TORQUE PRIORITY DETERMINATION METHOD, TORQUE CONTROL SERVICE SYSTEM AND VEHICLE

Abstract

A torque priority arbitration method, a torque control service system, and a vehicle. The torque priority arbitration method comprises the following steps: acquiring the current torque demand of a vehicle in a driving state, matching a preset demand torque scenario, and activating one or more demand torque scenarios; on the basis of a preset priority, preset demand torque and preset torque arbitration operation relationship of each demand torque scenario, calculating and outputting a final arbitration result; and, according to the arbitration result, controlling the vehicle to perform corresponding torque control.

Description

Torque priority arbitration method, torque control service system and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202410018352.3, filed with the Patent Office of China on January 4, 2024, entitled “A Torque Priority Arbitration Method, Torque Control Service System and Vehicle,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present invention relates to the technical field of torque control, and in particular to a torque priority arbitration method, a torque control service system and a vehicle. Background Art

[0004] Current vehicle torque control is relatively decentralized. In the electronic and electrical architecture, drive and brake are still controlled separately in two controllers, independently controlled by the OEM and supplier respectively, and mainly coordinated and controlled by the supplier. Research on software architecture and control methods mainly focuses on the throttle, drive motor and related aspects. Drive and brake coordination is mostly concentrated on the research of hill start assist function. There is even less research on service-oriented design of torque control.

[0005] Among them, torque control is the core of the control right management strategy. In the existing technology, some arbitration logic for multiple torque requests in torque control has emerged. By giving preset priorities and arbitration logic, a required torque for controlling the motor is finally output based on the arbitration result, providing a feasible method for multi-source torque arbitration in the vehicle controller; or through service priority arbitration logic, the priority relationship of each required torque is clearly listed, and arbitration is performed based on the priority level.

[0006] However, with the continuous development of industry technology, the above technology can no longer meet the centralized controller's demand for centralized torque control of driving and braking. The simple logic of service-oriented arbitration based on high and low priorities cannot adapt to and meet the more professional and detailed control requirements in current torque control. Summary of the Invention

[0007] One of the objects of the present invention is to provide a torque priority arbitration method to solve the problem that the arbitration logic of torque requests in the prior art cannot adapt to and meet the more professional and detailed control requirements in current torque control; the second object of the present invention is to provide a torque control service system; the third object of the present invention is to provide a vehicle.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] A torque priority arbitration method comprises the following steps:

[0010] Obtain the current torque demand of the vehicle in the driving state, match it with the preset demand torque scenario, and activate one or more demand torque scenarios;

[0011] Based on the preset priority, preset demand torque and preset torque arbitration operation relationship of each demand torque scenario, the final arbitration result is calculated and output; wherein, between demand torque scenarios of the same priority, the torque arbitration operation relationship represents the operation relationship between the demand torque scenario and other demand torque scenarios of the same priority level, and between demand torque scenarios of different priorities, the torque arbitration operation relationship represents the operation relationship between the same-level operation result of the priority level and the same-level operation result of a lower priority level; when there is only one activated demand torque scenario, the arbitration result is directly output; when there is more than or equal to one activated demand torque scenario, the torque arbitration operation relationships of different priorities are executed in sequence from high to low, wherein different demand torque scenarios of the same priority level are calculated through the torque arbitration operation relationship between the same level to obtain the same-level operation result of the priority level, and the same-level operation result is substituted into the calculation of the torque arbitration operation relationship between different priorities, and the final arbitration result is calculated and output;

[0012] The vehicle is controlled to perform corresponding torque control according to the arbitration result.

[0013] It should be noted that the driving state referred to in the present invention refers to the vehicle's engine-on state, including but not limited to states where torque demand may occur or exist, such as parking, driving, and braking. Conventional arbitration methods simply determine the priority level or arbitrate based on the order of corresponding requests. When torque demand scenarios of different priorities exist, the higher-priority torque demand scenario is prioritized. When torque demand scenarios of the same priority exist, the first-requested or first-input torque demand scenario is prioritized and output. This conventional arbitration method has simple judgment logic and is unable to address the selection, superposition, and neutralization of multiple scenarios. It also suffers from poor arbitration accuracy, and its arbitration conclusions cannot effectively address complex scenario demand situations. The present invention predefines how to apply a preset torque arbitration operation relationship between torque demand scenarios of the same priority and between torque demand scenarios of different priorities, and utilizes this preset torque arbitration operation relationship to perform operations between torque demand scenarios of the same priority and between torque demand scenarios of different priorities, thereby addressing the selection, superposition, and neutralization of multiple scenarios. The torque priority arbitration method of the present invention can provide more flexible response to multi-scenario torque control, and provide more detailed arbitration possibilities for the selection, superposition and neutralization of multiple scenarios. It meets the arbitration requirements of various torque operations such as torque summation, difference, maximum and minimum in current torque control, and also provides an effective arbitration method for the free arrangement of multiple scenarios.

[0014] Furthermore, the size of the preset priority level is represented by a natural number, and the larger the value, the larger the priority level. When the value of the priority of the demand torque scenario is 0, it means that the priority of the demand torque scenario is the lowest, and the torque arbitration operation relationship corresponding to the demand torque scenario is not involved in the calculation.

[0015] In this way, when a demand torque scenario with a priority of 0 appears, if there are multiple demand torque scenarios, the torque arbitration operation relationship corresponding to the demand torque scenario with a priority of 0 can be ignored. When only the demand torque scenario with a priority of 0 is input, the arbitration result corresponding to the demand torque scenario is output; or when multiple demand torque scenarios with a priority of 0 are input, the torque arbitration operation relationship between the demand torque scenario and other demand torque scenarios is executed and calculated, and the arbitration result after the operation is output.

[0016] Furthermore, the preset torque arbitration operation relationship includes: none, sum +, difference -, minimum value MIN and maximum value MAX; none means that there is no longer an operation relationship between the same-level operation result of the demand torque scenario of this priority and the same-level operation result of the demand torque scenario of lower priority, sum + represents the sum operation between different scenarios or different priorities, difference - represents the difference operation between different demand torque scenarios or different priorities, minimum value MIN represents the minimum operation between different demand torque scenarios or different priorities, and maximum value MAX represents the maximum operation between different demand torque scenarios or different priorities; the torque arbitration operation relationship of different demand torque scenarios of the same priority level is set to none and / or sum +, difference -, minimum value MIN and maximum value MAX.

[0017] It should be noted that in order to avoid conflicts such as summation and difference operations occurring simultaneously in demand torque scenarios of the same priority, it is stipulated that when different demand torque scenarios exist in the same priority, the torque arbitration operation relationship between different demand torque scenarios can only be set to none, a single operation relationship, or none and another single operation relationship. In this way, there will be no operation conflicts, and the smooth progress of the arbitration operation can be guaranteed.

[0018] Furthermore, preset torque demand scenarios are derived from throttle demand, creep demand, coasting demand, brake regenerative demand, autonomous driving demand, intelligent steering demand, hill assist demand, parking assist demand, driver-set maximum torque demand, speed-limited maximum torque demand, and motor battery-limited torque demand. These scenarios come from a wide range of sources and are present in any scenario where torque demand exists or where quantitative torque setting is currently required.

[0019] Furthermore, the preset required torque includes the front and rear axle torque distribution ratio and the total required torque at the wheel end.

[0020] Furthermore, the arbitration result includes the output required torque size, the name of the scene with the highest priority level, and the priority level.

[0021] A torque control service system includes a scenario preset module, a torque control module, and a power execution module, through which signals are transmitted sequentially. The scenario preset module sets a number of required torque scenarios and the scenario name, priority level, and required torque corresponding to each required torque scenario. The torque control module calculates an arbitration result using the torque priority arbitration method described above, and the arbitration result is output to the power execution module for execution.

[0022] Furthermore, the power execution module includes an engine controller, a motor controller and a hydraulic brake controller.

[0023] The matching activation of the demand torque scenario depends on the throttle and brake signals. The throttle and brake signals can be used to preliminarily judge the scenario requirements faced by the vehicle at this time, thereby activating one or more set demand torque scenarios, and inputting one or more demand torque scenarios into the torque control module for priority arbitration, and outputting the arbitration results calculated by the torque priority arbitration method.

[0024] Furthermore, the torque control module also includes control request interfaces for total wheel-end torque demand and front and rear axle wheel-end torque. These interfaces are used to obtain the vehicle's current torque demand while driving. The torque control module determines the vehicle's current torque demand scenario based on throttle and brake signals and activates the corresponding torque demand scenario information.

[0025] A vehicle comprises a torque control service system as described above.

[0026] Beneficial effects of the present invention: The torque priority arbitration method of the present invention can provide more flexible response to multi-scenario torque control, provide more detailed arbitration possibilities for the selection, superposition and neutralization of multiple scenarios, meet the arbitration requirements of multiple torque operations such as torque summation, difference, maximum and minimum in current torque control, and also provide an effective arbitration method for the free arrangement of multiple scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG1 is a flowchart of the steps of the torque priority arbitration method of the present invention;

[0028] FIG2 is a schematic diagram of arbitration using a traditional arbitration method;

[0029] FIG3 is an arbitration diagram of the torque priority arbitration method of the present invention;

[0030] FIG4 is a schematic diagram of system modules of the torque control service system of the present invention;

[0031] FIG5 is a schematic diagram of a specific arbitration example of a torque control module in the present invention;

[0032] FIG6 is a schematic diagram of an EE architecture for centralized torque control using a torque control service system according to the present invention. DETAILED DESCRIPTION

[0033] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0034] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0035] As shown in FIG1 , this embodiment proposes a torque priority arbitration method, including steps S101 to S105 .

[0036] In steps S101 to S102, the current torque demand of the vehicle in the driving state is obtained, the preset demand torque scenario is matched, and one or more demand torque scenarios are activated;

[0037] In steps S1031 to S104, based on the preset priority, preset required torque, and preset torque arbitration operation relationship of each required torque scenario, a final arbitration result is calculated and output; wherein, between required torque scenarios of the same priority, the torque arbitration operation relationship represents the operation relationship between the required torque scenario and other required torque scenarios of the same priority level, and between required torque scenarios of different priorities, the torque arbitration operation relationship represents the operation relationship between the same-level operation result of the priority level and the same-level operation result of a lower priority level; when there is only one required torque scenario activated, the arbitration result is directly output; when there is more than or equal to one required torque scenario activated, the torque arbitration operation relationships of different priorities are first executed in sequence from high to low, wherein different required torque scenarios of the same priority level are calculated through the torque arbitration operation relationship between the same level to obtain the same-level operation result of the priority level, and the same-level operation result is substituted into the calculation of the torque arbitration operation relationship between different priorities to calculate and output the final arbitration result;

[0038] In step S105 , the vehicle is controlled to perform corresponding torque control according to the arbitration result.

[0039] In this embodiment, the preset priority level is represented by a natural number. A larger value indicates a higher priority level. When the priority value of the required torque scenario is 0, it indicates that the required torque scenario has the lowest priority, and the torque arbitration operation relationship corresponding to the required torque scenario does not participate in the calculation.

[0040] In this way, when a demand torque scenario with a priority of 0 appears, if there are multiple demand torque scenarios, the torque arbitration operation relationship corresponding to the demand torque scenario with a priority of 0 can be ignored. When only the demand torque scenario with a priority of 0 is input, the arbitration result corresponding to the demand torque scenario is output; or when multiple demand torque scenarios with a priority of 0 are input, the torque arbitration operation relationship between the demand torque scenario and other demand torque scenarios is executed and calculated, and the arbitration result after the operation is output.

[0041] In this embodiment, the preset torque arbitration operation relationship includes: none, sum +, difference -, minimum value MIN and maximum value MAX; none means that there is no longer an operation relationship between the same-level operation result of the demand torque scenario of this priority and the same-level operation result of the demand torque scenario of lower priority, sum + represents the sum operation between different scenarios or different priorities, difference - represents the difference operation between different demand torque scenarios or different priorities, minimum value MIN represents the minimum operation between different demand torque scenarios or different priorities, and maximum value MAX represents the maximum operation between different demand torque scenarios or different priorities; the torque arbitration operation relationship of different demand torque scenarios of the same priority level is set to none and / or sum +, difference -, minimum value MIN and maximum value MAX.

[0042] It should be noted that in order to avoid conflicts such as summation and difference operations occurring simultaneously in demand torque scenarios of the same priority, it is stipulated that when different demand torque scenarios exist in the same priority, the torque arbitration operation relationship between different demand torque scenarios can only be set to none, a single operation relationship, or none and another single operation relationship. In this way, there will be no operation conflicts, and the smooth progress of the arbitration operation can be guaranteed.

[0043] In this embodiment, the preset torque demand scenarios are derived from throttle torque demand, creep torque demand, coasting torque demand, brake feedback torque demand, autonomous driving torque demand, intelligent steering torque demand, hill assist torque demand, parking assist torque demand, driver-set maximum torque demand, speed-limited maximum torque demand, and motor battery-limited torque demand. These scenarios come from a wide range of sources and are present in scenarios where torque demand exists and where quantitative torque setting is currently required.

[0044] In this embodiment, the preset required torque includes the front and rear axle torque distribution ratio and the total required torque at the wheel end.

[0045] In this embodiment, the arbitration result includes the output required torque size, the name of the scene with the highest priority level, and the priority level.

[0046] As shown in Figure 2, in the traditional arbitration method, arbitration is simply performed based on the priority level or the order of the corresponding requests. When there are torque demand scenarios with different priorities, the torque demand scenario with the higher priority level is executed first. When torque demand scenarios with the same priority level appear, the torque demand scenario that is requested or input first is given priority for response and output. This traditional arbitration method has a simple judgment logic and cannot cope with the selection, superposition and neutralization of multiple scenarios. The arbitration accuracy is poor, and the arbitration conclusion cannot well cope with complex scenario requirements.

[0047] The traditional arbitration method is shown in Figure 2, which defines the following scenarios:

[0048] Scenario 1: The required torque is 10 N.M and the priority is 3;

[0049] Scenario 2: The required torque is 20 N.M and the priority is 3.

[0050] Scenario 3: The required torque is 30 N.M and the priority is 4;

[0051] The arbitration logic of the traditional arbitration method is as follows: when there are scenarios with different priorities, the scenario with higher priority is executed first; when there are scenarios with the same priority, the scenario that was input first is output first;

[0052] As shown in Figure 2, when Scenario 1, Scenario 2, and Scenario 3 are activated, Scenario 3 has the highest priority, and the output demand torque is 30 Nm. When Scenario 1 and Scenario 2 are input, since Scenario 1 and Scenario 2 have the same priority, but Scenario 1 is requested first, the output demand torque is 10 Nm. This traditional arbitration method has simple judgment logic, and the simple service-oriented arbitration logic based on priority is no longer able to adapt to and meet the more specialized and detailed control requirements of current torque control.

[0053] FIG3 is a schematic diagram of the torque priority arbitration method of this embodiment. Specifically, the following scenarios are defined:

[0054] Scenario 1: The required torque is 10 N.M, the priority is 3, and the torque arbitration operation is sum+;

[0055] Scenario 2: The required torque is 20 N.M, the priority is 3, and the torque arbitration operation relationship is none;

[0056] Scenario 3: The required torque is 30 N.M, the priority is 4, and the torque arbitration operation relationship is none;

[0057] Scenario 4: The required torque is 40 N.M, the priority is 1, and the torque arbitration operation is sum+;

[0058] Scenario 5: The required torque is 50 N.M, the priority is 0, and the torque arbitration operation is sum+;

[0059] Scenario 6: The required torque is 60 N.M, the priority is 5, and the torque arbitration operation is to take the larger value MAX;

[0060] Scenario 7: The required torque is 70 N.M, the priority is 4, and the torque arbitration operation is the smaller value MIN;

[0061] Scenario 8: The required torque is 80 N.M, the priority is 2, and the torque arbitration operation is the difference -;

[0062] Scenario 9: The required torque is 90 N.M, the priority is 2, and the torque arbitration operation relationship is none;

[0063] As shown in Figure 3, when Scenario 1, Scenario 2, and Scenario 3 are activated, according to the torque priority arbitration method, the torque arbitration operation relationships of different priorities are executed in sequence from high to low. It can be seen that the priority levels of Scenario 1 and Scenario 2 are both 3, and the priority level of Scenario 3 is 4. Therefore, the torque arbitration operation relationship of Scenario 3 is executed first, and the torque arbitration operation relationship of Scenario 3 is none. None means that there is no operation relationship between the operation result of the priority scenario and the operation result of the lower priority scenario. Therefore, there is no need to execute the torque arbitration operation relationship with a lower priority level than priority level 4. At this time, although Scenario 1 and Scenario 2 are both at priority level 3, they do not perform any operation with the scene of priority level 4. Therefore, the operation result of the same level of priority level 3 does not need to be substituted into the torque arbitration operation relationship with priority level 4. Therefore, the output demand torque = Scenario 3 = 30N.M. The final output arbitration result is: Scenario 3, priority level 4, demand torque 30N.M.

[0064] As shown in FIG3 , when Scenario 1, Scenario 2, Scenario 4, and Scenario 5 are activated, according to the torque priority arbitration method, the torque arbitration operation relationships of different priorities are executed in sequence from high to low. It can be seen that Scenario 1 and Scenario 2 both have a priority level of 3, Scenario 4 has a priority level of 1, and Scenario 5 has a priority level of 0. Therefore, the torque arbitration operation relationship of priority level 3 is executed first. Of the two priority level 3 scenarios, the torque arbitration operation relationship of Scenario 2 is none. None indicates that there is no operation relationship between the operation result of this priority scenario and the operation result of a lower priority scenario. Therefore, there is no need to execute the torque arbitration operation relationship between the operation results of the same level with a lower priority than priority level 3. At this time, only the torque arbitration operation relationship of the two priority level 3 scenarios is calculated. The torque arbitration operation relationship of Scenario 1 is sum +, so the torque of Scenario 1 and Scenario 2 is summed. Therefore, the output demand torque = Scenario 1 + Scenario 2 = 10 N.M + 20 N.M = 30 N.M. The final output arbitration result is: Scenario 1 and Scenario 2, priority level 3, demand torque 30 N.M.

[0065] As shown in Figure 3, when scene four and scene five are activated, according to the torque priority arbitration method, the torque arbitration operation relationships of different priorities are executed in sequence from high to low. It can be seen that the priority of scene four is 1, so the torque arbitration operation relationship with priority level 1 is executed first. The torque arbitration operation relationship of scene four is sum +, that is, scene four and scene five need to be summed. The priority of scene five is 0. It is known that when a scene with priority 0 appears, the torque arbitration operation relationship corresponding to the scene with priority 0 can be ignored. Therefore, there is no need to consider the torque arbitration operation relationship of scene five. Scene four and scene five finally perform the summation operation of torque. Therefore, the output demand torque = scene four + scene five = 40N.M + 50N.M = 90N.M, and the final output arbitration result is: scene four, priority level 1, demand torque 90N.M.

[0066] As shown in Figure 3, when Scenario 6, Scenario 7, Scenario 8, and Scenario 9 are activated, according to the torque priority arbitration method, the torque arbitration operation relationships of different priorities are executed in sequence from high to low. It can be seen that the priority of Scenario 6 is 5 and it is the highest priority among the four scenarios. Therefore, the torque arbitration operation relationship of priority level 5 is executed first. The torque arbitration operation relationship of Scenario 6 is to take the larger value MAX, and the larger operation is performed between the priority level 5 and the remaining other priority levels lower than the priority level 5. It can be seen that the priority of Scenario 7 is 4, and the torque arbitration operation relationship of Scenario 7 is to take the smaller value MIN, and the smaller operation is performed between the priority level 4 and the remaining other priority levels lower than the priority level 4. Perform smaller operations between the results of operations at the same level; it is known that the priority levels of scene eight and scene nine are both 2, and there is no scene with a lower priority level than 2. The torque arbitration operation relationship of scene eight is difference -, and the torque arbitration operation relationship of scene nine is none, then perform a difference operation between scene eight and scene nine: according to the torque priority arbitration method and the above-mentioned layered calculations, the output demand torque = MAX{scene six, MIN(scene seven, scene eight-scene nine)} = MAX{60N.M, MIN(70N.M, 90N.M-80N.M)} = 60N.M, then the final output arbitration result is: scene six, priority level 5, demand torque 60N.M.

[0067] The advantage of this embodiment is that it predefines how to apply a preset torque arbitration operation relationship between demand torque scenarios of the same priority and between demand torque scenarios of different priorities, and utilizes the preset torque arbitration operation relationship to perform operations between demand torque scenarios of the same priority and between demand torque scenarios of different priorities, thereby accommodating the selection, superposition, and neutralization of multiple scenarios. The torque priority arbitration method can provide more flexible response to multi-scenario torque control, providing more detailed arbitration possibilities for the selection, superposition, and neutralization of multiple scenarios, meeting the arbitration requirements of multiple operations such as torque summation, difference, maximum, and minimum in current torque control, and also providing an effective arbitration method for the free arrangement of multiple scenarios.

[0068] As shown in Figure 4, this embodiment also proposes a torque control service system, including a scene preset module 401, a torque control module 402 and a power execution module 403, in which signals are transmitted in sequence. In the scene preset module 401, a number of required torque scenes and the scene name, priority level and required torque corresponding to each required torque scene are set. The torque control module 402 matches and activates one or more required torque scenes from the scene preset module 401 through the vehicle's throttle and brake signals at this time. The information of the activated one or more required torque scenes is input into the torque control module 402. The torque control module 402 obtains an arbitration result after calculation using the torque priority arbitration method described above, and the arbitration result is output to the power execution module 403 for execution.

[0069] As shown in FIG. 4 , the power execution module 403 includes an engine controller 4031 , a motor controller 4032 and a hydraulic brake controller 4033 .

[0070] The required torque of the vehicle when driving can be reflected from the throttle and brake signals. The torque control module 402 can determine the required torque scenario that the vehicle may be in at this time based on the throttle and brake signals, thereby activating the corresponding required torque scenario information, retrieving the corresponding data from the required torque scenario data preset in the scenario preset module 401, and extracting and inputting the selected and activated required torque scenario data into the torque control module 402 for priority arbitration. The torque control module 402 then outputs the arbitration result calculated by the torque priority arbitration method to the power execution module 403 for execution. The means of realizing the torque control of the vehicle mainly relies on the control and adjustment of the engine controller 4031, the motor controller 4032 and the hydraulic brake controller 4033. As shown in Figure 4, the reflection on the vehicle is that the engine 4041, the motor 4042 and the hydraulic system 4043 make corresponding control power adjustments.

[0071] In this embodiment, the torque control module 402 also includes a control request interface for total wheel-end torque demand and a control request interface for front and rear axle wheel-end torque. The scenario's required torque primarily includes the front and rear axle torque distribution ratio and the total wheel-end torque demand. Therefore, in the torque control module 402, these interfaces are used to obtain the vehicle's current torque demand during driving. The torque control module 402 can determine the current torque demand scenario the vehicle is currently in based on throttle and brake signals, thereby activating the corresponding torque demand scenario information. Therefore, these interfaces are necessary.

[0072] Specifically, as shown in Figure 5 , the torque control service in torque control module 402 provides a control request interface for total wheel-end torque and front and rear axle wheel-end torque for each torque demand scenario. The primary inputs to torque control module 402 include, but are not limited to, total wheel-end torque demand, priority, arbitration relationships, rear axle allocation, and the torque demand, priority, and arbitration relationships for each torque demand scenario. The primary output is the torque demand of power execution module 403, such as engine torque demand or speed, motor torque demand or speed, and hydraulic brake system torque demand. Intermediate torque control module 402 also undergoes data processing, including rear axle torque distribution ratio arbitration, total wheel-end torque demand processing, front and rear axle torque distribution, drive and brake coordination, hydraulic brake total torque calculation, front and rear engine torque calculation and processing, and front and rear motor torque calculation and processing. This process can be handled by existing software or control programs according to predefined calculation rules and is therefore not detailed in this embodiment. In addition, more specifically, the torque control module 402 should output signals including but not limited to: the name of the responded scenario, the corresponding scenario priority level, the responded wheel-end demand torque, the maximum / minimum wheel-end torque that can be responded to, the positive and negative gradient of the maximum wheel-end torque that can be responded to, etc.

[0073] As shown in FIG6 , this embodiment further provides an EE (Electrical / Electronic Architecture) for centralized torque control using a torque control service system. The torque control service is implemented in the vehicle's centralized control unit VIU (Vehicle Information Unit) 601, and the hard-wired signals of the throttle and brake pedals are connected to the vehicle's centralized control unit. This allows the drive and brake torques to be simultaneously calculated and arbitrated within the same controller, thereby avoiding the signal delay caused by the traditional architecture in which the throttle and brake signals are connected to two controllers separately and then communicated through CAN (Controller Area Network) or Ethernet, and reducing the communication and coordination costs caused by the relatively independent design and development of the drive and brake by the OEM and the supplier.

[0074] Based on the torque control service system, torque control can be divided into a software architecture with three service levels: the top level is the scenario service, namely the scenario preset module 401; the middle level is the enhanced service, namely the torque control module 402; and the bottom level is the atomic service, namely the power execution module 403. The scenario service corresponds to the source of each torque request. Different sources correspond to different scenarios, and different scenarios have different wheel-end torque and rear axle distribution ratio requests. Scenario presets are performed at the scenario service level, and necessary gradient limits and filtering designs are performed. The enhanced service's main function is to arbitrate the arbitration and operation principles corresponding to each required torque scenario, obtain the arbitration results, and process and output the arbitration results. The atomic service controls the various torque control execution-end components, including but not limited to the engine control service, the motor control service, and the hydraulic brake system control service, corresponding to the control of the engine controller, the motor controller, and the hydraulic brake controller, respectively. The layered software architecture makes torque control more concise and intuitive, easily distinguishing development work in different areas, and reducing communication costs for team development.

[0075] This embodiment also provides a vehicle, comprising a torque control service system as described above.

[0076] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A method for determining torque priorities, characterized in that it includes the following steps: obtain the current required torque of the vehicle in the driving state, compare it with the preset required torque scenarios and activate one or more required torque scenarios; based on the preset priority, the preset required torque and the preset torque prioritization operation ratio, for each required torque scenario, a final prioritization result is calculated and output, wherein for required torque scenarios with the same priority, the torque prioritization operation ratio is an operational ratio between this required torque scenario and other required torque scenarios with the same priority level, and for required torque scenarios with different priorities, the torque prioritization operation ratio is an operational ratio between the result of operations at one priority level and the result of operations at a lower priority level, wherein when only one required torque scenario is activated,the result of determining the priorities is output directly when two or more scenarios of the required torque are activated, firstly, the ratios of the operations of determining the priorities of the torque are performed for different priorities sequentially from high to low, wherein for different scenarios of the required torque with the same priority, the result of the operations at the same priority level is calculated through the ratio of the operations of determining the priorities of the torque between the same priorities, the result of the operations at the same priority level is substituted into the calculation by the ratio of the operations of determining the priorities of the torque between different priorities, the final result of determining the priorities is calculated and output; control the vehicle to appropriately control the torque in accordance with the result of the prioritization.

2. The method according to claim 1, characterized in that the preset priority levels are represented by natural numbers, wherein a higher numerical value indicates a higher priority level, when the numerical value of the priority of the required torque scenario is 0, this indicates the lowest priority of this scenario, and the ratio of torque priority determination operations corresponding to this scenario is not involved in the calculations.

3. The method according to claim 2, characterized in that the preset torque priority determination operation relationships include: no operation, summation (+), subtraction (-), minimum value selection (MIN) and maximum value selection (MAX), wherein "no operation" means that there is no longer an operational relationship between the result of the operations at one priority level for the required torque scenario and the result of the operations at one priority level for the required torque scenario with a lower priority, "summation (+)" means a summation operation between different required torque scenarios or different priorities, "subtraction (-)" means a subtraction operation between different required torque scenarios or different priorities, "minimum value selection (MIN)" means a minimum value selection operation between different required torque scenarios or different priorities,"maximum value selection (MAX)" means an operation of selecting the maximum value between different required torque scenarios or different priorities, wherein the ratios of torque priority determination operations for different required torque scenarios belonging to the same priority level are set to "no operation" and / or "addition (+)", "subtraction (-)", "minimum value selection (MIN)", and "maximum value selection (MAX)"., 4. The method according to paragraphs 1-3, characterized in that the preset scenarios of the required torque are derived from the required torque from the accelerator pedal, the required torque for the creeping mode, the required torque for the coasting mode, the required torque during regenerative braking, the required torque for the automatic control system, the required torque for the intelligent steering system, the required torque for hill start assist, the required torque for parking assist, the maximum required torque set by the driver, the maximum required torque limited by the driving speed, and the required torque limited by the engine and the battery.

5. The method according to paragraphs 1-4, characterized in that the preset required torque includes a torque distribution coefficient between the front and rear axles and a total required torque on the wheels.

6. The method according to paragraphs 1-5, characterized in that the result of determining priorities includes the value of the output required torque, the name of the scenario with the highest priority level, and the priority level.

7. A torque control service system, characterized in that it includes a scenario setting module, a torque control module, and an executive module that sequentially transmit signals, wherein several scenarios of the required torque are set in the scenario setting module and the name of the scenario, the priority level, and the required torque corresponding to each scenario of the required torque are calculated by the torque control module using the method according to paragraphs 1-6, obtaining the result of the priority determination, which is output to the executive module for execution.

8. The system according to claim 7, characterized in that the actuator module includes an engine controller, an electric motor controller, and a hydraulic brake system controller.

9. The system according to claim 7 or 8, characterized in that the torque control module also includes an interface for requesting control of the total required torque on the wheels and an interface for requesting control of the torque on the wheels of the front and rear axles.

10. A vehicle characterized in that it includes a torque control service system according to paragraphs 7-9.