Torque control method, apparatus and device for lash region, and storage medium and product

Abstract

A torque control method for a lash region. The method comprises: when the direction of a torque changes, and the absolute value of the integral value of the torque is greater than or equal to a preset torque threshold value, determining a predicted torque value after a preset period; and on the basis of the predicted torque value and a preset maximum torque threshold value, determining a target torque command value, so as to control the torque in a lash region. By means of limiting a torque, the impact on a mechanical structure caused by an excessive torque in a lash region is avoided. Further provided are a torque control apparatus and device for a lash region, and a storage medium and a computer program product.

Description

Torque control method, device, equipment, storage medium and product of gap region Cross-reference to related applications

[0001] Embodiments of the present application are based on and claim priority from Chinese Patent Application No. 202410861076.7, filed on June 28, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of automobile torque control technology, in particular to a torque control method, device, equipment, storage medium and product of gap region. BACKGROUND

[0003] With the popularization of new energy vehicles, customers have higher and higher requirements for driving smoothness. Due to the characteristics of the mechanical structure of the transmission system (for example, the most commonly used gear transmission in automobiles), it is impossible to be purely rigidly connected. When the torque direction changes (the torque defined as the torque consistent with the forward direction is positive, and the torque opposite to the forward direction is negative), a small gap will be generated. The torque in the gap region is too large and can easily cause impact on the mechanical structure, resulting in a dull abnormal noise, which affects the driving experience. If the torque direction changes and the torque is limited in a small range for too long, although no abnormal noise will be generated, the acceleration will be affected, the driver will feel a loss of power, and the driving experience will also be affected.

[0004] Therefore, how to smoothly pass through the gap region of the transmission system with little impact on the driving experience is a problem that needs to be solved at present. SUMMARY

[0005] The main purpose of the present application is to provide a torque control method, device, equipment, storage medium and product of gap region, which aims to solve the technical problem of how to smoothly pass through the gap region of the transmission system with little impact on the driving experience.

[0006] To achieve the above-mentioned purpose, the present application provides a torque control method of gap region, which comprises:

[0007] When the torque direction changes, it is determined that the transmission mechanism of the transmission system enters the gap region;

[0008] If the absolute value of the integral value of the torque is greater than or equal to the preset torque threshold value, the torque prediction value after the preset period is determined;

[0009] According to the torque prediction value and the preset maximum torque threshold value, a target torque command value is determined;

[0010] According to the target torque command value, the torque of the gap region is controlled.

[0011] In addition, to achieve the above object, the application further provides a torque control device for a clearance region, which comprises:

[0012] a clearance region determination module, configured to determine that a transmission mechanism of a transmission system enters a clearance region when a torque direction changes;

[0013] a periodic torque prediction module, configured to determine a torque prediction value after a preset period if an absolute value of an integral value of the torque is greater than or equal to a preset torque threshold value;

[0014] a target torque determination module, configured to determine a target torque command value according to the torque prediction value and a preset maximum torque threshold value;

[0015] a clearance torque control module, configured to control a torque of the clearance region according to the target torque command value.

[0016] In addition, to achieve the above object, the application further provides a torque control device for a clearance region, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the torque control method for the clearance region.

[0017] In addition, to achieve the above object, the application further provides a storage medium, which is a computer readable storage medium, and a computer program is stored in the storage medium, and the computer program is executed by a processor to implement the steps of the torque control method for the clearance region.

[0018] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the torque control method for the clearance region.

[0019] The application provides a torque control method for a gap region, comprising the following steps: determining that a transmission mechanism of a transmission system enters the gap region when a torque direction changes; determining a torque prediction value after a preset period if an absolute value of an integral value of the torque is greater than or equal to a preset torque threshold; and determining a target torque command value according to the torque prediction value and a preset maximum torque threshold, and controlling the torque of the gap region. The application determines that the transmission mechanism of the transmission system enters the gap region when the torque direction changes, controls the maximum torque of the gap region when the absolute value of the integral value of the torque is not less than the preset torque threshold, determines the target torque command value according to the torque prediction value after the preset period and the preset maximum torque threshold, and limits the torque, so as to avoid the impact of the too large torque in the gap region on the mechanical structure and the emission of dull abnormal noise, thereby smoothly passing through the gap region of the transmission system with little influence on the driving experience. BRIEF DESCRIPTION OF DRAWINGS

[0020] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those drawings can also provide other drawings based on these drawings without creative labor for those skilled in the art.

[0022] Fig. 1 is a flowchart provided by the torque control method for the gap region according to an embodiment of the present application;

[0023] Fig. 2 is a flowchart provided by the torque control method for the gap region according to an embodiment of the present application;

[0024] Fig. 3 is a flowchart provided by the torque control method for the gap region according to an embodiment of the present application;

[0025] Fig. 4 is a flowchart provided by the torque control method for the gap region according to an embodiment of the present application;

[0026] Fig. 5 is a schematic diagram of the overall flow of the torque control method for the gap region according to the present application;

[0027] Fig. 6 is a schematic diagram of the module structure of the torque control device for the gap region according to the embodiment of the present application;

[0028] Fig. 7 is a schematic diagram of the device structure of the hardware running environment involved in the torque control method for the gap region according to the embodiment of the present application.

[0029] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0030] It should be understood that the specific embodiments described herein are merely exemplary of the application and do not limit the application.

[0031] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and specific embodiments.

[0032] The main solution of the embodiments of the present application is: when the torque direction changes, it is determined that the transmission mechanism of the transmission system enters the gap region; if the absolute value of the integral value of the torque is greater than or equal to a preset torque threshold, the torque prediction value after a preset period is determined; the target torque command value is determined according to the torque prediction value and the preset maximum torque threshold; and the torque in the gap region is controlled according to the target torque command value.

[0033] With the popularization of new energy vehicles in the prior art, customers have higher and higher requirements for driving smoothness. Due to the characteristics of the mechanical structure of the transmission system (for example, the most commonly used gear transmission of a vehicle), it is impossible to be purely rigidly connected. When the torque direction changes (the torque in the same direction as the forward direction is defined as positive, and the torque in the opposite direction of the forward direction is defined as negative), a small gap will be generated. The torque in the gap region is too large and is easy to cause impact on the mechanical structure, emit a dull abnormal sound, and affect the driving experience. If the torque direction changes and the torque is limited in a small range for too long, although no abnormal sound will be generated, the acceleration will be affected, the driver will feel a loss of power, and the driving experience will also be affected. Therefore, how to smoothly pass through the gap region of the transmission system with little impact on the driving experience is a problem that needs to be solved at present.

[0034] The present application provides a solution. When the torque direction changes, it is determined that the transmission mechanism of the transmission system enters the gap region. If the absolute value of the integral value of the torque is greater than or equal to a preset torque threshold, the torque prediction value after a preset period is determined. The target torque command value is determined according to the torque prediction value and the preset maximum torque threshold, and the torque in the gap region is controlled. The present application determines that the transmission mechanism of the transmission system enters the gap region when the torque direction changes. The torque is integrated. When the absolute value of the integral is not less than the preset torque threshold, the maximum torque in the gap region is controlled. The target torque command value is determined by the torque prediction value after a preset period and the preset maximum torque threshold. The torque is limited to avoid the impact of the torque in the gap region on the mechanical structure, emit a dull abnormal sound, and the like, so that the transmission system gap region can be smoothly passed through with little impact on the driving experience.

[0035] It should be noted that the execution subject of the method of the embodiment can be a torque device of a transmission system having a gap region, torque control, network communication and program running functions; or can be a torque control device of the above-mentioned gap region, or a new energy vehicle loaded with the torque control device of the gap region. The embodiment and the following embodiments will be described taking the torque control device of the gap region as an example.

[0036] Based on this, the embodiment of the present application provides a torque control method of a gap region. Referring to FIG. 1, FIG. 1 is a flowchart of a first embodiment of the torque control method of the gap region.

[0037] In the embodiment, the torque control method of the gap region comprises steps S10-S40.

[0038] Step S10, when the torque direction changes, determining that the transmission mechanism of the transmission system enters the gap region.

[0039] It can be understood that the embodiment provides a control method and system for the torque of the gap region of the transmission system of the new energy vehicle. It mainly includes two parts: a module for judging whether to enter or leave the gap region, and a module for limiting the maximum torque after entering the gap region. Since the gap is generated when the torque direction changes, the change of the torque direction is the trigger condition for entering the gap region.

[0040] In a possible implementation, before step S10, step S01 can also be included.

[0041] Step S01, when a first torque command value sent to the transmission mechanism last time and a second torque command value to be sent to the transmission mechanism this time satisfy a first condition or a second condition, it is determined that the torque direction changes, wherein the first condition is that the first torque command value is a non-positive number and the second torque command value is a positive number, and the second condition is that the first torque command value is a non-negative number and the second torque command value is a negative number.

[0042] In a specific implementation, whether the torque direction changes can be judged by the controller according to whether the first torque command value TrqCmd -1 sent to the transmission mechanism last time and the second torque command value TrqCmd to be sent to the transmission mechanism this time satisfy the first condition or the second condition. Wherein the first condition is that the first torque command value is a non-positive number and the second torque command value is a positive number: i.e. TrqCmd -1 ≤ 0 and TrqCmd > 0; the second condition is that the first torque command value is a non-negative number and the second torque command value is a negative number: i.e. TrqCmd -1 ≥ 0 and TrqCmd < 0; if the above conditions are satisfied, it indicates that the gap region is entered.

[0043] In the embodiment, the torque direction is determined to be changed by judging whether the first torque command value sent to the transmission mechanism last time is a non-positive number and the second torque command value to be sent to the transmission mechanism this time is a positive number, or the first torque command value is a non-negative number and the second torque command value is a negative number. When the above conditions are met, it is determined that the torque direction is changed, that is, the clearance region is entered, and the torque is limited subsequently.

[0044] In a feasible embodiment, after step S10, step S11 can be further included:

[0045] In step S11, the initial torque value when the preset abnormal condition occurs under different working conditions is calibrated.

[0046] It can be understood that the TrqSum can be determined by experimental calibration, and the value should gradually decrease from large to small until the preset abnormality judgment fails (for example, mechanical structure impact and dull abnormal noise) occurs under different working conditions in the experiment, and the initial torque value at this time is recorded.

[0047] In step S12, the initial torque value and the preset torque increment value are added to obtain the preset torque threshold.

[0048] It can be understood that a certain amount of torque value (which can be set according to actual conditions) is added to leave a margin, so as to leave a buffer margin to obtain the final preset torque threshold TrqSum.

[0049] In the embodiment, the preset torque threshold TrqSum is determined by experimental calibration. The torque value under abnormal conditions such as mechanical structure impact and dull abnormal noise is recorded under different working conditions in the experiment, and a certain amount of torque value is added on this basis, so as to leave a buffer margin, so that a precise torque threshold TrqSum can be calibrated.

[0050] In a feasible embodiment, after step S10, step S12 can be further included:

[0051] In step S12, if the absolute value of the integral value of the torque is less than the preset torque threshold, it is determined that the transmission mechanism of the transmission system leaves the clearance region, and the limitation on the maximum torque of the clearance region is removed.

[0052] It can be understood that since the clearance is very small, the time through the clearance has a maximum value for different working conditions. After entering the clearance region, the torque is integrated, and then it is judged whether the absolute value of the integral value of the torque is less than the preset torque threshold TrqSum, if yes, indicating the condition of leaving the gap region, at which the limitation of the maximum torque of the gap region is released, wherein t0 represents the time of entering the gap region.

[0053] In the embodiment, by integrating the torque after entering the gap region, and then judging that the absolute value of the integral value of the torque is less than the preset torque threshold, it is determined that the transmission mechanism of the transmission system leaves the gap region, and the limitation of the maximum torque of the gap region is released, so that resources can be saved and the energy consumption of the vehicle can be reduced.

[0054] Step S20, if the absolute value of the integral value of the torque is greater than or equal to the preset torque threshold, the torque prediction value after the preset period is determined.

[0055] It should be understood that when the absolute value of the integral value of the torque is less than the preset torque threshold TrqSum, it indicates the condition of leaving the gap region, and after leaving the gap region, the limitation of the maximum torque of the gap region is released. When the absolute value of the integral value of the torque is greater than or equal to the preset torque threshold TrqSum, the maximum torque of the gap region needs to be limited. First, the torque prediction value Trq n for subsequent calculation of the torque command value, control of the torque.

[0056] Step S30, determining the target torque command value according to the torque prediction value and the preset maximum torque threshold.

[0057] It should be understood that after entering the gap region, the maximum torque TrqMAX needs to be limited, and the specific value of the maximum torque is calibrated according to the actual situation, which is generally related to the change of the transmission mechanism (such as different gears), so that different gears need to calibrate different maximum torque values of the gap region respectively, and the specific calibration method is the same as the calibration method of TrqSum. Then compare the size of the torque prediction value and the preset maximum torque threshold to determine the target torque command value.

[0058] Step S40, controlling the torque of the gap region according to the target torque command value.

[0059] The embodiment provides a torque control method for a gap region. When the torque direction changes, it is determined that a transmission mechanism of a transmission system enters the gap region. If the absolute value of an integral value of the torque is greater than or equal to a preset torque threshold value, a torque prediction value after a preset period is determined. A target torque command value is determined according to the torque prediction value and a preset maximum torque threshold value, and the torque in the gap region is controlled. According to the embodiment, when the torque direction changes, it is determined that the transmission mechanism of the transmission system enters the gap region. The integral value of the torque is determined. When the absolute value of the integral value is not less than the preset torque threshold value, the maximum torque in the gap region is controlled. The target torque command value is determined according to the torque prediction value after the preset period and the preset maximum torque threshold value, and the torque is limited. The impact of the excessive torque in the gap region on the mechanical structure is avoided, and the dull abnormal sound is avoided. Therefore, the transmission system gap region can be smoothly passed with little influence on the driving experience.

[0060] Based on the first embodiment of the application, in the second embodiment of the application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and will not be described hereinafter. On this basis, please refer to Fig. 2, before step S20, the torque control method for the gap region further includes steps S11-S13:

[0061] In step S11, the integral value of the torque with respect to time is determined according to the mass of the transmission mechanism of the transmission system, the initial time, the current time, the initial speed corresponding to the initial time and the current speed corresponding to the current time.

[0062] It can be understood that, according to the physical impulse momentum theorem, the impulse is the cause of the change of the speed of the object, From time t0 to time t1, the integral of the torque with respect to time is .

[0063] In step S12, the size of the gap region is determined according to the initial time, the current time, the initial speed and the current speed.

[0064] It can be understood that, for the case that the time interval (t1-t0) is very small, the displacement (i.e. the size of the gap region) Therefore, the size of the gap region is:

[0065] .

[0066] In step S13, the integral value of the torque is determined according to the integral value of the torque with respect to time and the size of the gap region.

[0067] It should be understood that, according to the integral value of the torque with respect to time and the size of the gap region, the condition for leaving the gap region can be determined, and the integral of the torque with respect to time is proportional to the condition for leaving the gap region:

[0068] ;

[0069] In practical applications, the gap size S and the transmission mechanism mass m are fixed values for a specific transmission mechanism or vehicle. Therefore <TrqSum(t0is the time when entering the gap region), indicating the condition for leaving the gap region.

[0070] In the embodiment, the integral value of torque with respect to time is determined according to the mass of the transmission mechanism of the transmission system, the initial time, the current time, the initial speed corresponding to the initial time, and the current speed corresponding to the current time; the gap region size is determined according to the initial time, the current time, the initial speed, and the current speed; and thus the integral value of torque can be determined according to the integral value of torque with respect to time and the gap region size.

[0071] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and will not be described in detail. On this basis, please refer to FIG. 3, step S20, the torque control method of the gap region further includes steps S201-S205:

[0072] Step S201, if the absolute value of the integral value of torque is greater than or equal to a preset torque threshold, a preset number of different time intervals are determined.

[0073] It is worth noting that, due to the uncertainty of the driver's demand torque, there is often an acceleration, and due to the existence of inertia, the effect of limiting the current execution torque is often not good. Therefore, the torque prediction value after n (which can be 1-5) periods is predicted. In the automobile transmission system, the differential value of different time intervals (Δt) can reflect the change trend of torque in these time periods. A preset number m (which can be 1-5) of different time intervals (Δ1t-Δmt) are selected, and the torque differential value in each time interval is calculated. These differential values represent the change rate of torque in different time periods.

[0074] Step S202, the torque differential value corresponding to each of the time intervals is calculated.

[0075] Step S203, the average value of the torque differential value is calculated to obtain an average differential value.

[0076] It can be understood that the average value of the torque differential value under all selected time intervals is calculated. This step is to integrate the information of different time scales, so as to reduce the deviation that may be caused by a single time scale, so as to obtain a comprehensive average differential value, which reflects the average change rate of torque in the selected time interval.

[0077] Step S204, multiplying the average differential value by a preset period length to obtain a predicted torque change amount.

[0078] It can be understood that the average differential value is used to predict the torque change amount in the next period. This step assumes that the future torque change trend is consistent with the average change trend in the past period of time. Multiply this average differential value by the predicted period length , to obtain the predicted torque change amount.

[0079] Step S205, summing the torque value of the current period and the predicted torque change amount to obtain the torque prediction value after the preset period.

[0080] It should be understood that the torque value of the current period plus the predicted change amount can obtain the torque prediction value after n periods.

[0081] In this embodiment, by predicting the torque value after the preset period, the prediction method adopts the differential method, different time intervals are taken in a preset number of time intervals, the differential values are calculated respectively and then averaged to predict the torque change amount in the next period, so as to calculate the torque prediction value after the preset period. By this method, the change trend of the torque in the future period of time can be accurately predicted, which is of great significance for performance optimization and fault prevention of the automobile power transmission system. Through a large amount of historical data and accurate time interval selection, the accuracy and reliability of the prediction result can be ensured.

[0082] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as the above embodiment one can refer to the above introduction, and will not be described in detail. On this basis, please refer to FIG. 4, step S30, the torque control method of the gap region further includes step S301:

[0083] Step S301, if the torque prediction value is less than or equal to a preset maximum torque threshold, the torque command value to be sent is determined as the target torque command value, and the torque command value to be sent is determined by the driver requested torque and the vehicle energy distribution state.

[0084] It should be noted that if Trq n ≤ TrqMAX, it means that the torque prediction value of this time meets the maximum torque limit, and will not cause the phenomenon of affecting the user driving experience, so the final target torque command value of this time is the torque command value TrqCmd to be sent to the actuator, and TrqCmd can be the torque calculated according to the driver requested torque and the vehicle energy distribution state.

[0085] In a feasible implementation manner, step S30 can further include step S302:

[0086] If the torque prediction value is greater than the preset maximum torque threshold value, the last torque command value is determined as the target torque command value.

[0087] It can be understood that if Trq n > TrqMAX, indicating that the current prediction value exceeds the maximum torque threshold value, the current prediction value cannot be used, and the torque prediction value TrqCmd-1 obtained last time can be used, that is, the final target torque command value of this time takes the last torque command value TrqCmd -1 , which is sent to the actuator for torque control.

[0088] In this embodiment, by determining that the torque prediction value is greater than the preset maximum torque threshold value, indicating that the current prediction value exceeds the maximum torque threshold value, the last torque command value is used as the final target torque command value for torque control, so that abnormal conditions such as mechanical structure impact or dull abnormal noise can be avoided when the prediction value exceeds the torque threshold value, and the user's driving experience is improved.

[0089] In this embodiment, by determining that the torque prediction value is greater than the preset maximum torque threshold value, the last torque command value is used as the final target torque command value for torque control, so that abnormal conditions such as mechanical structure impact or dull abnormal noise can be avoided when the prediction value exceeds the torque threshold value, and the user's driving experience is improved. When the torque prediction value is less than or equal to the preset maximum torque threshold value, the torque command value to be sent to the actuator is determined by the driver's request torque and the vehicle energy distribution state, and then the command value is used as the target torque command value, so that the torque can be controlled more accurately.

[0090] For example, in order to help understand the implementation process of the torque control method of the gap region obtained after the above-mentioned embodiment one, please refer to FIG. 5, which is a schematic diagram of the overall flow of the torque control method of the gap region of the present application. Specifically:

[0091] The overall flow of the torque control method of the gap region is as follows:

[0092] Step 1. Determine whether the torque direction changes according to the controller based on whether the first torque command value TrqCmd-1 sent to the transmission last time and the second torque command value TrqCmd to be sent to the transmission this time satisfy the first condition or the second condition. The first condition is that the first torque command value is a non-positive number and the second torque command value is a positive number: TrqCmd-1≤0 and TrqCmd>0; the second condition is that the first torque command value is a non-negative number and the second torque command value is a negative number: TrqCmd-1≥0 and TrqCmd<0. If the above conditions are not met, step 1 is continued to monitor in real time; if the above conditions are met, it means that the gap region is entered and step 2 is entered.

[0093] Step 2. Integrate TrqCmd from the time when the gap region is entered. The integral result at the current time t1 is Integral_TrqCmd = The specific process of integrating the torque can be to determine the integral value of the torque with respect to time according to the mass of the transmission mechanism of the transmission system, the initial time, the current time, the initial speed corresponding to the initial time and the current speed corresponding to the current time; determine the size of the gap region according to the initial time, the current time, the initial speed and the current speed; determine the integral value of the torque according to the integral value of the torque with respect to time and the size of the gap region, the condition for leaving the gap region is proportional to the integral value of the torque with respect to time.

[0094] If the absolute value of the integral value of the torque is greater than or equal to the preset torque threshold: Integral_TrqCmd≤TrqSum, step 3 is entered for maximum torque control, otherwise, it means that the gap region has been left and step 4 is entered to remove the maximum torque limit in the gap region.

[0095] 3. Since the driver demand torque is uncertain, there is often an acceleration, and since there is inertia, the effect of limiting the current moment of execution is often not good. Therefore, the torque prediction value after n (which can be 1~5) periods is predicted. In the automobile transmission system, the differential value of different time intervals (Δt) can reflect the change trend of torque in these time periods. Select a preset number m (which can be 1~5) of different time intervals (Δ1t~Δmt), and calculate the torque differential value in each time interval. These differential values represent the rate of change of torque in different time periods. The average value of the torque differential value under all selected time intervals can be calculated. This step is to integrate information of different time scales, so as to reduce the deviation that may be caused by a single time scale, so as to obtain a comprehensive average differential value, which reflects the average rate of change of torque in the selected time interval. Then, the average differential value is used to predict the change amount of torque in the next period. This step assumes that the future torque change trend is consistent with the average change trend in the past period. Multiply the average differential value by the predicted period length , to obtain the predicted torque change amount. Add the torque value of the current period to the predicted change amount, and the torque prediction value after n periods is obtained.

[0096] If the torque command value to be sent to the actuator at present is TrqCmd (which can be the torque calculated by the controller according to the driver's request torque and the whole vehicle energy distribution state), for example, the preset period n is 1, and the preset number m of different time intervals is 3, then

[0097] dTrqCmd / dt = TrqCmd - TrqCmd -1 ,

[0098] dTrqCmd / d2t=TrqCmd - TrqCmd -2 ,

[0099] dTrqCmd / d3t=TrqCmd - TrqCmd -3 ,

[0100] Trq 1 = TrqCmd +(dTrqCmd / dt + (dTrqCmd / d2t) / 2 + (dTrqCmd / d3t) / 3) / 3。

[0101] Trq 1 represents the torque prediction value, if the torque prediction value is greater than the preset maximum torque threshold Trq 1 >TrqMAX, then the final torque command of this time takes the torque command value TrqCmd -1; if the torque prediction value is less than or equal to a preset maximum torque threshold TrqMAX, the final torque command of this time is the torque command value TrqCmd of this time. Return to step 2 again for integral judgment. 1 ≤TrqMAX, the final torque command of this time is the torque command value TrqCmd of this time. Return to step 2 again for integral judgment.

[0102] Step 4. The final torque command of this time is equal to the torque command value TrqCmd currently to be sent to the actuator, and the maximum torque is no longer limited.

[0103] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the torque control method in the gap region. Based on this technical concept, more forms of simple transformation are within the protection scope of the present application.

[0104] The present application also provides a torque control device in a gap region. Please refer to FIG. 6. The torque control device in the gap region comprises:

[0105] A gap region determination module 10 is configured to determine that the transmission mechanism of the transmission system enters the gap region when the torque direction changes;

[0106] A periodic torque prediction module 20 is configured to determine a torque prediction value after a preset period if the absolute value of the integral value of the torque is greater than or equal to a preset torque threshold.

[0107] A target torque determination module 30 is configured to determine a target torque command value according to the torque prediction value and a preset maximum torque threshold.

[0108] A gap torque control module 40 is configured to control the torque in the gap region according to the target torque command value.

[0109] The torque control device in the gap region provided by the present application adopts the torque control method in the gap region in the above embodiments and can solve the technical problem of smoothly passing through the gap region of the transmission system with little influence on the driving experience. Compared with the prior art, the torque control device in the gap region provided by the present application has the same beneficial effects as the torque control method in the gap region provided by the above embodiments, and other technical features in the torque control device in the gap region are the same as the features disclosed in the above embodiments, which will not be described here.

[0110] The present application provides a torque control device in a gap region, which comprises at least one processor and a memory in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the torque control method in the gap region in the above embodiment one.

[0111] Reference is now made to FIG. 7, which shows a structural diagram of a gap area torque control device suitable for implementing embodiments of the present application. The gap area torque control device in embodiments of the present application can include, but is not limited to, a mobile terminal such as a mobile phone, a notebook, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Portable Application Description), a PMP (Portable Media Player), a car terminal (e.g., a car navigation terminal), and the like, as well as a stationary terminal such as a digital TV, a desktop computer, and the like. The gap area torque control device shown in FIG. 7 is merely an example and should not impose any limitation on the function and scope of use of embodiments of the present application.

[0112] As shown in FIG. 7, the gap area torque control device can include a processing device 1001 (e.g., a central processor, a graphic processor, etc.) that can perform various appropriate actions and processes according to a program stored in a ROM (Read Only Memory) 1002 or a program loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. In the RAM 1004, various programs and data required for operation of the gap area torque control device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An I / O (Input / Output) interface 1006 is also connected to the bus. In general, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, and the like; an output device 1008 including, for example, an LCD (Liquid Crystal Display), a speaker, a vibrator, and the like; the storage device 1003 including, for example, a magnetic tape, a hard disk, and the like; and a communication device 1009. The communication device 1009 can allow the gap area torque control device to communicate with other devices wirelessly or by wire to exchange data. Although the gap area torque control device having various systems is shown in the figure, it should be understood that all of the shown systems are not required to be implemented or provided. More or less systems can be alternatively implemented or provided.

[0113] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program codes for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiments disclosed in the present application are executed.

[0114] The gap region torque control device provided by the present application adopts the gap region torque control method in the above-mentioned embodiments, and can solve the technical problem of smoothly passing through the gap region of the transmission system with little impact on the driving experience. Compared with the prior art, the gap region torque control device provided by the present application has the same beneficial effects as the gap region torque control method provided by the above-mentioned embodiments, and other technical features in the gap region torque control device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0115] It should be understood that various parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above-mentioned embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0116] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0117] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer program) for executing the gap region torque control method in the above-mentioned embodiments.

[0118] The computer readable storage medium provided in the present application may, for example, be a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination of the above. More specific examples of the computer readable storage medium may include, but are not limited to, an electrical connection having one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or flash memory), an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electrical wire, an optical cable, an RF (Radio Frequency), and the like, or any suitable combination of the above.

[0119] The computer readable storage medium described above can be included in the torque control device of the gap region, or can exist separately without being assembled into the torque control device of the gap region.

[0120] The computer readable storage medium described above carries one or more programs, which, when executed by the torque control device of the gap region, cause the torque control device of the gap region to: determine that the transmission mechanism of the transmission system enters the gap region when the torque direction changes; determine the torque prediction value after a preset period if the absolute value of the integral value of the torque is greater than or equal to a preset torque threshold; determine the target torque command value according to the torque prediction value and a preset maximum torque threshold; and control the torque of the gap region according to the target torque command value.

[0121] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0122] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0123] The modules involved in the embodiments of the present application can be implemented in software or hardware. In some cases, the names of the modules do not limit the modules themselves.

[0124] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e. computer programs) for executing the torque control method of the gap area, and can solve the technical problem of smoothly passing through the gap area of the transmission system with little impact on the driving experience. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the torque control method of the gap area provided by the above-mentioned embodiments, and will not be described here.

[0125] The application further provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the torque control method for the gap region as described above.

[0126] The computer program product provided by the application can solve the technical problem of smoothly passing through the gap region of the transmission system with little impact on the driving experience. Compared with the prior art, the beneficial effects of the computer program product provided by the application are the same as those of the torque control method for the gap region provided by the above-mentioned embodiments, and are not described here.

[0127] The above only describes some embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or direct / indirect application in other related technical fields based on the technical concept of the application and the content of the specification and drawings are included in the patent protection scope of the application.

Claims

1. A torque control method for a gap region, applied in electronic equipment of a vehicle, the method comprising: When the torque direction changes, it is determined that the transmission mechanism of the transmission system enters the clearance region; If the absolute value of the integral of the torque is greater than or equal to the preset torque threshold, then the predicted torque value after the preset period is determined. The target torque command value is determined based on the predicted torque value and the preset maximum torque threshold. The torque in the gap region is controlled according to the target torque command value.

2. The method as described in claim 1, wherein, Before the step of determining the predicted torque value after a preset period if the absolute value of the integral of the torque is greater than or equal to a preset torque threshold, the method further includes: The integral value of torque over time is determined based on the mass of the transmission mechanism of the transmission system, the initial time, the current time, the initial speed corresponding to the initial time, and the current speed corresponding to the current time. The size of the gap region is determined based on the initial time, the current time, the initial velocity, and the current velocity; The integral value of the torque is determined based on the integral value of the torque over time and the size of the gap region.

3. The method as described in claim 2, wherein, The step of determining the predicted torque value after a preset period if the absolute value of the integral of the torque is greater than or equal to a preset torque threshold includes: If the absolute value of the integral of the torque is greater than or equal to the preset torque threshold, then a preset number of different time intervals are determined. Calculate the torque differential value corresponding to each of the time intervals; Calculate the average value of the torque differential to obtain the average differential value; The predicted torque change is obtained by multiplying the average differential value by the preset period length. The torque value of the current cycle is summed with the predicted torque change to obtain the predicted torque value after a preset cycle.

4. The method of claim 3, wherein, The step of determining the target torque command value based on the predicted torque value and the preset maximum torque threshold includes: If the predicted torque value is less than or equal to the preset maximum torque threshold, then the torque command value to be sent is determined as the target torque command value. The torque command value to be sent is determined by the driver's requested torque and the vehicle's energy distribution status.

5. The method of claim 3, wherein, The step of determining the target torque command value based on the predicted torque value and the preset maximum torque threshold includes: If the predicted torque value is greater than the preset maximum torque threshold, then the previous torque command value is determined as the target torque command value.

6. The method of claim 1, wherein, Before the step of determining that the transmission mechanism of the transmission system enters the clearance region when the torque direction changes, the method further includes: When the first torque command value previously sent to the transmission mechanism and the second torque command value to be sent to the transmission mechanism this time meet either the first condition or the second condition, it is determined that the torque direction has changed. The first condition is that the first torque command value is not positive and the second torque command value is positive, and the second condition is that the first torque command value is not negative and the second torque command value is negative.

7. The method of claim 6, wherein, After the step of determining that the transmission mechanism of the transmission system has entered the clearance region when the torque direction changes, the method further includes: Calibrate the initial torque value when a preset abnormal condition occurs under different operating conditions; The initial torque value and the preset torque increment value are added together to obtain the preset torque threshold.

8. The method of claim 7, wherein, After the step of determining that the transmission mechanism of the transmission system has entered the clearance region when the torque direction changes, the method further includes: If the absolute value of the integral of the torque is less than the preset torque threshold, then the transmission mechanism of the transmission system is determined to have left the gap region, and the limitation on the maximum torque in the gap region is lifted.

9. A torque control device for a gap region, the torque control device for the gap region comprising: The gap region determination module is used to determine when the transmission mechanism of the transmission system enters the gap region when the torque direction changes. The periodic torque prediction module is used to determine the torque prediction value after a preset period if the absolute value of the integral value of the torque is greater than or equal to a preset torque threshold. The target torque determination module is used to determine the target torque command value based on the predicted torque value and the preset maximum torque threshold. The gap torque control module is used to control the torque in the gap region according to the target torque command value.

10. A torque control device for a gap region, the device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the torque control method for the gap region as described in any one of claims 1 to 8.

11. A storage medium, said storage medium being a computer-readable storage medium, said storage medium storing a computer program, said computer program, when executed by a processor, implementing the steps of the torque control method for the gap region as described in any one of claims 1 to 8.

12. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the torque control method for the gap region as described in any one of claims 1 to 8.

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