Method for determining demand torque, electronic device, and vehicle

Abstract

This application relates to a method for determining required torque, an electronic device, and a vehicle. The method for determining required torque includes: acquiring the current pedal torque of the vehicle and the current physical capability boundary range of the vehicle's electric drive system; determining a linear boundary range based on the current physical capability boundary range, and detecting whether the current pedal torque is within the linear boundary range; if the current pedal torque is outside the linear boundary range, establishing a linear relationship between the pedal torque and required torque based on a calibrated pedal torque range, a first boundary value of the current physical capability boundary range, and a second boundary value of the linear boundary range; and determining the required torque corresponding to the current pedal torque based on this linear relationship. This ensures that the required torque corresponding to the current pedal torque changes linearly with changes in the electric drive system's capability, avoiding abrupt changes in the driver's required torque under conditions where the electric drive system's capability is limited, and effectively improving the driving experience.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a method for determining required torque, electronic equipment, and a vehicle. Background Technology

[0002] With the rapid development of new energy technologies, new energy vehicle technology has received increasing attention. Among the key aspects of new energy vehicle control systems, determining the driver's required torque is a crucial step in vehicle power control, serving as a vital link between the driver's intentions and the powertrain's execution. Its control precision directly determines the vehicle's drivability, fuel economy, comfort, and safety. However, current vehicles still suffer from uneven power output during driving, severely impacting the driving experience. Summary of the Invention

[0003] In view of this, this application aims to provide a method for determining the required torque, an electronic device, and a vehicle that can ensure the smooth output of the required torque and effectively improve the driving experience.

[0004] The first aspect of this application provides a method for determining the required torque, comprising: Obtain the vehicle's current pedal torque and the current physical capability boundaries of the vehicle's electric drive system; Based on the current physical capability boundary range, a linear boundary range is determined, and it is detected whether the current pedal torque is within the linear boundary range; wherein, the upper limit of the linear boundary range is less than the upper limit of the current physical capability boundary range, and the lower limit of the linear boundary range is greater than the lower limit of the current physical capability boundary range. If the current pedal torque is outside the linear boundary range, a linear relationship between the pedal torque and the required torque is established based on the calibrated pedal torque range, the first boundary value of the current physical capability boundary range, and the second boundary value of the linear boundary range. Based on the linear relationship between the pedal torque and the required torque, the required torque corresponding to the current pedal torque is determined. The first boundary value is the boundary value in the current physical capability boundary range that is closest to the current pedal torque. The second boundary value is the boundary value in the linear boundary range that is closest to the current pedal torque.

[0005] Optionally, determining the linear boundary range based on the current physical capability boundary range includes: The upper limit of the linear boundary range is determined based on the upper limit of the current physical capability boundary range and a preset coefficient, wherein the preset coefficient is less than 1; and the lower limit of the linear boundary range is determined based on the lower limit of the current physical capability boundary range and a preset threshold. The linear boundary range is obtained based on the upper limit and the lower limit of the linear boundary range.

[0006] Optionally, determining the linear boundary range based on the current physical capability boundary range includes: The upper limit of the linear boundary range is determined based on the upper limit of the current physical capability boundary range, the upper limit of the calibrated pedal torque range, and a preset coefficient; the preset coefficient is less than 1; and the lower limit of the linear boundary range is determined based on the lower limit of the current physical capability boundary range, the lower limit of the calibrated pedal torque range, and a preset threshold. The linear boundary range is obtained based on the upper limit and the lower limit of the linear boundary range.

[0007] Optionally, if the current pedal torque is less than the lower limit of the linear boundary range, then the first boundary value is determined to be the lower limit of the current physical capability boundary range, and the second boundary value is the lower limit of the linear boundary range. If the current pedal torque is greater than the upper limit of the linear boundary range, then the first boundary value is determined to be the upper limit of the current physical capability boundary range, and the second boundary value is determined to be the upper limit of the linear boundary range.

[0008] Optionally, establishing a linear relationship between pedal torque and required torque based on the calibrated pedal torque range, the first boundary value of the current physical capability boundary range, and the second boundary value of the linear boundary range includes: If the current pedal torque is greater than the upper limit of the linear boundary range, then the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is determined to be the upper limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is determined to be the upper limit of the linear boundary range; based on the first boundary value corresponding to the upper limit of the calibrated pedal torque range and the second boundary value corresponding to the upper limit of the linear boundary range, a linear relationship between the pedal torque and the required torque is established; If the current pedal torque is less than the lower limit of the linear boundary range, then the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is determined to be the lower limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is determined to be the lower limit of the linear boundary range; based on the first boundary value corresponding to the lower limit of the calibrated pedal torque range and the second boundary value corresponding to the lower limit of the linear boundary range, a linear relationship between the pedal torque and the required torque is established.

[0009] Optionally, obtaining the vehicle's current pedal torque includes: Obtain the vehicle's current speed and current pedal opening; Based on the pre-established correspondence between vehicle speed, pedal opening, and pedal torque, the pedal torque corresponding to the current vehicle speed and the current pedal opening is determined, and the pedal torque corresponding to the current vehicle speed and the current pedal opening is determined as the current pedal torque of the vehicle.

[0010] Optionally, it also includes: If the current pedal torque is within the linear boundary range, then the current pedal torque is determined to be the corresponding required torque.

[0011] Optionally, the preset coefficient includes 0.6; and / or, the preset threshold includes 5000 N·m.

[0012] A second aspect of this application provides an electronic device, comprising: A processor, and a memory connected to the processor; The memory is used to store computer programs; The processor is configured to invoke and execute the computer program in the memory to perform the method for determining the required torque as described in the first aspect of this application.

[0013] A third aspect of this application provides a vehicle including electronic devices as described in the second aspect of this application.

[0014] In this application, the current pedal torque and the current physical capability boundary range of the vehicle's electric drive system are first obtained. Then, a linear boundary range is determined based on the current physical capability boundary range, and it is detected whether the current pedal torque is within the linear boundary range. This provides a basis for determining whether the vehicle's physical capability boundary range may be limited. The upper limit of the linear boundary range is lower than the upper limit of the current physical capability boundary range, and the lower limit of the linear boundary range is higher than the lower limit of the current physical capability boundary range. If the current pedal torque is outside the linear boundary range, it indicates that the vehicle's required torque is approaching the boundary value of the current physical capability boundary range, which may result in uneven vehicle power output. Therefore, a linear relationship between the pedal torque and the required torque can be established based on the calibrated pedal torque range, the first boundary value of the current physical capability boundary range, and the second boundary value of the linear boundary range. Based on this linear relationship, the required torque corresponding to the current pedal torque is determined. The first boundary value is the boundary value within the current physical capability boundary range that is closest to the current pedal torque; the second boundary value is the boundary value within the linear boundary range that is closest to the current pedal torque. Thus, when the current pedal torque exceeds the linear boundary range, that is, when there is a risk of uneven power output due to the limitation of the vehicle's physical capabilities, by establishing a linear relationship between the pedal torque and the required torque, it is ensured that the required torque corresponding to the current pedal torque can change linearly with the changes in the electric drive system's capabilities. This avoids abrupt changes in the driver's required torque under conditions where the electric drive system's capabilities are limited, effectively improving the driving experience. Attached Figure Description

[0015] 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating a method for determining required torque according to an embodiment of this application.

[0017] Figure 2 This is a flowchart illustrating a method for determining required torque according to another embodiment of this application.

[0018] Figure 3 This is a schematic diagram illustrating the linear relationship between pedal torque and required torque according to one embodiment of this application.

[0019] Figure 4This is a comparison diagram of the effects of two different technical solutions when the physical capability boundary of the electric drive system is limited, provided by another embodiment of this application.

[0020] Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0021] 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.

[0022] In the control system of new energy vehicles, the driver's torque demand algorithm, as the core decision-making unit of the vehicle's power domain, plays a crucial role as both the "brain" and the "command stick." This algorithm is typically deployed in the vehicle controller or domain controller software layer. Its core function is to analyze the driver's driving intentions in real time and translate them into precise and reasonable drive or braking feedback torque request values. This request value serves as a key instruction, sent to the powertrain execution units such as the motor and electronic control system, directly affecting the vehicle's drivability, economy, comfort, and safety.

[0023] From the perspective of current mainstream technical solutions in the industry, the calculation of the driver's required torque generally adopts a logical framework of "basic torque lookup table + multi-dimensional correction". Specifically, the algorithm first calculates a basic torque value based on two core input parameters: the current pedal opening (accelerator pedal travel / brake pedal travel) and the vehicle speed. This is done using a pre-calibrated torque MAP (i.e., torque characteristic curve, with calibration data optimized based on driving experience and power performance requirements under different operating conditions).

[0024] Based on this, the algorithm incorporates multiple external conditions for torque correction and optimization: On one hand, it adjusts torque output characteristics according to the driver's selected driving mode (such as Eco, Standard, and Sport modes). For example, in Sport mode, it amplifies the base torque to improve power response, while in Eco mode, it suppresses torque output to reduce energy consumption. On the other hand, it introduces system capability protection and boundary limiting mechanisms, covering scenarios such as battery remaining charge limitation, motor speed / temperature protection, transmission operating condition adaptation, and braking energy recovery coordination, ensuring that torque output is always within the safe operating range of the entire vehicle system. After the above corrections and coordination, precise torque commands are finally output to each execution unit.

[0025] The inventors discovered that existing mainstream algorithms can achieve stable torque output under normal driving conditions (such as constant speed driving on urban roads and normal acceleration / deceleration), ensuring a basic driving experience for the driver. However, when the system's capabilities are limited, such as in low-temperature environments where battery discharge capacity is limited, when the battery's remaining charge is extremely low, when the motor's high-temperature protection is activated, or during rapid acceleration and braking, if the pedal torque (i.e., the output torque) corresponding to the pedal opening exceeds the current physical capability boundary of the electric drive system, the required torque will always remain consistent with the boundary value of the corresponding physical capability boundary, meaning the output torque demanded by the driver will be abrupt. For example, if the system's maximum output torque is 5000 N·m when its capacity is unrestricted, and the driver starts accelerating from 50% pedal opening (corresponding to a torque demand of 1000 N·m), then the driver's required torque will be linearly output between 1000 N·m and 5000 N·m. However, if, for some reason (such as a fault in the electric drive system), the system's capacity is restricted from 5000 N·m to 3000 N·m, then under the same conditions, the driver's required torque will remain linearly output between 1000 N·m and 3000 N·m as the pedal opening changes. If the required torque reaches 3000 N·m at 70% pedal opening, then the required torque will remain limited to 3000 N·m between 70% and 100% pedal opening. Thus, the driver will clearly feel an uneven power delivery at the same pedal opening, and when decelerating to a partial pedal opening, the vehicle may not exhibit a sense of deceleration, affecting the driving experience.

[0026] Therefore, embodiments of this application provide a method for determining the required torque, such as... Figure 1 As shown, the implementation steps of the method for determining the required torque are as follows: S101. Obtain the current pedal torque of the vehicle and the current physical capability boundary range of the vehicle's electric drive system.

[0027] Current pedal torque refers to the output torque of the electric drive system corresponding to the current pedal opening. The current physical capability boundary range of the electric drive system refers to the torque range that the electric drive system can currently exert.

[0028] Specifically, the current pedal torque of the vehicle can be determined based on the vehicle's current speed and current pedal opening, and the current physical capability boundary range can be determined based on the maximum torque that the electric drive system can currently deliver, the minimum torque that it can currently deliver, and the energy recovery value.

[0029] Specifically, when determining the current physical capability boundary range based on the maximum torque, minimum torque, and energy recovery value of the electric drive system, the maximum torque can be set as the upper limit of the current physical capability boundary range, and the larger of the minimum torque and the current energy recovery value can be set as the lower limit. This provides data support for subsequently determining the required torque.

[0030] The determination of the current energy recovery value can refer to existing related technologies, which will not be elaborated here.

[0031] S102. Determine the linear boundary range based on the current physical capability boundary range, and detect whether the current pedal torque is within the linear boundary range.

[0032] The upper limit of the linear boundary range is less than the upper limit of the current physical capability boundary range, while the lower limit of the linear boundary range is greater than the lower limit of the current physical capability boundary range.

[0033] The linear boundary range is a range defined based on the current physical capability boundary range. Its specific range can be set according to actual needs and is not specifically limited here. However, it should be noted that the upper limit of the linear boundary range is less than the upper limit of the current physical capability boundary range, and there is a certain difference between them; similarly, the lower limit of the linear boundary range is greater than the lower limit of the current physical capability boundary range, and there is also a certain difference between them. Based on this, the linear boundary range can be located within the current physical capability boundary range, and there is an interval between the corresponding boundary values. It should be understood that under unrestricted operating conditions of the electric drive system, the pedal torque equals the required torque. However, since there may be situations where the electric drive system's operating conditions are restricted, the embodiments of this application provide a linear boundary range. This linear boundary range is located within the current physical capability boundary range, and there is an interval between the corresponding boundary values. That is, the linear boundary range is the range obtained by removing the boundary region from the current physical capability boundary range. Within this range, the pedal torque equals the required torque.

[0034] Thus, by detecting whether the current pedal torque is within the linear boundary range, it is possible to detect whether the current pedal torque is close to the boundary value of the current physical capability range, that is, to detect whether there is a risk of sudden torque, thereby laying the foundation for ensuring the smoothness of power output.

[0035] Correspondingly, if the current pedal torque is not within the linear boundary range, it means that the current pedal torque is close to the boundary value of the current physical capability boundary range, and there is a risk of abrupt torque demand, that is, there is a risk of uneven torque output. In this case, step S103 can be continued.

[0036] S103. Based on the calibrated pedal torque range, the first boundary value of the current physical capability boundary range, and the second boundary value of the linear boundary range, establish a linear relationship between pedal torque and demand torque, and determine the demand torque corresponding to the current pedal torque based on the linear relationship between pedal torque and demand torque; the first boundary value is the boundary value closest to the current pedal torque in the current physical capability boundary range; the second boundary value is the boundary value closest to the current pedal torque in the linear boundary range.

[0037] The calibrated pedal torque range refers to the range of pedal torque corresponding to the pre-built correspondence between vehicle speed, pedal opening and pedal torque (i.e., the pre-calibrated torque MAP). The lower limit of the calibrated pedal torque range is the pedal torque value corresponding to 0% pedal opening, and the upper limit of the calibrated pedal torque range is the pedal torque value corresponding to 100% pedal opening.

[0038] In this embodiment, the current pedal torque and the current physical capability boundary range of the vehicle's electric drive system are first obtained. Then, a linear boundary range is determined based on the current physical capability boundary range, and it is detected whether the current pedal torque is within the linear boundary range. This provides a basis for judging whether the vehicle's physical capability boundary range may be limited. The upper limit of the linear boundary range is less than the upper limit of the current physical capability boundary range, and the lower limit of the linear boundary range is greater than the lower limit of the current physical capability boundary range. If the current pedal torque is outside the linear boundary range, it indicates that the vehicle's required torque is approaching the boundary value of the current physical capability boundary range, which may result in uneven power output. Therefore, a linear relationship between the pedal torque and the required torque can be established based on the calibrated pedal torque range, the first boundary value of the current physical capability boundary range, and the second boundary value of the linear boundary range. Based on this linear relationship, the required torque corresponding to the current pedal torque is determined. The first boundary value is the boundary value within the current physical capability boundary range that is closest to the current pedal torque, and the second boundary value is the boundary value within the linear boundary range that is closest to the current pedal torque. Thus, when the current pedal torque exceeds the linear boundary range, that is, when there is a risk of uneven power output due to the limitation of the vehicle's physical capabilities, by establishing a linear relationship between the pedal torque and the required torque, it is ensured that the required torque corresponding to the current pedal torque can change linearly with the changes in the electric drive system's capabilities. This avoids abrupt changes in the driver's required torque under conditions where the electric drive system's capabilities are limited, effectively improving the driving experience.

[0039] In some implementations, if the current pedal torque is within the linear boundary range, it means that the current pedal torque is not approaching the boundary value of the current physical capability range, i.e., there is no risk of uneven torque output, and it can be handled as follows. Figure 2As shown, continue with the following steps: S104. Determine that the current pedal torque is the corresponding required torque.

[0040] This avoids the poor driving experience caused by the physical limitations of the electric drive system and improves the vehicle's power performance.

[0041] In some implementations, when determining the linear boundary range based on the current physical capability boundary range, the upper limit of the linear boundary range can be determined based on the upper limit of the current physical capability boundary range and a preset coefficient; the preset coefficient is less than 1; and the lower limit of the linear boundary range can be determined based on the lower limit of the current physical capability boundary range and a preset threshold; and then the linear boundary range can be obtained based on the upper limit of the linear boundary range and the lower limit of the linear boundary range.

[0042] Specifically, F_SatHigh can be set as the upper limit of the linear boundary range; F_SatLow as the lower limit of the linear boundary range; F_AxleMax as the maximum torque that the electric drive system can produce (the maximum physical capability value of the electric drive system), which is also the upper limit of the current physical capability boundary range; F_Min as the torque value determined by taking the larger of the energy recovery value and the minimum torque that the electric drive system can produce, which is also the lower limit of the current physical capability boundary range; CalFactor is a preset coefficient; and CalValue is a preset threshold. Correspondingly, , .

[0043] The specific values ​​of the preset coefficient and preset threshold can be obtained by calibration based on the experimental results, and are not specifically limited here. For example, the preset coefficient can be 0.5 or 0.55, etc.; the preset threshold can be 4000 N·m or 4500 N·m, etc.

[0044] In some implementations, the preset coefficient may include 0.6.

[0045] Setting the preset coefficient to 0.6 ensures sufficient linear buffer space between the upper limit of the linear boundary range and the upper limit of the current physical capability boundary range. This establishes the correspondence between the pedal torque and the required torque between the upper limit of the linear boundary range and the upper limit of the current physical capability boundary range in advance, thereby avoiding abrupt torque demand. At the same time, it provides reaction time for system processing, further ensuring the smoothness of power output.

[0046] Accordingly, in some implementations, the preset threshold may include 5000 N·m.

[0047] During implementation, since the lower limit of the current physical capability boundary range F_Min is negative, setting the preset threshold to 5000 N·m ensures that the lower limit of the linear boundary range F_SatLow is positive. Similarly, it also determines the range of pedal torque in the correspondence between the pedal torque and the required torque that needs to be established, thereby avoiding abrupt changes in the required torque. At the same time, it provides reaction time for system processing, further ensuring the smoothness of power output.

[0048] Furthermore, to improve the accuracy and rationality of the linear boundary range, in some embodiments, when determining the linear boundary range based on the current physical capability boundary range, the upper limit of the linear boundary range can also be determined based on the upper limit of the current physical capability boundary range, the upper limit of the calibrated pedal torque range, and a preset coefficient; the preset coefficient is less than 1; and the lower limit of the linear boundary range can be determined based on the lower limit of the current physical capability boundary range, the lower limit of the calibrated pedal torque range, and a preset threshold; and then the linear boundary range is obtained based on the upper limit and the lower limit of the linear boundary range.

[0049] Specifically, when determining the upper limit of the linear boundary range based on the upper limit of the current physical capability boundary range, the upper limit of the calibrated pedal torque range, and a preset coefficient, the smaller of both values ​​can be used, and then multiplied by the preset coefficient to obtain the upper limit of the linear boundary range. Similarly, when determining the lower limit of the linear boundary range based on the lower limit of the current physical capability boundary range, the lower limit of the calibrated pedal torque range, and a preset threshold, the larger of both values ​​can be used, and then added to the preset threshold to obtain the lower limit of the linear boundary range. This approach avoids setting the upper limit of the calibrated pedal torque range too high or the lower limit too low, while also considering the limitations of the physical capability boundary range, ensuring the accuracy and reasonableness of the linear boundary range.

[0050] For example, F_SatHigh can be set as the upper limit of the linear boundary range; F_SatLow as the lower limit of the linear boundary range; F_AxleMax as the maximum torque that the electric drive system can achieve, which is also the upper limit of the current physical capability boundary range; F_Min as the larger of the current energy recovery value and the minimum torque that the electric drive system can achieve, which is also the lower limit of the current physical capability boundary range; F_Req100 as the upper limit of the calibrated pedal torque range; F_Req0 as the lower limit of the calibrated pedal torque range; CalFactor as a preset coefficient; and CalValue as a preset threshold. In this way, it can be determined that... , .

[0051] In some implementations, if the current pedal torque is less than the lower limit of the linear boundary range, the first boundary value can be determined as the lower limit of the current physical capability boundary range, and the second boundary value as the lower limit of the linear boundary range; if the current pedal torque is greater than the upper limit of the linear boundary range, the first boundary value is determined as the upper limit of the current physical capability boundary range, and the second boundary value as the upper limit of the linear boundary range.

[0052] During implementation, if the current pedal torque is less than the lower limit of the linear boundary range, it indicates that the required torque corresponding to the current pedal torque is lower than the required torque corresponding to the lower limit of the linear boundary range. Accordingly, the range from the lower limit of the linear boundary range to the lower limit of the current physical capability boundary range can be used as the range of pedal torque to establish a linear relationship between pedal torque and required torque, thus providing a basis for determining the required torque corresponding to the current pedal torque. Similarly, if the current pedal torque is greater than the upper limit of the linear boundary range, it indicates that the required torque corresponding to the current pedal torque exceeds the required torque corresponding to the upper limit of the linear boundary range. In this case, the range from the upper limit of the linear boundary range to the upper limit of the current physical capability boundary range can be used as the range of pedal torque to establish a linear relationship between pedal torque and required torque, thus providing a basis for determining the required torque corresponding to the current pedal torque.

[0053] Accordingly, when establishing a linear relationship between pedal torque and required torque based on the first boundary value of the calibrated pedal torque range, the current physical capability boundary range, and the second boundary value of the linear boundary range, if the current pedal torque is greater than the upper limit of the linear boundary range, then the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is determined to be the upper limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is determined to be the upper limit of the linear boundary range; a linear relationship between pedal torque and required torque is established based on the first boundary value corresponding to the upper limit of the calibrated pedal torque range and the second boundary value corresponding to the upper limit of the linear boundary range; if the current pedal torque is less than the lower limit of the linear boundary range, then the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is determined to be the lower limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is determined to be the lower limit of the linear boundary range; a linear relationship between pedal torque and required torque is established based on the first boundary value corresponding to the lower limit of the calibrated pedal torque range and the second boundary value corresponding to the lower limit of the linear boundary range.

[0054] In practice, when establishing a linear relationship between pedal torque and demand torque, and determining the demand torque corresponding to the current pedal torque based on the linear relationship between pedal torque and demand torque, a linear interpolation method can be used. The demand torque corresponding to the current pedal torque can be determined by using the current pedal torque, the upper limit of the calibrated pedal torque range corresponding to the first boundary value, and the upper limit of the linear boundary range corresponding to the second boundary value.

[0055] Specifically, the following explanation details the calculation of the required torque, using F_SatHigh as the upper limit of the linear boundary range, F_SatLow as the lower limit of the linear boundary range, F_Req100 as the upper limit of the calibrated pedal torque range, F_Req0 as the lower limit of the calibrated pedal torque range, F_AxleMax as the upper limit of the current physical capability boundary range, and F_Min as the lower limit of the current physical capability boundary range. like Figure 3 As shown, a Cartesian coordinate system is constructed with the X-axis representing pedal torque and the Y-axis representing required torque. A linear relationship between pedal torque and required torque is established based on points A and B. Point C (x, y) is located between points A (x2, y2) and B (x1, y1).

[0056] If the current pedal torque is within the linear boundary range (F_SatLow, F_SatHigh), then the current required torque can be determined to be equal to the current pedal torque.

[0057] If the current pedal torque is less than the lower limit of the linearization boundary range, F_SatLow, it can be denoted as: x is the current pedal torque, y is the required torque corresponding to the current pedal torque, and correspondingly, x = current pedal torque, x1 = F_Req0, y1 = F_AxleMax, x2 = F_SatLow, y2 = F_SatLow; then according to the formula This allows us to determine the required torque corresponding to the current pedal torque.

[0058] If the current pedal torque is greater than the upper limit of the linearization boundary range, F_SatHigh, it can be denoted as: x is the current pedal torque, y is the required torque corresponding to the current pedal torque, and correspondingly, x = current pedal torque, x1 = F_Req100, y1 = F_Min, x2 = F_SatHigh, y2 = F_SatHigh; then according to the formula This allows us to determine the required torque corresponding to the current pedal torque.

[0059] like Figure 4 The diagram shows a comparison of the effects of two different technical solutions when the physical capability boundaries of an electric drive system are limited. Figure 4 (a) is a schematic diagram showing the correspondence between pedal opening and required torque obtained using the method for determining required torque provided in this application. Figure 4 (b) is a schematic diagram illustrating the relationship between pedal opening and torque obtained using existing methods for determining relevant required torque (such as the MAP lookup method). From Figure 4As can be seen in the comparison of the two green dashed box areas, the method for determining the required torque provided in this application allows the driver's required torque to change with the pedal opening, while in the prior art, the pedal torque no longer changes with the pedal opening after reaching the limit.

[0060] As can be seen, the method for determining the required torque provided in this application can ensure that the driver's required torque can always change with the change of pedal opening, effectively ensuring the linear output of torque. In addition, during deceleration, it can ensure that the output of negative torque is maintained as the pedal opening decreases, avoiding the situation where there is no sense of deceleration, and greatly improving the driver's driving experience.

[0061] In some implementations, when obtaining the current pedal torque of the vehicle, the current vehicle speed and current pedal opening can be obtained first; then, based on the pre-built correspondence between vehicle speed, pedal opening and pedal torque, the pedal torque corresponding to the current vehicle speed and current pedal opening can be determined, and the pedal torque corresponding to the current vehicle speed and current pedal opening can be determined as the current pedal torque of the vehicle.

[0062] Specifically, the implementation of the correspondence between vehicle speed, pedal opening and pedal torque can be found in existing related technologies, which will not be elaborated here.

[0063] By establishing the correlation between vehicle speed, pedal opening, and pedal torque, a stable, linear, and calibrable basic driving response can be provided for the vehicle, offering a reliable starting point for the entire complex torque control system. Simultaneously, it ensures accurate understanding and response to driver commands, laying the foundation for further enhancing the driving experience.

[0064] As another optional implementation of the disclosure of this application, embodiments of this application also provide a device for determining the required torque. This device may include: an acquisition module, configured to acquire the current pedal torque of the vehicle and the current physical capability boundary range of the vehicle's electric drive system; a determination and detection module, configured to determine a linear boundary range based on the current physical capability boundary range, and detect whether the current pedal torque is within the linear boundary range; wherein the upper limit of the linear boundary range is less than the upper limit of the current physical capability boundary range, and the lower limit of the linear boundary range is greater than the lower limit of the current physical capability boundary range; and an establishment and determination module, configured to, if the current pedal torque is outside the linear boundary range, establish a linear relationship between the pedal torque and the required torque based on a calibrated pedal torque range, a first boundary value of the current physical capability boundary range, and a second boundary value of the linear boundary range, and determine the required torque corresponding to the current pedal torque based on the linear relationship between the pedal torque and the required torque; the first boundary value is the boundary value closest to the current pedal torque within the current physical capability boundary range; and the second boundary value is the boundary value closest to the current pedal torque within the linear boundary range.

[0065] Optionally, when determining the linear boundary range based on the current physical capability boundary range, the determination and detection module can be specifically used to: determine the upper limit of the linear boundary range based on the upper limit of the current physical capability boundary range and a preset coefficient; the preset coefficient is less than 1; and determine the lower limit of the linear boundary range based on the lower limit of the current physical capability boundary range and a preset threshold; and obtain the linear boundary range based on the upper limit of the linear boundary range and the lower limit of the linear boundary range.

[0066] Optionally, when determining the linear boundary range based on the current physical capability boundary range, the determination and detection module can specifically be used to: determine the upper limit of the linear boundary range based on the upper limit of the current physical capability boundary range, the upper limit of the calibrated pedal torque range, and a preset coefficient; where the preset coefficient is less than 1; and determine the lower limit of the linear boundary range based on the lower limit of the current physical capability boundary range, the lower limit of the calibrated pedal torque range, and a preset threshold; and obtain the linear boundary range based on the upper limit and lower limit of the linear boundary range.

[0067] Optionally, if the current pedal torque is less than the lower limit of the linear boundary range, then the first boundary value is determined to be the lower limit of the current physical capability boundary range, and the second boundary value is determined to be the lower limit of the linear boundary range; if the current pedal torque is greater than the upper limit of the linear boundary range, then the first boundary value is determined to be the upper limit of the current physical capability boundary range, and the second boundary value is determined to be the upper limit of the linear boundary range.

[0068] Optionally, when establishing a linear relationship between pedal torque and required torque based on the first boundary value of the calibrated pedal torque range, the current physical capability boundary range, and the second boundary value of the linear boundary range, the establishment and determination module can specifically be used to: if the current pedal torque is greater than the upper limit of the linear boundary range, then determine that the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is the upper limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is the upper limit of the linear boundary range; establish a linear relationship between pedal torque and required torque based on the first boundary value corresponding to the upper limit of the calibrated pedal torque range and the second boundary value corresponding to the upper limit of the linear boundary range; if the current pedal torque is less than the lower limit of the linear boundary range, then determine that the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is the lower limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is the lower limit of the linear boundary range; establish a linear relationship between pedal torque and required torque based on the first boundary value corresponding to the lower limit of the calibrated pedal torque range and the second boundary value corresponding to the lower limit of the linear boundary range.

[0069] Optionally, when obtaining the current pedal torque of the vehicle, the acquisition module can be specifically used to: obtain the current vehicle speed and the current pedal opening; determine the pedal torque corresponding to the current vehicle speed and the current pedal opening based on the pre-built correspondence between vehicle speed, pedal opening and pedal torque, and determine the pedal torque corresponding to the current vehicle speed and the current pedal opening as the current pedal torque of the vehicle.

[0070] Optionally, the establishment and determination module can also be used to: if the current pedal torque is within the linear boundary range, determine the current pedal torque as the corresponding required torque.

[0071] Optionally, the preset coefficient includes 0.6; and / or, the preset threshold includes 5000 N·m.

[0072] Specifically, the limitations of the device for determining the required torque can be found in the limitations of the method for determining the required torque mentioned above, and will not be repeated here. Each module in the aforementioned device for determining the required torque can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0073] As another optional implementation of the disclosure of this application, embodiments of this application also provide an electronic device, such as... Figure 5 As shown, the electronic device may include: a memory 501 and a processor 502; wherein, the memory 501 is connected to the processor 502 and is used to store a program; the processor 502 is used to implement the method for determining the required torque disclosed in any of the above embodiments by running the program stored in the memory 501.

[0074] Specifically, the aforementioned electronic device may also include: a bus, a communication interface 503, an input device 504, and an output device 505.

[0075] The processor 502, memory 501, communication interface 503, input device 504, and output device 505 are interconnected via a bus. Among them: A bus can include a pathway for transmitting information between various components of a computer system.

[0076] The processor 502 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 application. 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.

[0077] Processor 502 may include a main processor, as well as a baseband chip, modem, etc.

[0078] The memory 501 stores a program for executing the technical solution of this application, 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 501 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.

[0079] Input device 504 may include a device for receiving data and information input by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0080] Output device 505 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0081] The communication interface 503 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.

[0082] The processor 502 executes the program stored in the memory 501 and calls other devices, which can be used to implement the various steps of the method for determining the required torque provided in the above embodiments of this application.

[0083] As another optional implementation of the disclosure of this application, embodiments of this application also provide a vehicle that includes electronic equipment as described in any of the above embodiments.

[0084] As another optional implementation of the disclosure of this application, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer, causes the computer to perform the method for determining the required torque in any of the above embodiments.

[0085] As another optional implementation of the disclosure of this application, embodiments of this application also provide a computer program product containing instructions that, when executed by a computer, cause the computer to perform the method for determining the required torque described in any of the above embodiments.

[0086] It is understood that the specific examples in this document are only intended to help those skilled in the art better understand the embodiments described herein, and are not intended to limit the scope of the invention.

[0087] It is understood that in the various embodiments described in this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments described in this specification.

[0088] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and the implementation methods in this specification are not limited in this respect.

[0089] Unless otherwise stated, all technical and scientific terms used in the embodiments of this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in the embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0090] It is understood that the processor in the embodiments of this specification can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method embodiments 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 application-specific integrated circuit (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 specification. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this specification can be directly implemented by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software modules can reside 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 method.

[0091] It is understood that the memory in the embodiments of this specification may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM). It should be noted that the memory in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0092] Those skilled in the art will 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, or a combination of computer software and electronic hardware. 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 specification.

[0093] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the aforementioned method implementations, and will not be repeated here.

[0094] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0095] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0096] In addition, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0097] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of this specification, in essence, or the parts that contribute to the prior art, or parts of the technical solutions, can be embodied in the form of software products. These computer software products are stored in a storage medium and include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0098] The above description is merely a specific embodiment of this specification, but the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this specification should be included within the scope of protection of this specification. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A method for determining required torque, characterized in that, include: Obtain the vehicle's current pedal torque and the current physical capability boundaries of the vehicle's electric drive system; Based on the current physical capability boundary range, a linear boundary range is determined, and it is detected whether the current pedal torque is within the linear boundary range; wherein, the upper limit of the linear boundary range is less than the upper limit of the current physical capability boundary range, and the lower limit of the linear boundary range is greater than the lower limit of the current physical capability boundary range. If the current pedal torque is outside the linear boundary range, a linear relationship between the pedal torque and the required torque is established based on the calibrated pedal torque range, the first boundary value of the current physical capability boundary range, and the second boundary value of the linear boundary range. Based on the linear relationship between the pedal torque and the required torque, the required torque corresponding to the current pedal torque is determined. The first boundary value is the boundary value in the current physical capability boundary range that is closest to the current pedal torque. The second boundary value is the boundary value in the linear boundary range that is closest to the current pedal torque.

2. The method according to claim 1, characterized in that, The step of determining the linear boundary range based on the current physical capability boundary range includes: The upper limit of the linear boundary range is determined based on the upper limit of the current physical capability boundary range and a preset coefficient, wherein the preset coefficient is less than 1; and the lower limit of the linear boundary range is determined based on the lower limit of the current physical capability boundary range and a preset threshold. The linear boundary range is obtained based on the upper limit and the lower limit of the linear boundary range.

3. The method according to claim 1, characterized in that, The step of determining the linear boundary range based on the current physical capability boundary range includes: The upper limit of the linear boundary range is determined based on the upper limit of the current physical capability boundary range, the upper limit of the calibrated pedal torque range, and a preset coefficient; the preset coefficient is less than 1; and the lower limit of the linear boundary range is determined based on the lower limit of the current physical capability boundary range, the lower limit of the calibrated pedal torque range, and a preset threshold. The linear boundary range is obtained based on the upper limit and the lower limit of the linear boundary range.

4. The method according to claim 1, characterized in that, If the current pedal torque is less than the lower limit of the linear boundary range, then the first boundary value is determined to be the lower limit of the current physical capability boundary range, and the second boundary value is determined to be the lower limit of the linear boundary range. If the current pedal torque is greater than the upper limit of the linear boundary range, then the first boundary value is determined to be the upper limit of the current physical capability boundary range, and the second boundary value is determined to be the upper limit of the linear boundary range.

5. The method according to claim 4, characterized in that, The establishment of a linear relationship between pedal torque and required torque based on the calibrated pedal torque range, the first boundary value of the current physical capability boundary range, and the second boundary value of the linear boundary range includes: If the current pedal torque is greater than the upper limit of the linear boundary range, then the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is determined to be the upper limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is determined to be the upper limit of the linear boundary range; based on the first boundary value corresponding to the upper limit of the calibrated pedal torque range and the second boundary value corresponding to the upper limit of the linear boundary range, a linear relationship between the pedal torque and the required torque is established; If the current pedal torque is less than the lower limit of the linear boundary range, then the pedal torque corresponding to the first boundary value in the calibrated pedal torque range is determined to be the lower limit of the calibrated pedal torque range, and the pedal torque corresponding to the second boundary value is determined to be the lower limit of the linear boundary range; based on the first boundary value corresponding to the lower limit of the calibrated pedal torque range and the second boundary value corresponding to the lower limit of the linear boundary range, a linear relationship between the pedal torque and the required torque is established.

6. The method according to claim 1, characterized in that, The process of obtaining the vehicle's current pedal torque includes: Obtain the vehicle's current speed and current pedal opening; Based on the pre-established correspondence between vehicle speed, pedal opening, and pedal torque, the pedal torque corresponding to the current vehicle speed and the current pedal opening is determined, and the pedal torque corresponding to the current vehicle speed and the current pedal opening is determined as the current pedal torque of the vehicle.

7. The method according to claim 1, characterized in that, Also includes: If the current pedal torque is within the linear boundary range, then the current pedal torque is determined to be the corresponding required torque.

8. The method according to claim 2 or 3, characterized in that, The preset coefficient includes 0.6; and / or, the preset threshold includes 5000 N·m.

9. An electronic device, characterized in that, include: A processor, and a memory connected to the processor; The memory is used to store computer programs; The processor is used to call and execute the computer program in the memory to perform the method for determining the required torque as described in any one of claims 1-8.

10. A vehicle, characterized in that, Including the electronic device as described in claim 9.

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