Method and system for calculating torque required by driver, and vehicle and storage medium

Abstract

A method and system for calculating a torque required by a driver, and a vehicle and a storage medium. The method for calculating a torque required by a driver comprises: acquiring the opening degree of an accelerator pedal of a target vehicle, the actual speed of the target vehicle, the actual acceleration of the target vehicle, and the gradient of the current road on which the target vehicle is travelling (S101); determining a target acceleration on the basis of the opening degree of the accelerator pedal and the actual speed (S102); subtracting the target acceleration from the actual acceleration to obtain an acceleration difference (S103); on the basis of the acceleration difference, performing closed-loop correction on a required torque, so as to obtain a corrected torque (S104); on the basis of the actual speed and the gradient of the current road on which the target vehicle is travelling, determining the coasting resistance torque and gradient resistance torque of the target vehicle (S105); and adding up the corrected torque, the coasting resistance torque and the gradient resistance torque to obtain a torque required by a driver (S106). The method can automatically adapt to a change in the gradient of a road, such that a torque required by a driver can be accurately and effectively calculated, thereby improving the driving experience of the driver.

Description

A driver demand torque calculation method, system, vehicle and storage medium Technical Field

[0001] The present application relates to the field of automobile power system control technology, and in particular to a method, system, vehicle and storage medium for calculating driver demand torque. Background Art

[0002] Driver-demand torque calculations, whether for traditional fuel-powered vehicles or modern hybrid and pure electric vehicles, are based on a table lookup of the accelerator pedal position and vehicle speed. However, this existing table-based method for determining driver-demand torque is an open-loop control method that cannot adapt to changes in road grade. In practice, drivers must repeatedly adjust the throttle to adjust to the speed changes caused by the gradient, which impacts the driving experience.

[0003] Summary of the Invention

[0004] In view of this, the present application provides a driver demand torque calculation method, system, vehicle and storage medium to solve the problem that the existing table-based method for determining the driver demand torque cannot adapt to changes in road slope, affecting the user's driving experience.

[0005] In a first aspect, the present application provides a method for calculating a driver's required torque, the method comprising:

[0006] Obtain the target vehicle's accelerator pedal opening, actual vehicle speed, actual acceleration, and current road slope;

[0007] Determine the target acceleration based on the accelerator pedal opening and the actual vehicle speed;

[0008] Subtract the target acceleration from the actual acceleration to obtain the acceleration difference;

[0009] Performing closed-loop correction on the required torque based on the acceleration difference to obtain the corrected torque;

[0010] Determining a coasting resistance torque and a slope resistance torque of the target vehicle based on an actual vehicle speed and a slope of a current driving road;

[0011] The driver demand torque is obtained by summing the correction torque, the coasting resistance torque, and the grade resistance torque.

[0012] This application calculates the closed-loop control variable, acceleration difference, by obtaining the target vehicle's accelerator pedal position, actual vehicle speed, and acceleration. This closed-loop control of the required torque yields a correction torque, which is then combined with the vehicle's frictional resistance torque and the slope resistance torque experienced by vehicles on roads of varying slopes to determine the driver's required torque. This application automatically adapts to changes in road slope, accurately and efficiently calculating the driver's required torque and improving the driver's driving experience.

[0013] In an optional embodiment, performing closed-loop correction on the required torque based on the acceleration difference to obtain the corrected torque includes:

[0014] Based on the acceleration difference, a preset first table is queried to obtain various parameters of the PID closed-loop control, wherein the preset first table is a mapping relationship between the acceleration difference of the target vehicle and various parameters of the PID closed-loop control;

[0015] Based on the various parameters of PID closed-loop control, a PID closed-loop calculation is performed on the required torque to obtain the corrected torque.

[0016] This application performs PID closed-loop calculation of the required torque based on the acceleration difference, which can ensure the accuracy of the required torque, improve vehicle driving stability, meet the driving requirements of automatic adaptation to roads with different slope changes, simplify the driver's operation, and enhance the user's driving experience.

[0017] In an optional embodiment, determining the target acceleration based on the accelerator pedal opening and the actual vehicle speed includes:

[0018] Based on the accelerator pedal opening, a preset second table is searched to determine the vehicle speed corresponding to the accelerator pedal opening. The preset second table is a mapping relationship between the accelerator pedal opening and the vehicle speed of the target vehicle;

[0019] The minimum speed between the vehicle speed corresponding to the accelerator pedal opening and the preset maximum speed is used as the target vehicle speed;

[0020] Subtract the target speed from the actual speed to obtain the speed difference;

[0021] A preset third table is queried based on the vehicle speed difference to determine a target acceleration corresponding to the vehicle speed difference. The preset third table is a mapping relationship between the target vehicle speed difference and the acceleration.

[0022] This application can more flexibly set the target acceleration through the mapping relationship between the target vehicle's accelerator pedal opening and vehicle speed, and the mapping relationship between the speed difference and acceleration, meeting the application needs of different driving scenarios. It can automatically adapt to roads with different slope changes in various driving scenarios and accurately obtain the corresponding driver-required torque.

[0023] In an optional embodiment, the driver demand torque calculation method further includes:

[0024] Determining whether the driver's required torque meets the preset torque requirement;

[0025] If the driver's demanded torque does not meet the preset torque requirement, the process returns to the step of obtaining the accelerator pedal opening, actual vehicle speed, actual acceleration, and current road slope of the target vehicle, and / or issues an abnormality alarm.

[0026] The process of judging the driver's required torque and the preset torque requirement in this application can obtain the driver's required torque more accurately.

[0027] In an optional embodiment, determining whether the driver's required torque meets the preset torque requirement includes:

[0028] determining a first torque according to a maximum torque of a motor of the target vehicle and a maximum discharge power of a battery;

[0029] determining a second torque according to a minimum torque of the motor of the target vehicle and a maximum charging power of the battery, the second torque being less than the first torque;

[0030] determining whether the driver demand torque is greater than the second torque and less than the first torque;

[0031] If the driver demand torque is greater than the second torque and less than the first torque, it is determined that the driver demand torque meets the preset torque requirement.

[0032] This application uses the maximum torque and minimum torque of the target vehicle to determine whether the driver's required torque meets the requirements, which can ensure that the calculated driver's required torque is within the torque range that the vehicle can provide, greatly ensuring the accuracy of the required torque.

[0033] In an optional embodiment, before subtracting the target acceleration from the actual acceleration, the driver demand torque calculation method further includes:

[0034] Get the relative distance between the target vehicle and the obstacle in front of it;

[0035] Correct the target acceleration based on the relative distance.

[0036] This application corrects the target acceleration by vehicle distance, which can be close to the actual vehicle driving scenario, and the torque calculation is more comprehensive, which helps to improve the accuracy of the required torque calculation of the target vehicle.

[0037] In an optional embodiment, correcting the target acceleration based on the relative distance includes:

[0038] Determine whether the relative distance is less than a preset safety distance threshold;

[0039] If the relative distance is less than the preset safety distance threshold, the target acceleration is reduced based on the difference between the preset safety distance threshold and the relative distance.

[0040] This application corrects the target acceleration through the judgment process of the distance to the preceding vehicle and the preset safety threshold, which can achieve the functional requirement of strong sliding recovery force when the distance to the preceding vehicle is close, and avoids possible collision risks by reducing the vehicle's target acceleration, thereby ensuring the vehicle's driving safety.

[0041] In a second aspect, the present application provides a driver demand torque calculation system, the system comprising:

[0042] An acquisition module is used to obtain the accelerator pedal opening, actual vehicle speed, actual acceleration and current road slope of the target vehicle;

[0043] a first determination module, configured to determine a target acceleration based on an accelerator pedal opening and an actual vehicle speed;

[0044] A first calculation module is used to subtract the target acceleration from the actual acceleration to obtain an acceleration difference;

[0045] A correction module, configured to perform closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque;

[0046] a second determining module, configured to determine a coasting resistance torque and a slope resistance torque of the target vehicle based on an actual vehicle speed and a slope of a current driving road;

[0047] The second calculation module is used to sum the correction torque, the coasting resistance torque and the slope resistance torque to obtain the driver's required torque.

[0048] The driver demand torque calculation system of the present application can automatically adapt to changes in road slope, accurately and effectively calculate the driver demand torque, and improve the driver's driving experience.

[0049] In a third aspect, the present application provides a vehicle, which includes a controller, and the controller includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes a driver demand torque calculation method of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0050] In a fourth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute a driver demand torque calculation method according to the first aspect or any corresponding embodiment thereof.

[0051] This application obtains the corresponding acceleration difference through the accelerator pedal opening, actual vehicle speed and acceleration of the target vehicle, and performs closed-loop correction on the required torque based on the acceleration difference to obtain the corrected torque; the sliding resistance torque and slope resistance torque of the target vehicle are determined in combination with the actual vehicle speed and the slope of the current driving road, and the driver's required torque of the target vehicle is obtained, which can automatically adapt to changes in the slope of the road. The driver's required torque calculation obtained based on the actual driving scenario takes into account a comprehensive range and has the advantage of high accuracy, which greatly improves the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] FIG1 is a flow chart of a method for calculating driver demand torque according to an embodiment of the present application;

[0054] FIG2 is a flow chart of another method for calculating driver demand torque according to an embodiment of the present application;

[0055] FIG3 is a flow chart of another method for calculating driver demand torque according to an embodiment of the present application;

[0056] FIG4 is a flow chart of another method for calculating driver demand torque according to an embodiment of the present application;

[0057] FIG5 is an overall schematic diagram of a method for calculating driver demand torque according to an embodiment of the present application;

[0058] FIG6 is a structural block diagram of a driver demand torque calculation system according to an embodiment of the present application;

[0059] FIG7 is a schematic structural diagram of a controller of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0061] Currently, the calculation of driver-demand torque is often determined through table lookup. This method is open-loop control and cannot adapt to complex driving scenarios, such as those with varying road slopes. In such scenarios, the driver needs to repeatedly adjust the throttle to adapt to the changes in vehicle speed caused by the slope change, which greatly affects the driver's driving experience. Therefore, this application provides a driver-demand torque calculation method, system, vehicle, and storage medium that can automatically adapt to road slope changes in various driving scenarios, accurately and effectively calculate the driver's demand torque, greatly improving the driver's driving experience and meeting the driving needs of different scenarios.

[0062] An embodiment of the present application provides an embodiment of a method for calculating a driver's required torque. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0063] In this embodiment, a method for calculating a driver's required torque is provided. FIG1 is a flow chart of the method for calculating a driver's required torque according to an embodiment of the present application. As shown in FIG1 , the flow chart includes the following steps:

[0064] Step S101 , obtaining the accelerator pedal opening, actual vehicle speed, actual acceleration and current road slope of the target vehicle.

[0065] In this embodiment, the target vehicle's accelerator pedal position, actual vehicle speed, actual acceleration, and current road slope are acquired through onboard sensors. The specific acquisition method is not specifically limited herein. For example, an angle sensor is used to measure the accelerator pedal position of the current vehicle; a speed sensor is used to detect the tire speed of the current vehicle to obtain the corresponding vehicle speed; an acceleration sensor is used to obtain the current vehicle acceleration; and a slope sensor or gravity acceleration sensor is used to obtain the current road slope. These are examples only and should be adjusted based on actual application scenarios.

[0066] Step S102: Determine the target acceleration based on the accelerator pedal opening and the actual vehicle speed.

[0067] It should be noted that for different driving modes of the vehicle, different mapping relationships between target acceleration and vehicle speed can be set, that is, the specific value of the target acceleration can be adaptively adjusted according to actual application needs to meet different driving style requirements. For example, the driving modes include: sports mode, economic mode and standard mode. Specifically, the sports mode will increase fuel consumption to improve the power of the car, with the advantages of fast acceleration and strong power; the economic mode reduces power to save fuel consumption; the standard mode is the daily driving mode, at which time the vehicle is in a state of good comfort, stability and fuel consumption. This is only an example and is not a limitation.

[0068] Step S103: Subtract the target acceleration from the actual acceleration to obtain the acceleration difference.

[0069] It should be noted that this embodiment uses the acceleration difference as the control variable of the closed-loop control, which can ensure the controllability of the target vehicle's acceleration process, allowing the vehicle to accelerate or decelerate according to the set target acceleration, satisfying different driving experiences of users.

[0070] Step S104 : performing closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque.

[0071] In actual vehicle driving scenarios, the road on which the vehicle is traveling has slope changes. This embodiment performs closed-loop correction on the required torque based on the acceleration difference, which greatly improves the calculation accuracy of the driver's required torque and meets the driver's driving needs in different scenarios.

[0072] It should be noted that the wheel-end torque of a vehicle refers to the torque value or moment that reaches the wheel end after the torque of the vehicle engine or motor is amplified by the vehicle transmission system. The corrected torque in this embodiment is the torque obtained by closed-loop correction of the vehicle wheel-end torque.

[0073] Step S105 : determining the coasting resistance torque and the slope resistance torque of the target vehicle based on the actual vehicle speed and the slope of the current driving road.

[0074] In this embodiment, the corresponding sliding resistance torque, also known as the wheel-end sliding resistance torque, is determined based on the actual vehicle speed of the target vehicle, which represents the friction resistance torque encountered by the vehicle during the driving process; the corresponding slope resistance torque, also known as the wheel-end slope resistance torque, is determined based on the slope of the road on which the target vehicle is currently traveling, which represents the slope resistance torque encountered by the vehicle when traveling on roads with different slopes.

[0075] Step S106 : summing the correction torque, the coasting resistance torque, and the slope resistance torque to obtain the driver's required torque.

[0076] The driver demand torque calculation method of the embodiment of the present application can automatically adapt to changes in road slope when driving in various driving scenarios, accurately and effectively calculate the driver demand torque, greatly improving the driver's driving experience and meeting driving needs in different scenarios.

[0077] In this embodiment, a method for calculating a driver's required torque is provided. FIG2 is a flow chart of another method for calculating a driver's required torque according to an embodiment of the present application. As shown in FIG2 , the flow chart includes the following steps:

[0078] Step S201: Obtain the accelerator pedal opening, actual vehicle speed, actual acceleration, and current road slope of the target vehicle. For details, please refer to step S101 of the embodiment shown in FIG1 , which will not be described in detail here.

[0079] Step S202: Determine the target acceleration based on the accelerator pedal opening and the actual vehicle speed.

[0080] Specifically, the above step S202 includes:

[0081] Step S2021: Based on the accelerator pedal opening, a preset second table is queried to determine the vehicle speed corresponding to the accelerator pedal opening. The preset second table is a mapping relationship between the accelerator pedal opening and the vehicle speed of the target vehicle.

[0082] The second preset table in this embodiment is the target vehicle speed MAP. MAP refers to the data table used in the interpolation method, i.e., a data mapping table between the accelerator pedal opening and its corresponding target vehicle speed, as shown in Table 1. It should be noted that for hybrid vehicles or fuel vehicles, the accelerator pedal is also called the gas pedal.

[0083] Table 1

[0084] As shown in Table 1, a query for the throttle opening (X) of 20 yields a corresponding target speed (Y) of 40 km / h. It should be noted that the specific MAP value is manually set based on empirical data during vehicle development. During vehicle commissioning, calibration engineers can adapt the value to meet performance requirements.

[0085] In step S2022, the minimum vehicle speed between the vehicle speed corresponding to the accelerator pedal opening and the preset maximum vehicle speed is used as the target vehicle speed.

[0086] It should be noted that the preset maximum speed is a fixed value set for the vehicle's maximum speed limit. Its specific value is not limited here and is determined based on the vehicle's gear position, driving mode, fault status, and the maximum speed allowed for the vehicle as determined by user settings. For example, for a manual transmission car, first gear is used for normal starting or climbing steep slopes, suitable for speeds of around 10 km / h. Its maximum speed can be set to 15 km / h. This is for illustration only and is not intended to be limiting. Determining the target speed by taking the smaller of the preset maximum speeds implements the speed limit function, preventing the vehicle from exceeding the maximum allowable speed and damaging components.

[0087] Step S2023: Subtract the target vehicle speed from the actual vehicle speed to obtain the vehicle speed difference.

[0088] In a specific embodiment, a preset target vehicle speed MAP is queried according to the accelerator pedal opening, and the target vehicle speed original value corresponding to the accelerator pedal opening is determined, and then the target vehicle speed is obtained by taking the smaller value of the target vehicle speed original value and the set maximum vehicle speed limit.

[0089] Step S2024: Based on the vehicle speed difference, a preset third table is searched to determine a target acceleration corresponding to the vehicle speed difference. The preset third table is a mapping relationship between the target vehicle speed difference and the acceleration.

[0090] The preset third table in this embodiment is the target acceleration MAP, which is a data mapping table of the vehicle speed difference and its corresponding target acceleration. Through the mapping relationship between the target vehicle accelerator pedal opening and the vehicle speed, and the mapping relationship between the vehicle speed difference and the acceleration, the target acceleration can be set more flexibly to meet the application requirements of different driving scenarios. It can automatically adapt to roads with different slope changes in various driving scenarios and accurately obtain the corresponding driver-required torque.

[0091] Step S203: Subtract the target acceleration from the actual acceleration to obtain the acceleration difference. Please refer to step S103 of the embodiment shown in FIG1 for details, which will not be repeated here.

[0092] Step S204 : performing closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque.

[0093] Specifically, the above step S204 includes:

[0094] Step S2041 : querying a preset first table based on the acceleration difference to obtain various parameters of the PID closed-loop control. The preset first table is a mapping relationship between the acceleration difference of the target vehicle and various parameters of the PID closed-loop control.

[0095] It should be noted that PID (Proportional Integral Derivative) is a closed-loop control method that uses the proportional, integral, and differential calculations of the error generated by comparing the real-time data collected from the controlled object with a given value. It is also known as proportional integral derivative control and has proportional P, integral I, and differential D control parameters. The first preset table in this embodiment is a PID parameter MAP, which is a data mapping table for the acceleration difference and its corresponding P, I, and D parameters.

[0096] It should be noted that the specific values ​​of the three parameters P, I and D can be set to fixed values. However, when set to fixed values, the control effect is not good across the entire vehicle speed range. This embodiment uses the interpolation method to set the values ​​of the three parameters P, I and D as variable parameters, which change with the acceleration difference. The PID parameters are determined by looking up the MAP table based on the acceleration difference.

[0097] Step S2042: Perform PID closed-loop calculation on the required torque based on various parameters of PID closed-loop control to obtain a corrected torque.

[0098] In this embodiment, PID closed-loop control is performed based on the acceleration difference to obtain the corresponding wheel-end correction torque, also known as wheel-end PID correction torque. Specifically, PID closed-loop calculation of the required torque based on the acceleration difference ensures the accuracy of the required torque, improves vehicle driving stability, meets the requirements of automatic adaptation to varying road slopes, simplifies driver operation, and enhances the user's driving experience.

[0099] Step S205: Determine the coasting resistance torque and the slope resistance torque of the target vehicle based on the actual vehicle speed and the slope of the current road. For details, please refer to step S105 of the embodiment shown in FIG1 , which will not be described in detail here.

[0100] Step S206: Sum the correction torque, the coasting resistance torque, and the slope resistance torque to obtain the driver's required torque. For details, please refer to step S106 of the embodiment shown in FIG1 , which will not be described in detail here.

[0101] In this embodiment, a method for calculating driver demand torque is provided. FIG3 is a flow chart of another method for calculating driver demand torque according to an embodiment of the present application. As shown in FIG3 , the flow chart includes the following steps:

[0102] Step S301: Obtain the accelerator pedal opening, actual vehicle speed, actual acceleration, and current road slope of the target vehicle. For details, please refer to step S101 of the embodiment shown in FIG1 , which will not be described in detail here.

[0103] Step S302: Determine the target acceleration based on the accelerator pedal opening and the actual vehicle speed. For details, please refer to step S202 of the embodiment shown in FIG2 , which will not be described in detail here.

[0104] It should be noted that for vehicles equipped with the Adaptive Cruise Control (ACC) function, the target acceleration can be corrected using the feedback signal from the vehicle-to-vehicle distance sensor, achieving a lower coasting recovery force (increasing the target acceleration) when farther from the vehicle ahead and a higher coasting recovery force (reducing the target acceleration) when closer to the vehicle ahead. Therefore, this embodiment adds a correction to the target acceleration and uses the corrected target acceleration for torque calculation. Specifically, correcting the target acceleration can closely match actual vehicle driving scenarios, provide a more comprehensive consideration for torque calculation, and help improve the accuracy of the target vehicle's required torque calculation.

[0105] Step S303: Obtain the relative distance between the target vehicle and the obstacle in front of it.

[0106] In this embodiment, the relative distance between the vehicle and the obstacle in front of it is obtained by using the radar carried by the vehicle.

[0107] Step S304: Correct the target acceleration based on the relative distance.

[0108] Specifically, the above step S304 includes:

[0109] Step S3041: determine whether the relative distance is less than a preset safety distance threshold.

[0110] In this embodiment, the preset safety distance threshold is not specifically limited and is set according to actual driving needs. For example, the preset safety distance threshold is 10m, which is only for illustrative purposes.

[0111] Step S3042: If the relative distance is less than the preset safety distance threshold, the target acceleration is reduced based on the difference between the preset safety distance threshold and the relative distance.

[0112] In this embodiment, if the relative distance is less than a preset safety distance threshold, meaning the following distance between the host vehicle and the vehicle ahead is too close, a high coasting recovery force (i.e., a high deceleration) is required, and the host vehicle's target acceleration is reduced to perform distance correction. Furthermore, if the relative distance is not less than the preset safety distance threshold, meaning the following distance between the host vehicle and the vehicle ahead is far (i.e., a large distance), a low coasting recovery force (i.e., a low deceleration) is required during coasting recovery, and the host vehicle's target acceleration is increased to perform distance correction. Specifically, by correcting the target acceleration based on the distance to the preceding vehicle and the preset safety threshold, the requirement for a high coasting recovery force is achieved when the distance to the preceding vehicle is close. This reduces the vehicle's target acceleration to avoid potential collision risks and ensure vehicle safety.

[0113] Step S305: Subtract the target acceleration from the actual acceleration to obtain the acceleration difference. Please refer to step S103 of the embodiment shown in FIG1 for details, which will not be repeated here.

[0114] Step S306: Perform closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque. For details, please refer to step S204 of the embodiment shown in FIG2 , which will not be described in detail here.

[0115] Step S307: Determine the coasting resistance torque and the slope resistance torque of the target vehicle based on the actual vehicle speed and the slope of the current road. For details, please refer to step S105 of the embodiment shown in FIG1 , which will not be described in detail here.

[0116] Step S308: Sum the correction torque, the coasting resistance torque, and the slope resistance torque to obtain the driver's required torque. For details, please refer to step S106 of the embodiment shown in FIG1 , which will not be described in detail here.

[0117] In actual applications, the value of the vehicle wheel-end torque meets certain range requirements, that is, there is a maximum wheel-end torque and a minimum wheel-end torque. Therefore, this embodiment adds a determination of the driver's required torque to ensure that the obtained driver's required torque value is within the torque range that the vehicle can provide.

[0118] It should be noted that in electric or hybrid vehicles, the motor serves as the power source, and the torque generated is transmitted to the wheels through transmission devices such as the gearbox, forming wheel-end torque, which propels the vehicle. Therefore, the magnitude of the motor's torque directly affects the magnitude of the vehicle's wheel-end torque; in addition, the wheel-end torque of the wheel also affects the working state of the motor. That is, when the wheel encounters large resistance, the wheel end will generate a certain resistance, thereby affecting the output power and efficiency of the motor. According to the motor torque calculation formula, motor torque (T) = 9550 × power (P) / speed (n), it can be seen that power is related to the vehicle's battery. Specifically, the battery serves as the power reserve of electric or hybrid vehicles. It can drive the motor to operate and provide power for the electric vehicle. Therefore, the torque range that the vehicle can provide in this embodiment is related to the vehicle's battery and motor.

[0119] Step S309 , determining whether the driver's required torque meets the preset torque requirement.

[0120] Specifically, the above step S309 includes:

[0121] Step S3091: determining a first torque according to the maximum torque of the motor of the target vehicle and the maximum discharge power of the battery.

[0122] It should be noted that the target vehicle's maximum wheel-end torque is related to the maximum torque supported by the motor and the maximum electrical energy provided by the battery, i.e., the maximum discharge power the battery can provide when in a driving state. Therefore, in this embodiment, the vehicle's current corresponding maximum wheel-end torque, i.e., the first torque, is determined based on the target vehicle's maximum motor torque and the battery's maximum discharge power.

[0123] Step S3092: Determine a second torque based on the minimum torque of the motor of the target vehicle and the maximum charging power of the battery, where the second torque is less than the first torque.

[0124] In this embodiment, the current minimum wheel end torque corresponding to the vehicle, ie, the second torque, is determined according to the minimum motor torque and the maximum charging power of the battery of the target vehicle.

[0125] Step S3093: Determine whether the driver's required torque is greater than the second torque and less than the first torque.

[0126] In this embodiment, the wheel-end driver demand torque is limited between the wheel-end minimum torque and the wheel-end maximum torque to ensure its rationality and high accuracy.

[0127] Step S3094: If the driver's required torque is greater than the second torque and less than the first torque, it is determined that the driver's required torque meets the preset torque requirement.

[0128] In this embodiment, the wheel-end driver demand torque is obtained by taking the smaller of the wheel-end driver demand torque and the wheel-end maximum torque and then taking the larger of the wheel-end minimum torque.

[0129] Step S3010: If the driver's required torque does not meet the preset torque requirement, the process returns to the step of obtaining the accelerator pedal opening, actual vehicle speed, actual acceleration, and slope of the current driving road of the target vehicle, and / or issues an abnormality alarm.

[0130] In this embodiment, when the wheel-end driver's demand torque reaches the limit of the wheel-end maximum torque or the wheel-end minimum torque, the PID closed-loop correction is no longer performed to avoid excessive corrections that cause driving impact problems, to a certain extent avoid battery overcharging or over-discharging, and reduce damage to the vehicle battery.

[0131] The embodiment of the present application determines whether the driver's demand torque meets the requirements through the maximum torque and minimum torque of the target vehicle, which can ensure that the calculated driver's demand torque is within the torque range that the vehicle can provide, greatly ensuring the accuracy of the demand torque and reducing damage to the vehicle battery.

[0132] In a specific embodiment, referring to FIG. 4 and FIG. 5 , the process of the driver demand torque calculation method includes:

[0133] Step S1: query the preset target vehicle speed MAP according to the accelerator pedal opening, determine the original target vehicle speed value corresponding to the accelerator pedal opening, and compare it with the maximum vehicle speed limit value V max Take the smaller one and get the target speed V 目标 ; Based on formula V diff =V 目标 -V 实际 , set the target vehicle speed V 目标 and the actual vehicle speed V 实际 Subtract and get the speed difference V diff .

[0134] Step S2: according to the vehicle speed difference V diff Query the preset target acceleration MAP and determine the target acceleration A target; based on formula A diff =A 目标 -A 实际 , set the target acceleration A 目标 With the actual acceleration A 实际 Subtract and get the acceleration difference A diff This step also includes adjusting the target acceleration A according to the distance between the front vehicle and the vehicle. 目标 Make corrections.

[0135] Step S3: according to the actual vehicle speed V 实际 Query the preset sliding resistance curve MAP to determine the wheel end sliding resistance torque T corresponding to the vehicle speed阻力 Query the preset slope resistance curve MAP according to the slope signal to determine the wheel end slope resistance torque T corresponding to the slope 坡度 .

[0136] Step S4, using the acceleration difference A diff Query the preset P parameter MAP, I parameter MAP and D parameter MAP to obtain P parameter, I parameter and D parameter; according to the acceleration difference A diff Perform PID closed-loop calculation to obtain the wheel-end PID correction torque T PID .

[0137] Step S5: The wheel end sliding resistance torque T 阻力 , wheel end slope resistance torque T 坡度 and wheel end PID correction torque T PID The three are added together to obtain the original value of the wheel-end driver's required torque, and then based on the vehicle's current available maximum wheel-end torque T max and the minimum wheel end torque T min Perform upper and lower limits to obtain the wheel end driver demand torque T 需求 .

[0138] In summary, the driver-demand torque calculation method based on closed-loop control of the present application can automatically adjust the torque output to adapt to changes in road slope, thereby maintaining the target vehicle speed required by the driver; the present application can not only simplify the driver's operation and enhance the driving experience; it can also realize the vehicle's creeping, normal driving, gliding recovery, speed limit and other functions, simplifying the traditional two-dimensional MAP into a one-dimensional MAP, reducing the workload and calibration difficulty during vehicle development, and effectively shortening the development cycle.

[0139] This embodiment also provides a driver demand torque calculation system for implementing the aforementioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. While the systems described in the following embodiments are preferably implemented using software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0140] The present application provides a driver demand torque calculation system, as shown in FIG6 , the system includes:

[0141] The acquisition module 601 is used to acquire the accelerator pedal opening, actual vehicle speed, actual acceleration and the slope of the current driving road of the target vehicle.

[0142] The first determination module 602 is configured to determine a target acceleration based on an accelerator pedal opening and an actual vehicle speed.

[0143] The first calculation module 603 is configured to subtract the target acceleration from the actual acceleration to obtain an acceleration difference.

[0144] The correction module 604 is configured to perform closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque.

[0145] The second determining module 605 is configured to determine the coasting resistance torque and the slope resistance torque of the target vehicle based on the actual vehicle speed and the slope of the current driving road.

[0146] The second calculation module 606 is configured to sum the correction torque, the coasting resistance torque, and the slope resistance torque to obtain the driver's required torque.

[0147] In some optional embodiments, the first determination module 602 includes: a first determination submodule, a second determination submodule, a third determination submodule and a fourth determination submodule; wherein the first determination submodule is used to query a preset second table based on the accelerator pedal opening to determine the vehicle speed corresponding to the accelerator pedal opening, and the preset second table is a mapping relationship between the accelerator pedal opening and the vehicle speed of the target vehicle; the second determination submodule is used to take the vehicle speed corresponding to the accelerator pedal opening and the minimum speed between the preset maximum speeds as the target vehicle speed; the third determination submodule is used to subtract the target vehicle speed from the actual vehicle speed to obtain the speed difference; the fourth determination submodule is used to query a preset third table based on the speed difference to determine the target acceleration corresponding to the speed difference, and the preset third table is a mapping relationship between the speed difference and the acceleration of the target vehicle.

[0148] In some optional embodiments, the correction module 604 includes: a first correction submodule and a second correction submodule; wherein the first correction submodule is used to query a preset first table based on the acceleration difference to obtain various parameters of the PID closed-loop control, and the preset first table is a mapping relationship between the target vehicle acceleration difference and the various parameters of the PID closed-loop control; the second correction submodule is used to perform PID closed-loop calculation on the required torque based on the various parameters of the PID closed-loop control to obtain the corrected torque.

[0149] In some optional embodiments, the system further includes: a judgment submodule and a termination submodule; wherein the judgment submodule is used to judge whether the driver's required torque meets the preset torque requirement; the termination submodule is used to return to the step of obtaining the accelerator pedal opening, actual vehicle speed, actual acceleration and current driving road slope of the target vehicle if the driver's required torque does not meet the preset torque requirement, and / or, to issue an abnormal alarm.

[0150] In some optional embodiments, the judgment submodule includes: a first judgment unit, a second judgment unit, a third judgment unit and a fourth judgment unit; wherein the first judgment unit is used to determine the first torque based on the maximum torque of the motor of the target vehicle and the maximum discharge power of the battery; the second judgment unit is used to determine the second torque based on the minimum torque of the motor of the target vehicle and the maximum charging power of the battery, and the second torque is less than the first torque; the third judgment unit is used to determine whether the driver's required torque is greater than the second torque and less than the first torque; the fourth judgment unit is used to determine that the driver's required torque meets the preset torque requirement if the driver's required torque is greater than the second torque and less than the first torque.

[0151] In some optional embodiments, the system further includes: a collection submodule and an adjustment submodule; wherein the collection submodule is used to obtain the relative distance between the target vehicle and the obstacle in front of it; and the adjustment submodule is used to correct the target acceleration based on the relative distance.

[0152] In some optional embodiments, the adjustment submodule includes: a first adjustment unit and a second adjustment unit; wherein the first adjustment unit is used to determine whether the relative distance is less than a preset safety distance threshold; the second adjustment unit is used to reduce the target acceleration based on the difference between the preset safety distance threshold and the relative distance if the relative distance is less than the preset safety distance threshold.

[0153] The further functional description of each of the above modules is the same as that of the above corresponding embodiments and will not be repeated here.

[0154] The driver demand torque calculation system in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0155] The driver-demand torque calculation system of the present embodiment calculates the closed-loop control variable, acceleration difference, by obtaining the target vehicle's accelerator pedal position, actual vehicle speed, and acceleration. This closed-loop control of the required torque generates a correction torque, which is then combined with the vehicle's frictional resistance torque and the slope resistance torque experienced by vehicles traveling on roads of varying slopes to determine the driver's required torque. This system automatically adapts to changes in road slope, accurately and efficiently calculating the driver's required torque and improving the driver's driving experience.

[0156] The present application also provides a vehicle comprising a controller. The controller in this embodiment is a vehicle domain controller, configured to power on / off, and wake up its connected sub-controllers and network nodes, and to collect real-time output current from each power supply interface. Other controllers with the aforementioned functionality are also applicable.

[0157] Figure 7 is a schematic diagram of the structure of the above-mentioned controller provided in an optional embodiment of the present application. As shown in Figure 7, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each controller provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 takes a processor 10 as an example.

[0158] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0159] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0160] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0161] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0162] The controller further includes a communication interface 30 for the main control chip to communicate with other devices or a communication network.

[0163] The embodiments of the present application also provide a computer-readable storage medium. The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote non-transitory machine-readable storage medium and can be downloaded through a network and stored in a local storage medium, so that the method described herein can be processed using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware and through software stored on a storage medium. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor main control chip or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0164] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A method for calculating driver demand torque, characterized in that, The method includes: Obtaining the accelerator pedal opening, actual vehicle speed, actual acceleration of the target vehicle, and the slope of the current driving road; Determining a target acceleration based on the accelerator pedal opening and the actual vehicle speed; Subtracting the actual acceleration from the target acceleration to obtain an acceleration difference; Performing a closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque; Determining the coasting resistance torque and the slope resistance torque of the target vehicle based on the actual vehicle speed and the slope of the current driving road; Summing the corrected torque, the coasting resistance torque, and the slope resistance torque to obtain the driver's required torque.

2. The driver demand torque calculation method according to claim 1, wherein The performing a closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque includes: Querying a preset first table based on the acceleration difference to obtain the parameters of PID closed-loop control, where the preset first table is a mapping relationship between the acceleration difference of the target vehicle and the parameters of PID closed-loop control; Performing a PID closed-loop calculation on the required torque based on the parameters of the PID closed-loop control to obtain a corrected torque.

3. The driver demand torque calculation method according to claim 1, wherein The determining a target acceleration based on the accelerator pedal opening and the actual vehicle speed includes: Querying a preset second table based on the accelerator pedal opening to determine the vehicle speed corresponding to the accelerator pedal opening, where the preset second table is a mapping relationship between the accelerator pedal opening of the target vehicle and the vehicle speed; Taking the minimum vehicle speed between the vehicle speed corresponding to the accelerator pedal opening and the preset maximum vehicle speed as the target vehicle speed; Subtracting the actual vehicle speed from the target vehicle speed to obtain a vehicle speed difference; Querying a preset third table based on the vehicle speed difference to determine the target acceleration corresponding to the vehicle speed difference, where the preset third table is a mapping relationship between the vehicle speed difference of the target vehicle and the acceleration.

4. The driver demand torque calculation method according to any one of claims 1 to 3, characterized in that, The method further includes: Judging whether the driver's required torque meets a preset torque requirement; If the driver's required torque does not meet the preset torque requirement, then return to the step of obtaining the accelerator pedal opening, actual vehicle speed, actual acceleration of the target vehicle, and the slope of the current driving road again, and / or perform an abnormal alarm.

5. The driver demand torque calculation method according to claim 4, characterized in that The judging whether the driver's required torque meets a preset torque requirement includes: Determining a first torque according to the maximum torque of the motor of the target vehicle and the maximum discharge power of the battery; Determining a second torque according to the minimum torque of the motor of the target vehicle and the maximum charging power of the battery, where the second torque is less than the first torque; Judging whether the driver's required torque is greater than the second torque and less than the first torque; If the driver's required torque is greater than the second torque and less than the first torque, then determining that the driver's required torque meets the preset torque requirement.

6. The driver demand torque calculation method according to claim 1, characterized in that, Before subtracting the actual acceleration from the target acceleration, the method further includes: Obtaining the relative distance between the target vehicle and the obstacle in front of it; Correcting the target acceleration based on the relative distance.

7. The driver demand torque calculation method according to claim 6, wherein The correcting the target acceleration based on the relative distance includes: Judging whether the relative distance is less than a preset safety distance threshold; If the relative distance is less than the preset safe distance threshold, reduce the target acceleration based on the difference between the preset safe distance threshold and the relative distance.

8. A driver demand torque calculation system, characterized in that The system includes: An acquisition module, configured to acquire the accelerator pedal opening, the actual vehicle speed, the actual acceleration, and the slope of the current driving road of the target vehicle; A first determination module, configured to determine a target acceleration based on the accelerator pedal opening and the actual vehicle speed; A first calculation module, configured to subtract the actual acceleration from the target acceleration to obtain an acceleration difference; A correction module, configured to perform closed-loop correction on the required torque based on the acceleration difference to obtain a corrected torque; A second determination module, configured to determine the coasting resistance torque and the slope resistance torque of the target vehicle based on the actual vehicle speed and the slope of the current driving road; A second calculation module, configured to sum the corrected torque, the coasting resistance torque, and the slope resistance torque to obtain the driver's required torque.

9. A vehicle, characterized in that, The vehicle includes a controller, and the controller includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the driver's required torque calculation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the driver's required torque calculation method according to any one of claims 1 to 7.

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