Vehicle torque control method, vehicle, device, equipment, product and medium

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle torque control method, a vehicle, a device, equipment, a product and a medium. The method comprises the steps that a safety coverage signal and a basic mode signal related to driving torque in the vehicle running process are detected, the safety coverage signal is a signal related to vehicle safety running, the priority of the safety coverage signal is the highest in the torque control process, and the basic mode signal is used for indicating a basic running mode of a driving motor in the vehicle; determining a target torque processing mode in at least one preset torque processing mode based on the safety coverage signal and / or the basic mode signal; based on the target torque processing mode, a torque control instruction is obtained, and the torque control instruction is used for controlling a driving motor to operate. The torque processing mode of the vehicle can be adjusted in a self-adaptive mode, responsiveness and comfort are both considered, and the comprehensive performance of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a vehicle torque control method, vehicle, device, equipment, product, and medium. Background Technology

[0002] With the continuous development of new energy vehicle technology, users have increasingly higher requirements for vehicle comfort, including noise, vibration, and harshness (NVH) performance. During vehicle operation, when sudden changes in drive torque occur, such as torque direction switching or torque reduction, the gap between the motor splines and axle splines causes repeated impacts and collisions, producing a "clanging" or "clicking" sound between metal components, i.e., "grinding," which reduces vehicle comfort. Existing technology can reduce the torque slope to make torque changes smoother, reducing the degree of torque abrupt changes and thus mitigating spline gap impact and grinding noise. However, reducing the torque slope slows down torque response, sacrificing vehicle responsiveness and resulting in a feeling of "delayed power delivery after pressing the pedal." Therefore, balancing vehicle responsiveness and comfort has become an important issue. Summary of the Invention

[0003] Based on the deficiencies and shortcomings of the prior art, this application proposes a vehicle torque control method, vehicle, device, equipment, product, and medium that can adaptively adjust the vehicle's torque handling mode, taking into account both responsiveness and comfort, and improving the overall performance of the vehicle.

[0004] According to a first aspect of this application, a vehicle torque control method is provided, comprising: detecting a safety coverage signal and a basic mode signal related to drive torque during vehicle operation, wherein the safety coverage signal is a signal related to the safe operation of the vehicle and has the highest priority during torque control, and the basic mode signal is used to indicate the basic operating mode of the drive motor in the vehicle; determining a target torque processing mode among at least one preset torque processing mode based on the safety coverage signal and / or the basic mode signal; wherein the preset torque processing modes include, but are not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode; wherein the first torque processing mode is used to prioritize the responsiveness of the drive motor; the second torque processing mode is used to balance the responsiveness with the comfort of the vehicle; and the third torque processing mode is used to prioritize the comfort; and obtaining a torque control command based on the target torque processing mode, wherein the torque control command is used to control the operation of the drive motor.

[0005] According to the vehicle torque control method provided in the first aspect of this application, the preset torque processing mode includes, but is not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode; wherein, the first torque processing mode is used to prioritize the responsiveness of the drive motor; the second torque processing mode is used to balance the responsiveness with the comfort of the vehicle; and the third torque processing mode is used to prioritize the comfort.

[0006] According to the vehicle torque control method provided in the first aspect of this application, determining the target torque processing mode based on the safety coverage signal and / or the basic mode signal includes: if the safety coverage signal is activated, determining the target torque processing mode as a first torque processing mode; obtaining a torque control command based on the target torque processing mode includes: in the first torque processing mode, generating the torque control command with the control objective of directly adjusting the actual output torque of the drive motor to the target drive torque; or, in the first torque processing mode, generating the torque control command with the control objective of gradually adjusting the actual output torque of the drive motor to the target drive torque based on a first torque slope, wherein the first torque slope is greater than the torque slope related to the comfort.

[0007] According to the vehicle torque control method provided in the first aspect of this application, determining the target torque processing mode based on the safety coverage signal and / or the basic mode signal includes: if the safety coverage signal is not activated and the basic mode signal indicates that the vehicle does not perform a gear shifting operation, then the target torque processing mode is determined to be a second torque processing mode; obtaining a torque control command based on the target torque processing mode includes: in the second torque processing mode, obtaining the accelerator pedal change rate of the vehicle; if the accelerator pedal change rate is greater than a pedal change threshold, then the torque control command is generated with the control target being to gradually adjust the actual output torque of the drive motor to the target drive torque based on a second torque slope; if the accelerator pedal change rate is less than or equal to the pedal change threshold, then the torque control command is generated with the control target being to gradually adjust the actual output torque of the drive motor to the target drive torque based on a third torque slope; wherein, the second torque slope is greater than the third torque slope.

[0008] According to the vehicle torque control method provided in the first aspect of this application, determining the target torque processing mode based on the safety coverage signal and / or the basic mode signal includes: if the safety coverage signal is activated and the basic mode signal indicates that the vehicle has a gear shifting operation, then the target torque processing mode is determined to be a third torque processing mode; obtaining a torque control command based on the target torque processing mode includes: in the third torque processing mode, using the control of gradually adjusting the actual output torque of the drive motor based on the torque change curve to the target drive torque as the control target, generating the torque control command.

[0009] According to the vehicle torque control method provided in the first aspect of this application, the torque change curve is obtained based on at least one of the following factors: the resonance frequency of the transmission system in the vehicle, the torque zeroing time, and the torque recovery time.

[0010] According to a second aspect of this application, a vehicle is provided, which is controlled by a vehicle torque control method as described in any of the first aspects.

[0011] According to a third aspect of this application, a vehicle torque control device is provided, comprising: a signal detection module for detecting a safety coverage signal and a basic mode signal related to drive torque during vehicle operation, wherein the safety coverage signal is a signal related to the safe operation of the vehicle, the safety coverage signal has the highest priority during torque control, and the basic mode signal is used to indicate the basic operating mode of the drive motor in the vehicle; a mode determination module for determining a target torque processing mode based on the safety coverage signal and / or the basic mode signal among at least one preset torque processing mode, wherein the preset torque processing modes include, but are not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode; wherein the first torque processing mode is used to prioritize the responsiveness of the drive motor; the second torque processing mode is used to balance responsiveness and vehicle comfort; and the third torque processing mode is used to prioritize comfort; and a torque generation module for obtaining a torque control command based on the target torque processing mode, wherein the torque control command is used to control the operation of the drive motor.

[0012] According to a fourth aspect of this application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store a program; the processor is used to implement the vehicle torque control method as described in the first aspect by running the program in the memory.

[0013] According to a fifth aspect of this application, a computer program product is provided, including computer program instructions; said computer program instructions, when executed by a processor, cause the processor to perform the vehicle torque control method as described in the first aspect.

[0014] According to a sixth aspect of this application, a computer storage medium is provided, wherein computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle torque control method as described in the first aspect.

[0015] In this application, a safety coverage signal and a basic mode signal related to drive torque are detected during vehicle operation. The safety coverage signal is related to safe vehicle operation and has the highest priority during torque control. The basic mode signal indicates the basic operating mode of the drive motor in the vehicle. Based on the safety coverage signal and / or the basic mode signal, a target torque processing mode is determined from at least one preset torque processing mode. These preset torque processing modes include, but are not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode. The first torque processing mode prioritizes the responsiveness of the drive motor; the second torque processing mode balances responsiveness and vehicle comfort; and the third torque processing mode prioritizes comfort. Based on the target torque processing mode, a torque control command is obtained, which controls the operation of the drive motor. In this process, during vehicle operation, the safety coverage signal and / or the basic mode signal characterize the real-time status and demand of the vehicle's drive torque. Based on the safety coverage signal and the basic mode signal, the target torque processing mode, which is more suitable for the real-time status and demand of the vehicle, is flexibly and adaptively adjusted among the first, second, and third torque processing modes to generate a torque control command to control the operation of the drive motor. Compared to simply reducing the torque slope, the solution provided in this application can achieve a balance between the higher responsiveness required for safe vehicle operation and the higher comfort requirements of users by adaptively adjusting the torque handling mode, thereby improving the overall performance of the vehicle. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is one of the flowcharts illustrating a vehicle torque control method provided in this application embodiment.

[0018] Figure 2 This is a schematic diagram of a vehicle torque control principle provided in an embodiment of this application.

[0019] Figure 3This is a second schematic flowchart of a vehicle torque control method provided in an embodiment of this application.

[0020] Figure 4 This is a block diagram of a vehicle torque control device provided in an embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Exemplary methods To address the problems existing in the prior art, this application provides a vehicle torque control method. This method can be implemented as a software algorithm, which can run on any device with data processing capabilities, as long as the device can communicate with the vehicle and complete the vehicle control process. Optionally, the device running the software algorithm for the vehicle torque control method can be a remote server, a local computer, a smart mobile device, or a controller on the vehicle; preferably, the device running the software algorithm for the vehicle torque control method is the motor control unit (MCU) of the vehicle's drive motor. The scope of protection of this application is not limited by the type of device on which the software algorithm for the vehicle torque control method runs.

[0024] In one embodiment, such as Figure 1 As shown, the process steps for implementing the vehicle torque control method include: Step 101: Detect the safety coverage signal and basic mode signal related to the drive torque during vehicle operation. The safety coverage signal is a signal related to safe vehicle operation and has the highest priority during torque control. The basic mode signal is used to indicate the basic operating mode of the drive motor in the vehicle.

[0025] In this embodiment, the vehicle includes a drive motor that outputs drive torque to propel the vehicle. During vehicle operation, the safety override signal is a signal related to safe vehicle operation. In torque control, the safety override signal is the highest priority "interrupt" or "override" request signal. Its main function is to notify the torque calculation engine that there is a higher priority control requirement for safety reasons, which needs to temporarily take over or override the regular torque control based on basic driving needs such as driver intent. Optionally, this safety override signal is a torque override activation signal (VCU_TorqueOverrideActive). During normal vehicle operation, if no events affecting vehicle safety occur, VCU_TorqueOverrideActive remains in an "inactive" state. When chassis domain controllers such as the Electronic Stability Program (ESP) and Traction Control System (TCS) detect that the vehicle is about to become unstable (such as wheel slippage, oversteer, or understeer), they send a request to the Vehicle Control Unit (VCU), which then sets VCU_TorqueOverrideActive to an "active" state. When the torque control method of this vehicle is implemented in the motor controller, the VCU will synchronize VCU_TorqueOverrideActive to the motor controller in real time to implement other processing steps of this method.

[0026] In this embodiment, the basic mode signal is a state signal used to define the current basic operating mode of the vehicle. The basic mode signal conveys the basic operating mode that the VCU (Vehicle Control Unit) decides to execute based on the overall vehicle status (including but not limited to driver operation) and the desired motor operation mode. Basic operating modes include, but are not limited to, drive mode, regenerative braking mode, and cruise mode. Optionally, the basic mode signal can be a motor operating mode signal (VCU_EMWorkMode). The VCU integrates driver intent, vehicle speed, battery status, fault information, etc., to ultimately generate an appropriate VCU_EMWorkMode. VCU_EMWorkMode represents the basic operating mode after VCU decision; it integrates driver intent and other vehicle statuses and is the basis for determining the basic torque control framework. When this vehicle torque control method is implemented in the motor controller, the VCU synchronizes VCU_EMWorkMode to the motor controller in real time to implement other processing steps of this method.

[0027] In this embodiment, the safety coverage signal is configured to have the highest priority during torque control, which can achieve the purpose of prioritizing vehicle safety and ensure that vehicle driving safety is given priority under any circumstances.

[0028] Step 102: Based on the safety coverage signal and / or the basic mode signal, determine the target torque processing mode among at least one preset torque processing mode, wherein the preset torque processing mode includes, but is not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode; wherein the first torque processing mode is used to prioritize the responsiveness of the drive motor; the second torque processing mode is used to balance responsiveness and vehicle comfort; and the third torque processing mode is used to prioritize comfort.

[0029] In this embodiment, the torque processing mode refers to the control logic that processes torque based on factors such as the vehicle's current operating conditions, driving intentions, and system status, using a specific calculation path, control strategy, or parameter configuration when processing the target driving torque. To balance the trade-off between vehicle responsiveness and comfort, and with the goal of achieving optimal torque response characteristics, multiple preset torque processing modes are pre-set, each with different torque processing logic. During vehicle operation, based on safety coverage signals and / or basic mode signals, the preset torque processing mode with the optimal torque response characteristics is selected as the target torque processing mode under different vehicle operating conditions. This achieves adaptive adjustment of the torque processing mode, balancing vehicle responsiveness and comfort, and improving overall vehicle performance.

[0030] In this embodiment, based on the comprehensive requirements of vehicle responsiveness and comfort, a first torque processing mode (also known as a high dynamic response mode), a second torque processing mode (also known as a comfort following mode), and a third torque processing mode (also known as an autonomous torque control mode) are preset. The first torque processing mode prioritizes the responsiveness of the motor; the second torque processing mode takes into account both responsiveness and vehicle comfort; and the third torque processing mode prioritizes comfort.

[0031] In this embodiment, the safety coverage signal and / or the basic mode signal can characterize the real-time status and demand of the vehicle's driving torque. For example, activating the safety coverage signal can characterize the real-time safety requirements during vehicle operation, and the basic mode signal can characterize the basic operating mode requirements for vehicle operation. Based on the real-time status and demand of the vehicle characterized by the safety coverage signal and the basic mode signal, the accuracy of adjusting the torque processing mode can be improved.

[0032] Step 103: Based on the target torque processing mode, obtain the torque control command, which is used to control the operation of the drive motor.

[0033] In this embodiment, the torque control command is the execution layer command that ultimately controls the operation of the drive motor. After adaptively adjusting the torque processing mode and determining the target torque processing mode, the torque control command is obtained based on the target torque processing mode and transmitted to the drive motor for execution. The drive motor responds to the torque control command and completes the execution action corresponding to the torque control command.

[0034] In one embodiment, the preset torque processing modes include, but are not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode. The first torque processing mode prioritizes the responsiveness of the drive motor; the second torque processing mode balances responsiveness with vehicle comfort; and the third torque processing mode prioritizes comfort.

[0035] In this embodiment, based on the comprehensive requirements of vehicle responsiveness and comfort, a first torque processing mode (also known as a high dynamic response mode), a second torque processing mode (also known as a comfort following mode), and a third torque processing mode (also known as an autonomous torque control mode) are pre-set. The first torque processing mode prioritizes motor responsiveness; the second torque processing mode balances responsiveness and vehicle comfort; and the third torque processing mode prioritizes comfort. Based on the safety coverage signal and / or the basic mode signal, an appropriate torque processing mode is adaptively selected to achieve a balance between responsiveness and comfort, thereby improving the overall performance of the vehicle.

[0036] In one embodiment, determining a target torque processing mode based on a safety coverage signal and / or a base mode signal includes: if the safety coverage signal is activated, determining the target torque processing mode as a first torque processing mode. Obtaining a torque control command based on the target torque processing mode includes: in the first torque processing mode, generating a torque control command with the control objective of directly adjusting the actual output torque of the drive motor to the target drive torque; or, in the first torque processing mode, generating a torque control command with the control objective of gradually adjusting the actual output torque of the drive motor to the target drive torque based on a first torque slope, wherein the first torque slope is greater than a torque slope related to comfort.

[0037] In this embodiment, if the safety coverage signal is activated, it indicates that the vehicle faces a safety risk. For example, ESP detects risks such as understeer / oversteer and sideslip risk based on parameters such as vehicle yaw rate and lateral acceleration; TCS detects the risk of drive wheel slippage when the wheel speed difference exceeds a threshold. At this time, the first torque processing mode, which prioritizes responsiveness, is invoked. Furthermore, in the first torque processing mode, to ensure high vehicle responsiveness, the actual output torque can be directly adjusted to the target drive torque, or the actual output torque of the drive motor can be gradually adjusted to the target drive torque based on a large first torque slope, thus rapidly adjusting the actual output torque of the drive motor to achieve rapid vehicle response in safety risk scenarios. Here, the target drive torque refers to the desired torque value output by the drive motor; the actual output torque refers to the actual torque value output by the drive motor; and the torque slope refers to the change in torque per unit time. Optionally, the first torque slope is typically set to the maximum value within the performance range of the drive motor to ensure the vehicle's fastest possible response speed. Specifically, the first torque slope is greater than the torque slope related to comfort. The torque slope related to comfort includes, but is not limited to, the second torque slope under the second torque processing mode, the third torque slope, and the torque slope of the torque change curve under the third torque processing mode.

[0038] In this embodiment, the actual output torque is directly adjusted to the target drive torque as the control objective. Alternatively, the actual output torque of the drive motor is gradually adjusted to the target drive torque based on a first torque slope. This temporarily bypasses or greatly relaxes the torque rise / fall slope filter based on comfort settings. Simultaneously, in the first torque processing mode where the safety coverage signal is activated, torque control commands are assigned the highest priority, ensuring microsecond-level command processing and Pulse Width Modulation (PWM) update speed within the controller. This allows the actual output torque of the drive motor to respond to the chassis system's needs with near-zero delay, significantly improving vehicle safety performance on low-traction surfaces or under extreme handling conditions. When a safety risk occurs, the system temporarily sacrifices comfort, restoring vehicle stability through a rapid response. Of course, if the safety coverage signal returns to an inactive state, the first torque processing mode exits, and the system adaptively adjusts to a second, third, or other torque processing mode.

[0039] In one embodiment, determining a target torque processing mode based on a safety coverage signal and / or a basic mode signal includes: if the safety coverage signal is not activated and the basic mode signal indicates that the vehicle is not performing a gear shifting operation, then the target torque processing mode is determined to be a second torque processing mode. Obtaining a torque control command based on the target torque processing mode includes: in the second torque processing mode, obtaining the accelerator pedal change rate of the vehicle; if the accelerator pedal change rate is greater than a pedal change threshold, then using the actual output torque of the drive motor gradually adjusted to the target drive torque based on a second torque slope as the control target, generating a torque control command; if the accelerator pedal change rate is less than or equal to the pedal change threshold, then using the actual output torque of the drive motor gradually adjusted to the target drive torque based on a third torque slope as the control target, generating a torque control command; wherein the second torque slope is greater than the third torque slope.

[0040] In this embodiment, if the safety coverage signal is not activated, it indicates that the vehicle currently poses no safety risk. Gear shifting is the cause of the grinding noise between the motor splines and axle splines in the vehicle's drive system. Furthermore, acquiring gear shifting operations is simpler and easier than directly collecting torque changes. Therefore, the presence of gear shifting operations can be determined by checking the basic mode signal to assess the risk of grinding noise. If the basic mode signal indicates that the vehicle is not shifting gears, the risk of grinding noise from the splines in the vehicle's drive system is low. When the safety coverage signal is not activated and the basic mode signal indicates that the vehicle is not shifting gears, a second torque processing mode that balances responsiveness and comfort is employed.

[0041] In this embodiment, to balance vehicle responsiveness and comfort, the driver's intention is characterized by analyzing the rate of change of the accelerator pedal. The rate of change of the accelerator pedal refers to the amount of change in the accelerator pedal opening per unit time. The larger the rate of change of the accelerator pedal, the more urgent the driver's intention to accelerate the vehicle, and the more they want the vehicle to respond quickly. Therefore, a pedal change threshold is pre-set based on experimental data, experience, and / or vehicle-related performance factors. When the rate of change of the accelerator pedal is greater than the threshold, it is determined that the driver is pressing the accelerator pedal urgently. In this case, the actual output torque of the drive motor is gradually adjusted to the target drive torque based on a larger second torque slope, making the control process of the drive motor more focused on rapid response, thereby satisfying the driver's more urgent driving intention. When the rate of change of the accelerator pedal is less than or equal to the threshold, it is determined that the driver is pressing the accelerator pedal gently. In this case, the actual output torque of the drive motor is gradually adjusted to the target drive torque based on a smaller third torque slope, making the control process of the drive motor more focused on smooth transition, minimizing the grinding noise caused by sudden torque changes, thereby improving the comfort of the vehicle during driving.

[0042] In this embodiment, if the safety coverage signal is not activated and the basic mode signal indicates that the vehicle is not shifting gears, the vehicle is in a normal driving state. Instead of simply using a fixed torque slope, an adaptive ramp function (i.e., a second torque slope and a third torque slope) based on the accelerator pedal change rate is introduced. When the driver presses the accelerator sharply, a steeper second torque slope is allowed to ensure responsiveness; when the driver lightly presses or easily releases the accelerator, a gentler third torque slope is used to achieve a comfortable torque transition. The adaptive ramp function achieves a balance between responsiveness and comfort, improving the vehicle's overall performance.

[0043] In one embodiment, determining a target torque processing mode based on a safety coverage signal and / or a basic mode signal includes: if the safety coverage signal is activated and the basic mode signal indicates that the vehicle is performing a gear shifting operation, then the target torque processing mode is determined to be a third torque processing mode. Based on the target torque processing mode, obtaining a torque control command includes: in the third torque processing mode, using the control of the actual output torque of the drive motor gradually adjusted to the target drive torque based on the torque change curve as the control target, generating a torque control command.

[0044] In this embodiment, if the safety coverage signal is activated and the basic mode signal indicates that the vehicle is performing a gear shifting operation, it means that the vehicle is not currently facing any safety risks, and the risk of a grinding sound from the splines in the vehicle's drive system is relatively high. In this case, the third torque processing mode, which prioritizes comfort, is adopted.

[0045] In this embodiment, under the third torque processing mode, the actual output torque of the drive motor is gradually adjusted to the target drive torque based on the torque change curve. The torque change curve refers to the functional relationship between the torque value and time, and is set to avoid comfort requirements such as gear grinding noise. Localized precision control based on the torque change curve solves the root cause problems of shift shock and gear grinding noise. Optionally, the torque change curve can be generated based on real-time data such as drive motor speed and load; the torque change curve can also be configured with multiple preset torque change curves for different shift types (upshifting, downshifting), different vehicle speeds, and different loads. During vehicle operation, the final required torque change curve is determined based on the gear shifting operation in the basic mode signal and the real-time operating conditions of the vehicle.

[0046] In one embodiment, the torque variation curve is obtained based on at least one of the following factors: the resonant frequency of the transmission system in the vehicle, the torque zeroing time, and the torque recovery time.

[0047] In this embodiment, the vehicle's transmission system has inherent resonant frequencies within a specific speed range. At these specific speeds, torque fluctuations can trigger resonance, generating abnormal noises and impacts. Furthermore, the timing of torque zeroing and torque recovery is synchronized with the shift actuator's action. If torque is not zeroed in time, an impact occurs during shifting; if torque recovers too quickly, a "clunking" sound is produced. When designing the torque change curve, the trend of the torque change curve can be adjusted by employing any reasonable method, such as quickly bypassing the resonance zone corresponding to the resonance frequency or frequency decoupling control, to avoid the specific speed range corresponding to the resonance frequency. Alternatively, during torque decrease or recovery, the trend of the torque change curve can be adjusted based on principles such as torque unloading before shifting, torque recovery only after shifting, and the zero torque holding time being greater than the shifting execution time. Furthermore, the slope of the resonance frequency avoidance can be used as the initial value of the torque change curve's slope, and the overall slope of the torque change curve can be adjusted based on factors such as the vehicle's real-time impact (obtained by an acceleration sensor), vibration amplitude (obtained by a vibration sensor), and shifting time.

[0048] In this embodiment, the inherent resonance frequency of the transmission system is actively avoided, and the timing and rate of torque zeroing and torque recovery are precisely controlled to prevent impact on the gear components. This fundamentally solves the problem of gear grinding during shifting, enhances the quality of high-end vehicles, protects the mechanical components of the transmission system, and extends their service life.

[0049] In one specific embodiment, the vehicle torque control method is implemented in the motor controller MCU. For example... Figure 2 As shown, the vehicle control unit (VCU) generates command signals such as safety coverage signals and basic mode signals to the motor control unit (MCU) based on various information including driver intent and vehicle operating information. Upon receiving these command signals, the MCU inputs them to the mode decision and switching module to determine the target torque processing mode to be executed. Based on this mode, the MCU acquires and outputs a torque control command, which is then transmitted to the drive motor for execution. Optionally, the torque control command is an execution-level command. It can be converted into a current command using a field-oriented control algorithm (FOC). The execution layer then uses PWM modulation to convert the current command into a switching signal for the power devices, ultimately achieving precise torque control of the drive motor.

[0050] In this embodiment, the preset torque processing modes include high dynamic response mode, comfort following mode, and autonomous torque control mode. For example... Figure 3 As shown, in the mode decision and switching module, the process of determining the target torque processing mode among at least one preset torque processing mode includes: Step 301: Determine whether VCU_TorqueOverrideActive is activated. If yes, proceed to step 302; otherwise, proceed to step 303. Step 302: Enter the high dynamic response mode, with the control target being to directly adjust the actual output torque of the drive motor to the target drive torque, and generate a torque control command; or, with the control target being to gradually adjust the actual output torque of the drive motor to the target drive torque based on the first torque slope, and generate a torque control command, prioritizing responsiveness, and execute step 306. Step 303: Based on VCU_EMWorkMode, determine whether the vehicle has a gear shifting operation. If not, proceed to step 304; if yes, proceed to step 305. Step 304: Enter Comfort Follow Mode, and gradually adjust the actual output torque of the drive motor to the target drive torque based on the second torque slope or the third torque slope. Generate torque control command and execute step 306. Step 305: Enter autonomous torque control mode, and gradually adjust the actual output torque of the drive motor to the target drive torque based on the torque change curve as the control target. Generate torque control command, prioritize comfort, and execute step 306. Step 306: Control the drive motor to run based on torque control commands.

[0051] In this embodiment, the motor controller MCU is equipped with scene recognition and strategy switching capabilities, and adopts differentiated torque control modes to comprehensively improve the vehicle's response speed, driving comfort, and NVH performance while ensuring vehicle safety. In high dynamic response mode, the response speed and execution accuracy of torque are given full priority to assist the chassis system in quickly restoring vehicle stability. In comfort follow mode, the torque setting of the vehicle controller VCU is accurately followed, and torque changes are smoothly handled, balancing responsiveness and comfort. In autonomous torque control mode, the motor controller MCU autonomously controls the torque, reducing the impact and abnormal noise during gear shifting and completely eliminating gear grinding noise.

[0052] In this application, a safety coverage signal and a basic mode signal related to drive torque are detected during vehicle operation. The safety coverage signal is related to safe vehicle operation and has the highest priority during torque control. The basic mode signal indicates the basic operating mode of the drive motor in the vehicle. Based on the safety coverage signal and / or the basic mode signal, a target torque processing mode is determined from at least one preset torque processing mode. These preset torque processing modes include, but are not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode. The first torque processing mode prioritizes the responsiveness of the drive motor; the second torque processing mode balances responsiveness and vehicle comfort; and the third torque processing mode prioritizes comfort. Based on the target torque processing mode, a torque control command is obtained, which controls the operation of the drive motor. In this process, during vehicle operation, the safety coverage signal and / or the basic mode signal characterize the real-time status and demand of the vehicle's drive torque. Based on the safety coverage signal and the basic mode signal, the target torque processing mode, which is more suitable for the real-time status and demand of the vehicle, is flexibly and adaptively adjusted among the first, second, and third torque processing modes to generate a torque control command to control the operation of the drive motor. Compared to simply reducing the torque slope, the solution provided in this application can achieve a balance between the higher responsiveness required for safe vehicle operation and the higher comfort requirements of users by adaptively adjusting the torque handling mode, thereby improving the overall performance of the vehicle.

[0053] Exemplary vehicle Accordingly, this application also provides a vehicle, which is controlled by the vehicle torque control method provided in any of the above embodiments.

[0054] The vehicle provided in this embodiment belongs to the same concept as the vehicle torque control method provided in the above embodiments of this application. It can apply the vehicle torque control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment can be found in the specific processing content of the vehicle torque control method provided in the above embodiments of this application, and will not be repeated here.

[0055] Exemplary device Accordingly, embodiments of this application also provide a vehicle torque control device, such as... Figure 4 As shown, the device may include: The signal detection module 401 is used to detect the safety coverage signal and the basic mode signal related to the drive torque during vehicle operation. The safety coverage signal is a signal related to the safe operation of the vehicle and has the highest priority in the torque control process. The basic mode signal is used to indicate the basic operating mode of the drive motor in the vehicle. The mode determination module 402 is used to determine a target torque processing mode among at least one preset torque processing mode based on a safety coverage signal and / or a basic mode signal. The preset torque processing modes include, but are not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode. The first torque processing mode is used to prioritize the responsiveness of the drive motor; the second torque processing mode is used to balance responsiveness and vehicle comfort; and the third torque processing mode is used to prioritize comfort. The torque generation module 403 is used to obtain torque control commands based on the target torque processing mode, wherein the torque control commands are used to control the operation of the drive motor.

[0056] In one embodiment, the mode determination module 402 is configured to determine the target torque processing mode as a first torque processing mode if the safety coverage signal is activated. The torque generation module 403 is used to generate a torque control command in the first torque processing mode by directly adjusting the actual output torque of the drive motor to the target drive torque as the control target; or, in the first torque processing mode, to generate a torque control command by gradually adjusting the actual output torque of the drive motor to the target drive torque based on a first torque slope, wherein the first torque slope is greater than the torque slope related to comfort.

[0057] In one embodiment, the mode determination module 402 is used to determine the target torque processing mode as the second torque processing mode if the safety coverage signal is not activated and the basic mode signal indicates that there is no gear shifting operation in the vehicle. The torque generation module 403 is used to obtain the accelerator pedal change rate of the vehicle in the second torque processing mode; if the accelerator pedal change rate is greater than the pedal change threshold, the actual output torque of the drive motor is gradually adjusted to the target drive torque based on the second torque slope as the control target, and a torque control command is generated; if the accelerator pedal change rate is less than or equal to the pedal change threshold, the actual output torque of the drive motor is gradually adjusted to the target drive torque based on the third torque slope as the control target, and a torque control command is generated; wherein, the second torque slope is greater than the third torque slope.

[0058] In one embodiment, the mode determination module 402 is used to determine the target torque processing mode as the third torque processing mode if the safety coverage signal is activated and the basic mode signal indicates that the vehicle has a gear shifting operation. The torque generation module 403 is used to generate torque control commands in the third torque processing mode by gradually adjusting the actual output torque of the drive motor to the target drive torque based on the torque change curve.

[0059] In one embodiment, the torque variation curve is obtained based on at least one of the following factors: the resonant frequency of the transmission system in the vehicle, the torque zeroing time, and the torque recovery time.

[0060] The vehicle torque control device provided in this embodiment belongs to the same concept as the vehicle torque control method provided in the above embodiments of this application. It can execute the vehicle torque control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the specific processing content of the vehicle torque control method provided in the above embodiments of this application, and will not be repeated here.

[0061] Exemplary electronic devices This application also provides an electronic device, such as... Figure 5 As shown, the electronic device includes a memory 500 and a processor 501.

[0062] The memory 500 is connected to the processor 501 and is used to store programs.

[0063] The processor 501 is used to implement the vehicle torque control method in the above embodiments by running the program stored in the memory 500.

[0064] Specifically, the aforementioned electronic device may also include: a communication interface 502, an input device 503, an output device 504, and a bus 505.

[0065] The processor 501, memory 500, communication interface 502, input device 503, and output device 504 are interconnected via a bus. Among them: Bus 505 may include a pathway for transmitting information between various components of a computer system.

[0066] Processor 501 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0067] Processor 501 may include a main processor, as well as a baseband chip, modem, etc.

[0068] The memory 500 stores a program that executes the technical solution of this invention, and may also store an operating system and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 500 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0069] Input device 503 may include a device for receiving data and information input by the user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0070] Output device 504 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0071] The communication interface 502 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0072] The processor 501 executes the program stored in the memory 500 and calls other devices, which can be used to implement the various steps of the vehicle torque control method provided in the above embodiments of this application.

[0073] Exemplary computer program products and storage media In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle torque control method described in the embodiments of this application.

[0074] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0075] Furthermore, embodiments of this application may also be storage media storing a computer program, which is executed by a processor of the steps in the vehicle torque control method described in the embodiments of this application.

[0076] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0077] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0078] The steps in the methods of the various embodiments of this application can be adjusted, merged, or deleted in order according to actual needs, and the technical features described in each embodiment can be replaced or combined.

[0079] The modules and sub-modules in the devices and terminals provided in the various embodiments of this application can be merged, divided, and deleted according to actual needs.

[0080] It should be understood that the disclosed terminals, devices, and methods can be implemented in other ways, given the several embodiments provided in this application. For example, the terminal embodiments described above are merely illustrative. For instance, the division of modules or sub-modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0081] The modules or submodules described as separate components may or may not be physically separate. The components that constitute a module or submodule may or may not be physical modules or submodules; that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules can be selected to achieve the purpose of this embodiment's solution, depending on actual needs.

[0082] Furthermore, the functional modules or sub-modules in the various embodiments of this application can be integrated into one processing module, or each module or sub-module can exist physically separately, or two or more modules or sub-modules can be integrated into one module. The integrated modules or sub-modules described above can be implemented in hardware or in the form of software functional modules or sub-modules.

[0083] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0084] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software unit executed by a processor, or a combination of both. The software unit can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0085] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0086] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle torque control method, characterized in that, include: The system detects safety coverage signals and basic mode signals related to drive torque during vehicle operation. The safety coverage signals are signals related to the safe operation of the vehicle and have the highest priority during torque control. The basic mode signals are used to indicate the basic operating mode of the drive motor in the vehicle. Based on the safety coverage signal and / or the basic mode signal, a target torque processing mode is determined among at least one preset torque processing mode; the preset torque processing mode includes, but is not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode; wherein, the first torque processing mode is used to prioritize the responsiveness of the drive motor; the second torque processing mode is used to balance the responsiveness with the comfort of the vehicle; and the third torque processing mode is used to prioritize the comfort. Based on the target torque processing mode, a torque control command is obtained, wherein the torque control command is used to control the operation of the drive motor.

2. The vehicle torque control method according to claim 1, characterized in that, The determination of the target torque processing mode based on the safety coverage signal and / or the basic mode signal includes: If the safety coverage signal is activated, the target torque processing mode is determined to be the first torque processing mode; The process of obtaining torque control commands based on the target torque processing mode includes: In the first torque processing mode, the torque control command is generated with the control objective of directly adjusting the actual output torque of the drive motor to the target drive torque. or, In the first torque processing mode, the torque control command is generated with the control objective of gradually adjusting the actual output torque of the drive motor to the target drive torque based on the first torque slope, wherein the first torque slope is greater than the torque slope related to the comfort.

3. The vehicle torque control method according to claim 1, characterized in that, The determination of the target torque processing mode based on the safety coverage signal and / or the basic mode signal includes: If the safety coverage signal is not activated and the basic mode signal indicates that the vehicle does not perform a gear shifting operation, then the target torque processing mode is determined to be the second torque processing mode. The process of obtaining torque control commands based on the target torque processing mode includes: In the second torque processing mode, the rate of change of the accelerator pedal of the vehicle is obtained; If the accelerator pedal change rate is greater than the pedal change threshold, then the torque control command is generated with the control objective being to gradually adjust the actual output torque of the drive motor to the target drive torque based on the second torque slope. If the accelerator pedal change rate is less than or equal to the pedal change threshold, then the torque control command is generated with the control objective of gradually adjusting the actual output torque of the drive motor to the target drive torque based on the third torque slope. The second torque slope is greater than the third torque slope.

4. The vehicle torque control method according to claim 1, characterized in that, The determination of the target torque processing mode based on the safety coverage signal and / or the basic mode signal includes: If the safety coverage signal is activated, and the basic mode signal indicates that the vehicle is performing a gear shifting operation, then the target torque processing mode is determined to be the third torque processing mode. The process of obtaining torque control commands based on the target torque processing mode includes: In the third torque processing mode, the torque control command is generated with the control objective of gradually adjusting the actual output torque of the drive motor to the target drive torque based on the torque change curve.

5. The vehicle torque control method according to claim 4, characterized in that, The torque variation curve is obtained based on at least one of the following factors: the resonant frequency of the transmission system in the vehicle, the torque zeroing time, and the torque recovery time.

6. A vehicle, characterized in that, The vehicle is controlled by the vehicle torque control method as described in any one of claims 1-5.

7. A vehicle torque control device, characterized in that, include: The signal detection module is used to detect safety coverage signals and basic mode signals related to drive torque during vehicle operation. The safety coverage signals are signals related to the safe operation of the vehicle and have the highest priority during torque control. The basic mode signals are used to indicate the basic operating mode of the drive motor in the vehicle. The mode determination module is used to determine a target torque processing mode among at least one preset torque processing mode based on the safety coverage signal and / or the basic mode signal, wherein the preset torque processing modes include, but are not limited to, a first torque processing mode, a second torque processing mode, and a third torque processing mode; wherein the first torque processing mode is used to prioritize the responsiveness of the drive motor; the second torque processing mode is used to balance responsiveness and vehicle comfort; and the third torque processing mode is used to prioritize comfort. A torque generation module is used to obtain torque control commands based on a target torque processing mode, wherein the torque control commands are used to control the operation of the drive motor.

8. An electronic device, characterized in that, include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the vehicle torque control method as described in any one of claims 1-5 by running a program in the memory.

9. A computer program product, characterized in that, Includes computer program instructions; When the computer program instructions are executed by the processor, the processor causes the processor to perform the vehicle torque control method as described in any one of claims 1-5.

10. A computer storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle torque control method as described in any one of claims 1 to 5.

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