefficient based on the rapid torque change rate; S1032: Calculate the torque distribution coefficient of the vehicle at the current moment according to the first coefficient calculation formula, the dynamic change coefficient, and the torque distribution coefficient of the vehicle at the previous moment. The first coefficient calculation formula satisfies: α(k) = α(k-1) + G_dynamic * [0 - α(k-1)] * ΔT, where α(k) is the torque distribution coefficient of the vehicle at the current moment, α(k-1) is the torque distribution coefficient of the vehicle at the previous moment, G_dynamic is the dynamic change coefficient, and ΔT is the time interval between the current moment and the previous moment. S1033: Determine the target torque of the vehicle based on the torque distribution coefficient of the vehicle at the current moment.

[0031] Optionally, the difference between the absolute value of the required torque and the rapid transition torque threshold is negatively correlated with the dynamic variation coefficient.

[0032] In an optional embodiment, the above-mentioned scheme of determining the dynamic change coefficient based on the rapid torque change rate in S1031 has been further optimized, and an optional method is provided, the specific implementation steps of which are as follows: S10311: Determine the dynamic change coefficient according to the dynamic change coefficient calculation formula, where the dynamic change coefficient calculation formula satisfies: G_dynamic = G_fast * [1 + 2*(T_th - |T_req|) / T_th], where G_fast is the rapid torque change rate, T_th is the rapid transition torque threshold, and T_req is the required torque.

[0033] In an optional embodiment, the above-described scheme for determining the target torque of the vehicle based on the rapid torque change rate in step S103 has been further optimized, and an optional method is provided, the specific implementation steps of which are as follows: S104: Determine whether the vehicle meets the zero-crossing protection conditions, wherein the zero-crossing protection conditions include the absolute value of the target torque of the drive shaft being less than the dead zone threshold. S105: If the vehicle meets the zero-crossing protection conditions, the target torque of the drive shaft is controlled to be zero.

[0034] Optionally, the rapid transition torque threshold is 5-20 Nm, the dead zone threshold is 2-5 Nm, and the rapid torque change rate is 2-4 times the base torque change rate.

[0035] In an optional embodiment, the above-mentioned scheme 1033, which determines the target torque of the vehicle based on the torque distribution coefficient of the vehicle at the current moment, has been further optimized, and an optional method is provided. The specific implementation steps are as follows: S10331: Calculate the front axle torque according to the front axle torque formula, where the front axle torque formula satisfies: T_front = α(k) * T_req, T_front is the front axle torque, the target torque includes the front axle torque, and the maximum change rate of the front axle torque is 500 Nm / s; S10332: Calculate the rear axle torque according to the rear axle torque formula, where the rear axle torque formula satisfies: T_rear = (1 - α(k)) * T_req, T_rear is the rear axle torque, the target torque includes the rear axle torque, and the maximum change rate of the rear axle torque is 500 Nm / s.

[0036] In an exemplary embodiment, the present application provides a vehicle torque control device, and the specific steps are as follows: 101: System initialization, read calibration parameters, including: rapid transition torque threshold T_th = 15 Nm, base change rate G_base = 0.8 1 / s, rapid change rate G_fast = 2.5 1 / s, dead zone threshold T_dead = 3 Nm; 102: Real-time collect vehicle signals, sampling frequency 100 Hz: driver demand torque T_req, from the vehicle controller, vehicle speed V, from the wheel speed sensor, battery SOC, from the battery management system, brake pedal state, from the ESP system; 103: Judge the current working condition: If T_req > 0, the vehicle is in the driving mode, enter step 104; if T_req < 0 and |T_req| < T_th, the vehicle is in the small torque recovery working condition, enter step 105; if T_req < 0 and |T_req| ≥ T_th, the vehicle is in the large torque recovery working condition, enter step 104; 104: Adopt the basic control strategy: The distribution coefficient α(k) is updated according to the following formula: α(k) = α(k - 1) + G_base * [α_target - α(k - 1)] * ΔT, where α_target is 1 (driving mode) or 0 (large torque recovery mode); 105: Execute rapid transition control: First calculate the dynamic change rate: G_dynamic = G_fast * [1 + 2 * (T_th - |T_req|) / T_th], and then rapidly update the distribution coefficient: α(k) = α(k - 1) + G_dynamic * [0 - α(k - 1)] * ΔT; 106: Calculate the torque of each axle: Front axle torque: T_front = α(k) * T_req, Rear axle torque: T_rear = (1 - α(k)) * T_req; 107: Zero-crossing protection processing: If |T_front| < T_dead and T_req < 0, then: T_front = 0, T_rear = T_req; 108: Output limitation and filtering: Perform slope limitation on T_front and T_rear, with a maximum change rate of 500 Nm / s; Apply first-order low-pass filtering with a time constant of 0.02 s; 109: Send to the motor controller for execution. This embodiment also implements a torque distribution state machine, including: Normal driving state: Entry condition: T_req > 5 Nm, Execution action: α(k) = 1.0, and all torque is provided by the drive shaft; Transition preparation state: Entry condition: T_req changes from positive to negative and |T_req| < T_th Execution action: Mark the fast transition flag; Fast transition state: Entry condition: The fast transition flag is valid, Execution action: Decrease α(k) from 1.0 to 0.0 at the G_dynamic rate, Exit condition: α(k) < 0.05, State 204 (stable recovery): Entry condition: α(k) < 0.05 and T_req < 0, Execution action: α(k) = 0.0, and all recovered torque is provided by the recovery shaft.

[0037] The beneficial effects of the embodiment of this application include: effectively eliminating zero-crossing jitter: By dynamically accelerating the transition of the torque distribution coefficient, avoiding the invalid crossing of the drive shaft torque through zero, significantly reducing vehicle jitter; Maintaining energy recovery efficiency: Maximizing the energy recovery ability on the premise of ensuring smoothness; Strong self-adaptability: Dynamically adjusting control parameters according to real-time working conditions to adapt to different driving scenarios; Low implementation cost: Pure software implementation, without increasing hardware costs; Good compatibility: Can be seamlessly integrated with the existing torque control system.

[0038] Based on the same concept, the embodiment of this application also provides a vehicle torque control device. Please refer to Figure 2 , Figure 2 which is a vehicle torque control device provided by the embodiment of this application, including: An acquisition module 201, configured to acquire vehicle control parameters and the driver's required torque. Among them, the vehicle control parameters include a fast torque change rate, a fast transition torque threshold, and a dead zone threshold, and the fast torque change rate is greater than the basic torque change rate corresponding to the vehicle in the driving state; A judgment module 202, configured to judge whether the vehicle meets the fast transition condition according to the vehicle control parameters and the required torque. Among them, the fast transition condition includes that the absolute value of the required torque is less than the fast transition torque threshold and the direction of the required torque is negative; The control module 203 is used to determine the target torque of the vehicle based on the rapid torque change rate if the vehicle meets the rapid transition conditions, and to control the vehicle torque according to the target torque.

[0039] This application also provides an electronic device, please refer to... Figure 3 , Figure 3 This is a structural diagram of an electronic device provided in an embodiment of this application.

[0040] like Figure 3 As shown, the electronic device 400 includes a processor 410.

[0041] like Figure 3 As shown, the processor 410 described above can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program in this application.

[0042] like Figure 3 As shown, the electronic device 400 may further include a communication line 440. The communication line 440 may include a path for transmitting information between the components.

[0043] Optional, such as Figure 3 As shown, the above-described electronic device may further include a communication interface 420. There may be one or more communication interfaces 420. The communication interface 420 may use any transceiver-like device for communicating with other devices or communication networks.

[0044] Optional, such as Figure 3 As shown, the electronic device may further include a memory 430. The memory 430 stores computer execution instructions for implementing the present application's solution, and its execution is controlled by a processor. The processor executes the computer execution instructions stored in the memory, thereby implementing the vehicle torque control method provided in the embodiments of this application.

[0045] like Figure 3As shown, memory 430 can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory 430 can exist independently and be connected to processor 410 via communication line 440. Memory 430 can also be integrated with processor 410.

[0046] Optionally, the computer execution instructions in the embodiments of this application may also be referred to as application code, and the embodiments of this application do not specifically limit this.

[0047] In a specific implementation, as one example, such as Figure 3 As shown, processor 410 may include one or more CPUs, such as Figure 3 CPU0 and CPU1 in the CPU.

[0048] In a specific implementation, as one example, such as Figure 3 As shown, the terminal device may include multiple processors, such as Figure 3 The first processor 4101 and the second processor 4102 are included. Each of these processors can be a single-core processor or a multi-core processor.

[0049] The methods disclosed in the embodiments of this application can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above vehicle torque control method.

[0050] This application also provides a computer-readable storage medium storing instructions that, when executed, implement the functions performed by the terminal device in the above embodiments.

[0051] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid-state drive (SSD).

[0052] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0053] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A vehicle torque control method, characterized in that, include: The vehicle control parameters and the driver's required torque are obtained, wherein the vehicle control parameters include rapid torque change rate, rapid transition torque threshold and dead zone threshold, and the rapid torque change rate is greater than the basic torque change rate corresponding to the vehicle in the driving state; Based on the vehicle control parameters and the required torque, it is determined whether the vehicle meets the rapid transition condition, wherein the rapid transition condition includes the absolute value of the required torque being less than the rapid transition torque threshold and the direction of the required torque being negative; If the vehicle meets the rapid transition condition, the target torque of the vehicle is determined based on the rapid torque change rate, and the vehicle torque is controlled according to the target torque.

2. The method according to claim 1, characterized in that, Determining the target torque of the vehicle based on the rapid torque change rate includes: The dynamic change coefficient is determined based on the rapid torque change rate. The torque distribution coefficient of the vehicle at the current moment is calculated according to the first coefficient calculation formula, the dynamic change coefficient, and the torque distribution coefficient of the vehicle at the previous moment. The first coefficient calculation formula satisfies: α(k) = α(k-1) + G_dynamic * [0 - α(k-1)] * ΔT, where α(k) is the torque distribution coefficient of the vehicle at the current moment, α(k-1) is the torque distribution coefficient of the vehicle at the previous moment, G_dynamic is the dynamic change coefficient, and ΔT is the time interval between the current moment and the previous moment. The target torque of the vehicle is determined based on the torque distribution coefficient of the vehicle at the current moment.

3. The method according to claim 2, characterized in that, The difference between the absolute value of the required torque and the rapid transition torque threshold is negatively correlated with the dynamic change coefficient.

4. The method according to claim 2, characterized in that, Based on the rapid torque change rate, the dynamic change coefficient is determined, including: The dynamic change coefficient is determined according to the dynamic change coefficient calculation formula, wherein the dynamic change coefficient calculation formula satisfies: G_dynamic = G_fast * [1 + 2*(T_th - |T_req|) / T_th], where G_fast is the rapid torque change rate, T_th is the rapid transition torque threshold, and T_req is the required torque.

5. The method according to claim 4, characterized in that, After determining the target torque of the vehicle based on the rapid torque change rate, the process includes: Determine whether the vehicle meets the zero-crossing protection condition, wherein the zero-crossing protection condition includes the absolute value of the target torque of the drive shaft being less than the dead zone threshold. If the vehicle meets the zero-crossing protection condition, the target torque of the drive shaft is controlled to be zero.

6. The method according to claim 5, characterized in that, The rapid transition torque threshold is 5-20 Nm, the dead zone threshold is 2-5 Nm, and the rapid torque change rate is 2-4 times the basic torque change rate.

7. The method according to claim 4, characterized in that, Determining the target torque of the vehicle based on the torque distribution coefficient of the vehicle at the current moment includes: The front axle torque is calculated according to the front axle torque formula, wherein the front axle torque formula satisfies: T_front = α(k)* T_req, T_front is the front axle torque, the target torque includes the front axle torque, and the maximum rate of change of the front axle torque is 500 Nm / s; The front axle torque is calculated according to the rear axle torque formula, wherein the rear axle torque formula satisfies: T_rear = (1 - α(k)) * T_req, T_rear is the rear axle torque, the target torque includes the rear axle torque, and the maximum rate of change of the rear axle torque is 500 Nm / s.

8. A vehicle torque control device, characterized in that, include: The acquisition module is used to acquire vehicle control parameters and the driver's required torque. The vehicle control parameters include rapid torque change rate, rapid transition torque threshold and dead zone threshold. The rapid torque change rate is greater than the basic torque change rate corresponding to the vehicle in the driving state. The judgment module is used to determine whether the vehicle meets the rapid transition conditions based on the vehicle control parameters and the required torque, wherein the rapid transition conditions include the absolute value of the required torque being less than the rapid transition torque threshold and the direction of the required torque being negative; A control module is configured to determine the target torque of the vehicle based on the rapid torque change rate if the vehicle meets the rapid transition conditions, and control the vehicle torque according to the target torque.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the vehicle torque control method according to any one of claims 1 to 7 by running instructions in the memory.

10. A computer storage medium, characterized in that, The computer storage medium stores instructions that, when executed, implement the vehicle torque control method according to any one of claims 1 to 7.

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