Vehicle anti-interference torque control methods, devices, electronic equipment, products and vehicles

Abstract

This application discloses a method, apparatus, electronic device, product, and vehicle for vehicle anti-interference torque control, relating to the field of vehicle technology. The method includes: acquiring the vehicle's requested braking torque, estimated braking torque, target driving torque, operating condition information, and control mode information; when the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition, determining the vehicle's initial anti-interference torque based on the requested braking torque and estimated braking torque; when the vehicle's control mode information indicates that the vehicle is in a PID control mode, determining the vehicle's final anti-interference torque based on the current control cycle in the PID control mode and the vehicle's initial anti-interference torque; and performing drive control on the vehicle based on the vehicle's target driving torque and final anti-interference torque. This application can improve the vehicle's power performance, ride comfort, and safety when driving on complex road surfaces.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to vehicle anti-interference torque control methods, devices, electronic equipment, products and vehicles. Background Technology

[0002] Vehicles are typically equipped with braking systems featuring traction control. When loss of control occurs during acceleration, the traction control system responds quickly, adjusting braking and drive torque to maintain vehicle stability and adapting to different road conditions. However, when driving on surfaces with uneven coefficients of friction, the constantly changing friction coefficient can easily cause alternating wheel slippage. In such slippage conditions, if the traction control system only frequently applies braking torque control, it can reduce vehicle power and affect ride smoothness. Summary of the Invention

[0003] The main objective of this application is to provide a vehicle anti-interference torque control method, device, electronic device, product, and vehicle, which aims to improve the power performance, ride comfort, and safety of vehicles when driving on complex road surfaces.

[0004] To achieve the above objectives, one aspect of this application proposes a vehicle anti-interference torque control method, the method comprising the following steps: Acquire the vehicle's requested braking torque, estimated braking torque, target drive torque, operating condition information, and control mode information; When the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition, the initial anti-interference torque of the vehicle is determined based on the vehicle's requested braking torque and estimated braking torque. When the vehicle's control mode information indicates that the vehicle is in PID control mode, the final anti-interference torque of the vehicle is determined based on the current control cycle of the vehicle in PID control mode and the initial anti-interference torque of the vehicle. Drive control of the vehicle is performed based on the target drive torque and the final anti-interference torque of the vehicle.

[0005] In some embodiments, determining the initial anti-interference torque of the vehicle based on the requested braking torque and the estimated braking torque includes: Obtain an anti-interference scaling factor that matches the vehicle's operating condition information, and then determine the vehicle's initial anti-interference torque based on the anti-interference scaling factor, the vehicle's requested braking torque, and the estimated braking torque.

[0006] In some embodiments, determining the initial anti-interference torque of the vehicle based on the anti-interference scaling factor, the requested braking torque of the vehicle, and the estimated braking torque includes: The vehicle's requested braking torque is multiplied by the anti-interference scaling factor, and the vehicle's estimated braking torque is multiplied by the complementary factor corresponding to the anti-interference scaling factor. The two multiplication results are then added together to obtain the vehicle's initial anti-interference torque.

[0007] In some embodiments, determining the final anti-interference torque of the vehicle based on the current control cycle of the vehicle in PID control mode and the initial anti-interference torque of the vehicle includes: When the current control cycle of the vehicle in PID control mode is the first control cycle, the initial anti-interference torque of the vehicle is taken as the final anti-interference torque of the vehicle. When the current control cycle of the vehicle in PID control mode is not the first control cycle, the initial anti-interference torque of the vehicle is weighted and calculated to obtain the final anti-interference torque of the vehicle.

[0008] In some embodiments, the drive control of the vehicle based on the target drive torque and the final anti-interference torque of the vehicle includes: Based on the vehicle's final anti-interference torque, anti-interference compensation is performed on the vehicle's target drive torque. Drive control of the vehicle is performed based on the target drive torque of the vehicle after anti-interference compensation.

[0009] In some embodiments, the step of performing anti-interference compensation on the target drive torque of the vehicle based on the vehicle's final anti-interference torque includes: The target driving torque of the vehicle is added to the final anti-interference torque to obtain the target driving torque of the vehicle after anti-interference compensation.

[0010] To achieve the above objectives, another aspect of this application provides a vehicle anti-interference torque control device, the device comprising: The acquisition module is used to acquire the vehicle's requested braking torque, estimated braking torque, target drive torque, operating condition information, and control mode information. The first determining module is used to determine the initial anti-interference torque of the vehicle based on the requested braking torque and the estimated braking torque when the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition. The second determining module is used to determine the final anti-interference torque of the vehicle based on the current control cycle of the vehicle in the PID control mode and the initial anti-interference torque of the vehicle when the control mode information of the vehicle indicates that the vehicle is in the PID control mode. The control module is used to perform drive control on the vehicle based on the target drive torque and the final anti-interference torque of the vehicle.

[0011] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described vehicle anti-interference torque control method.

[0012] To achieve the above objectives, another aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle anti-interference torque control method.

[0013] To achieve the above objectives, another aspect of this application provides a vehicle that includes the aforementioned vehicle anti-interference torque control device or the aforementioned electronic device.

[0014] The embodiments of this application include at least the following beneficial effects: by acquiring the vehicle's requested braking torque, estimated braking torque, target driving torque, operating condition information, and control mode information, when the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition, the initial anti-interference torque of the vehicle is determined based on the vehicle's requested braking torque and estimated braking torque. When the vehicle's control mode information indicates that the vehicle is in PID control mode, the final anti-interference torque of the vehicle is determined based on the current control cycle of the vehicle in PID control mode and the vehicle's initial anti-interference torque. Subsequently, the vehicle is driven and controlled based on the vehicle's target driving torque and final anti-interference torque, which can improve the vehicle's power performance, ride comfort, and safety when driving on complex road surfaces.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic flowchart of a vehicle anti-interference torque control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the composition of a vehicle anti-interference torque control device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the embodiments of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0018] It is understood that the terms "first," "second," etc., used in this application may be used to describe various concepts herein, but unless specifically stated otherwise, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words "if" or "when" as used herein may be interpreted as "when," "in response to a determination," or "at least one," "multiple," "each," "any," etc., as used in this application, at least one includes one, two, or more than two, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] With increasing demands for braking performance and advancements in vehicle braking technology, vehicle braking systems have become increasingly diverse. EMB (Electro-Mechanical Braking) systems, due to their advantages such as fast response, high control precision, and ease of integration, are gradually becoming the future trend in the braking industry. Vehicles equipped with EMB systems typically feature braking assemblies with traction control systems. When loss of control occurs during vehicle acceleration, the traction control system can respond quickly, adjusting braking and drive torque to control vehicle stability and adapting to different road conditions. However, when driving on roads with uneven road surface adhesion, the constantly changing coefficient of friction can easily cause alternating wheel slippage. Under such slippage conditions, if the traction control system only frequently executes braking torque control, it can easily reduce vehicle power and affect ride smoothness.

[0021] In view of this, this application proposes a vehicle anti-interference torque control method, device, electronic equipment, product, and vehicle. This solution obtains the vehicle's requested braking torque, estimated braking torque, target driving torque, operating condition information, and control mode information. When the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition, the initial anti-interference torque of the vehicle is determined based on the requested braking torque and estimated braking torque. When the vehicle's control mode information indicates that the vehicle is in PID control mode, the final anti-interference torque of the vehicle is determined based on the current control cycle of the vehicle in PID control mode and the initial anti-interference torque. Subsequently, the vehicle is driven and controlled based on the target driving torque and the final anti-interference torque, which can improve the vehicle's power performance, ride comfort, and safety when driving on complex road surfaces.

[0022] The vehicle anti-interference torque control method provided in this application embodiment can be applied to the electronic device provided in this application embodiment. The electronic device can be a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to these. The server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks, and big data and artificial intelligence platforms.

[0023] Please refer to Figure 1 , Figure 1This is a flowchart illustrating a vehicle anti-interference torque control method provided in an embodiment of this application. It should be noted that the steps shown in the flowchart can be executed in a computer system, such as a computer system containing a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] The vehicle anti-interference torque control method provided in this application embodiment may include, but is not limited to, the four steps S101 to S104, as detailed below: S101. Obtain the vehicle's requested braking torque, estimated braking torque, target drive torque, operating condition information, and control mode information; S102. When the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition, determine the vehicle's initial anti-interference torque based on the vehicle's requested braking torque and estimated braking torque. S103. When the vehicle's control mode information indicates that the vehicle is in PID control mode, the final anti-interference torque of the vehicle is determined based on the current control cycle of the vehicle in PID control mode and the initial anti-interference torque of the vehicle. S104. Drive the vehicle according to the target driving torque and the final anti-interference torque.

[0025] The four steps S101 to S104 shown in the embodiments of this application comprehensively analyze the vehicle's requested braking torque, estimated braking torque, operating condition information and control mode information to determine the vehicle's final anti-interference torque, and then combine it with the vehicle's target driving torque to drive the vehicle, which can improve the vehicle's power performance, smoothness and safety when driving.

[0026] In S101 of some embodiments, the vehicle's brake pedal opening and vehicle speed can be obtained first, and then the corresponding target deceleration of the vehicle can be obtained by matching and filtering in a preset first mapping table. Subsequently, the target deceleration of the vehicle, the total vehicle mass and the wheel rolling radius are multiplied to obtain the vehicle's requested braking torque. The first mapping table is provided with multiple non-intersecting brake pedal opening ranges, multiple non-intersecting vehicle speed ranges, and a target deceleration that corresponds to each brake pedal opening range and each vehicle speed range.

[0027] In some embodiments, S101, the clamping force applied to the brake pads can be directly measured by a force sensor integrated inside the EMB actuator (such as the front end of the push rod or the caliper body). Then, the clamping force, the coefficient of friction between the brake pads and the brake disc, and the effective radius of the brake disc are multiplied to obtain the estimated braking torque of the vehicle.

[0028] In S101 of some embodiments, the accelerator pedal opening of the vehicle can be obtained first, and then the target driving torque of the vehicle can be obtained by matching and filtering in a preset second mapping table; wherein, the second mapping table is provided with multiple non-intersecting accelerator pedal opening ranges and the target driving torque corresponding to each accelerator pedal opening range.

[0029] In some embodiments, regarding S102, the determination of the vehicle's initial anti-interference torque based on the vehicle's requested braking torque and estimated braking torque can be implemented in ways that include, but are not limited to, steps S201 to S202, as follows: S201. Obtain the anti-interference ratio factor that matches the vehicle's operating condition information, which can be achieved by looking up a table. S202. Based on the anti-interference scaling factor and the vehicle's requested braking torque and estimated braking torque, determine the vehicle's initial anti-interference torque; specifically, multiply the vehicle's requested braking torque by the anti-interference scaling factor, and multiply the vehicle's estimated braking torque by the complementary factor corresponding to the anti-interference scaling factor, then add the two multiplication results to obtain the vehicle's initial anti-interference torque. This can be achieved using... This expression is given by MRej_Raw, where MbTar is the vehicle's initial anti-interference torque, MbTar is the vehicle's requested braking torque, MbEst is the vehicle's estimated braking torque, P is the anti-interference scaling factor, and (1-P) is the complementary factor corresponding to the anti-interference scaling factor.

[0030] In some embodiments, S103, regarding the determination of the vehicle's final anti-interference torque based on the vehicle's current control cycle in PID (Proportional-Integral-Differential) control mode and the vehicle's initial anti-interference torque, the corresponding implementation methods may include, but are not limited to, the following: When the current control cycle of the vehicle in PID control mode is the first control cycle, the system has not yet performed torque adjustment and gradient control, and directly uses the vehicle's initial anti-interference torque as the vehicle's final anti-interference torque; or, when the current control cycle of the vehicle in PID control mode is not the first control cycle, the system is in continuous adjustment control, and performs weighted calculation on the vehicle's initial anti-interference torque to obtain the vehicle's final anti-interference torque.

[0031] Furthermore, regarding the weighted calculation of the vehicle's initial anti-interference torque to obtain the vehicle's final anti-interference torque, the corresponding implementation methods include the following: First, based on the current control cycle of the vehicle in PID control mode, the corresponding target adjustment weight is obtained by matching and filtering within a preset third mapping table. Then, the initial anti-interference torque of the vehicle is multiplied by the target adjustment weight to obtain the final anti-interference torque of the vehicle. The third mapping table contains multiple non-overlapping PID control cycle ranges and adjustment weights corresponding to each PID control cycle range. Alternatively, if the vehicle has completed one anti-interference compensation in the previous control cycle of PID control mode, the historical final anti-interference torque of the vehicle determined in the previous control cycle of PID control mode is obtained. Then, the historical final anti-interference torque of the vehicle is weighted and calculated with the initial anti-interference torque. That is, the historical final anti-interference torque of the vehicle is multiplied by the first preset weight, and the initial anti-interference torque of the vehicle is multiplied by the second preset weight. The two multiplication results are then added to obtain the final anti-interference torque of the vehicle. The sum of the first preset weight and the second preset weight is equal to 1, and the first preset weight is preferably greater than the second preset weight, which helps to improve the smoothness and stability of the anti-interference compensation process.

[0032] In some embodiments, after determining the final anti-interference torque of the vehicle, a limit processing can be applied to it, that is, the final anti-interference torque of the vehicle is compared with a preset upper limit value of anti-interference torque. If the final anti-interference torque of the vehicle is greater than the preset upper limit value of anti-interference torque, the final anti-interference torque of the vehicle is updated to the preset upper limit value of anti-interference torque. If the final anti-interference torque of the vehicle is less than or equal to the preset upper limit value of anti-interference torque, the final anti-interference torque of the vehicle is kept unchanged, thereby ensuring the rationality of the final anti-interference torque of the vehicle applied to S104 above.

[0033] In some embodiments, S104, regarding the drive control of the vehicle based on the target drive torque and the final anti-interference torque, the corresponding implementation may include, but is not limited to, the two steps S301 to S302, as follows: S301. Based on the vehicle's final anti-interference torque, perform anti-interference compensation on the vehicle's target driving torque; specifically, add the vehicle's target driving torque to the final anti-interference torque to obtain the anti-interference compensated target driving torque. This can be achieved by... This expression is used to represent the target driving torque of the vehicle, MRej is the final anti-interference torque of the vehicle, and MTra_Rej is the target driving torque of the vehicle after anti-interference compensation. S302. Drive the vehicle according to the target drive torque of the vehicle after anti-interference compensation.

[0034] By specifically compensating for the vehicle's target drive torque, the power loss caused by frequent braking can be offset, ensuring continuous and stable power output when the vehicle is driving on complex road surfaces where wheels alternately slip. This effectively alleviates the jerking sensation caused by frequent braking, improves the driving experience, and does not weaken the slippage suppression capability of the EMB system while ensuring vehicle power. Through the coordination of braking and driving, the adhesion stability of the vehicle's wheels can be improved, reducing the driving safety risks of the vehicle.

[0035] In some embodiments, in order to improve the rationality of vehicle drive control, the vehicle control mode information can be obtained again after executing S301. If the vehicle control mode information obtained again indicates that the vehicle is still in PID control mode, then S302 is executed again. If the vehicle control mode information obtained again indicates that the vehicle is in severe understeer mode, then the first target drive torque of the vehicle calculated by calling the first preset strategy in severe understeer mode is obtained and the vehicle is driven and controlled accordingly. If the vehicle control mode information obtained again indicates that the vehicle is in degraded mode, then the second target drive torque of the vehicle calculated by calling the second preset strategy in degraded mode is obtained and the vehicle is driven and controlled accordingly.

[0036] In some embodiments, when the vehicle's operating condition information indicates that the vehicle is in a steering condition or other uncertain operating condition, the above four steps S102 to S104 can also be performed, and this application does not limit this.

[0037] Please refer to Figure 2 , Figure 2 This is a schematic diagram of a vehicle anti-interference torque control device provided in an embodiment of this application. This device can implement the aforementioned vehicle anti-interference torque control method, and may include, but is not limited to, the following components: The acquisition module 401 is used to acquire the vehicle's requested braking torque, estimated braking torque, target driving torque, operating condition information, and control mode information. The first determining module 402 is used to determine the initial anti-interference torque of the vehicle based on the vehicle's requested braking torque and estimated braking torque when the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition. The second determining module 403 is used to determine the final anti-interference torque of the vehicle based on the current control cycle of the vehicle in the PID control mode and the initial anti-interference torque of the vehicle when the vehicle's control mode information indicates that the vehicle is in the PID control mode. The control module 404 is used to control the vehicle's drive based on the vehicle's target drive torque and final anti-interference torque.

[0038] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those specifically implemented by the above method embodiments, and the beneficial effects achieved by the present device embodiments are also the same as those achieved by the above method embodiments.

[0039] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described vehicle anti-interference torque control method. The electronic device may include any smart terminal such as a tablet computer or an in-vehicle computer.

[0040] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those implemented by the above method embodiments, and the beneficial effects achieved by the present device embodiments are also the same as those achieved by the above method embodiments.

[0041] Please see Figure 3 , Figure 3 This is a schematic diagram illustrating the hardware structure of an electronic device according to another embodiment. The electronic device includes: The processor 501 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 502 can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device or random access memory (RAM). The memory 502 can store the operating system and other applications. When the technical solution provided in the embodiments of this application is implemented by software or firmware, the relevant program code is stored in the memory 502 and is called and executed by the processor 501. The input / output interface 503 is used to implement information input and output; The communication interface 504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 505 transmits information between various components of the device (e.g., processor 501, memory 502, input / output interface 503, and communication interface 504); The processor 501, memory 502, input / output interface 503 and communication interface 504 are connected to each other within the device via bus 505.

[0042] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described vehicle anti-interference torque control method.

[0043] It is understood that the content of the above method embodiments is applicable to this computer program product. The specific functions implemented by the embodiments of this computer program product are the same as those implemented by the above method embodiments, and the beneficial effects achieved by the embodiments of this computer program product are also the same as those achieved by the above method embodiments.

[0044] This application also provides a vehicle that includes the aforementioned vehicle anti-interference torque control device or the aforementioned electronic device. Specifically, the vehicle can be a private car, such as a sedan or SUV; the vehicle can also be a new energy vehicle, such as a hybrid vehicle or a pure electric vehicle.

[0045] It is understood that the content of the above method embodiments is applicable to this vehicle embodiment, the specific functions implemented by this vehicle embodiment are the same as those implemented by the above method embodiments, and the beneficial effects achieved by this vehicle embodiment are the same as those achieved by the above method embodiments.

[0046] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0047] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0048] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0049] Those skilled in the art will understand that all or some of the steps, apparatuses, or functional modules / units in the methods disclosed above can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0050] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0051] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0052] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above 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 device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed between the devices or units may be through some interfaces, and the indirect coupling or communication connection may be electrical, mechanical, or other forms.

[0053] The units described above 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 according to actual needs.

[0054] Furthermore, the functional units in the various embodiments of this application 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. The integrated unit can be implemented in hardware or as a software functional unit.

[0055] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple 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 of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0056] The preferred embodiments of this application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of this application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of this application shall be within the scope of the claims of this application.

Claims

1. A method for controlling vehicle anti-interference torque, characterized in that, The method includes the following steps: Acquire the vehicle's requested braking torque, estimated braking torque, target drive torque, operating condition information, and control mode information; When the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition, the initial anti-interference torque of the vehicle is determined based on the vehicle's requested braking torque and estimated braking torque. When the vehicle's control mode information indicates that the vehicle is in PID control mode, the final anti-interference torque of the vehicle is determined based on the current control cycle of the vehicle in PID control mode and the initial anti-interference torque of the vehicle. Drive control of the vehicle is performed based on the target drive torque and the final anti-interference torque of the vehicle.

2. The vehicle anti-interference torque control method according to claim 1, characterized in that, The step of determining the initial anti-interference torque of the vehicle based on the requested braking torque and the estimated braking torque includes: Obtain an anti-interference scaling factor that matches the vehicle's operating condition information, and then determine the vehicle's initial anti-interference torque based on the anti-interference scaling factor, the vehicle's requested braking torque, and the estimated braking torque.

3. The vehicle anti-interference torque control method according to claim 2, characterized in that, The step of determining the initial anti-interference torque of the vehicle based on the anti-interference scaling factor, the requested braking torque of the vehicle, and the estimated braking torque includes: The vehicle's requested braking torque is multiplied by the anti-interference scaling factor, and the vehicle's estimated braking torque is multiplied by the complementary factor corresponding to the anti-interference scaling factor. The two multiplication results are then added together to obtain the vehicle's initial anti-interference torque.

4. The vehicle anti-interference torque control method according to claim 1, characterized in that, The step of determining the final anti-interference torque of the vehicle based on the current control cycle of the vehicle in PID control mode and the initial anti-interference torque of the vehicle includes: When the current control cycle of the vehicle in PID control mode is the first control cycle, the initial anti-interference torque of the vehicle is taken as the final anti-interference torque of the vehicle. When the current control cycle of the vehicle in PID control mode is not the first control cycle, the initial anti-interference torque of the vehicle is weighted and calculated to obtain the final anti-interference torque of the vehicle.

5. The vehicle anti-interference torque control method according to claim 1, characterized in that, The step of driving the vehicle based on the target driving torque and the final anti-interference torque includes: Based on the vehicle's final anti-interference torque, anti-interference compensation is performed on the vehicle's target drive torque. Drive control of the vehicle is performed based on the target drive torque of the vehicle after anti-interference compensation.

6. The vehicle anti-interference torque control method according to claim 5, characterized in that, The step of compensating the target drive torque of the vehicle based on the vehicle's final anti-interference torque includes: The target driving torque of the vehicle is added to the final anti-interference torque to obtain the target driving torque of the vehicle after anti-interference compensation.

7. A vehicle anti-interference torque control device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's requested braking torque, estimated braking torque, target drive torque, operating condition information, and control mode information. The first determining module is used to determine the initial anti-interference torque of the vehicle based on the requested braking torque and the estimated braking torque when the vehicle's operating condition information indicates that the vehicle is in an alternating slip condition. The second determining module is used to determine the final anti-interference torque of the vehicle based on the current control cycle of the vehicle in the PID control mode and the initial anti-interference torque of the vehicle when the control mode information of the vehicle indicates that the vehicle is in the PID control mode. The control module is used to perform drive control on the vehicle based on the target drive torque and the final anti-interference torque of the vehicle.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the vehicle anti-interference torque control method as described in any one of claims 1 to 6.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle anti-interference torque control method as described in any one of claims 1 to 6.

10. A vehicle, characterized in that, The vehicle includes the vehicle anti-interference torque control device as described in claim 7 or the electronic device as described in claim 8.

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