Torque output method, torque output apparatus, vehicle, and readable storage medium

Abstract

A torque output method and apparatus, a vehicle, and a non-volatile computer-readable storage medium. The method comprises: determining a torque output strategy on the basis of the current traveling working condition; and on the basis of the current operating parameters of a vehicle and the torque output strategy, controlling the vehicle to operate. In this way, the torque output strategy is selectively determined on the basis of the current traveling working condition, so that when the vehicle is braked, the corresponding driving requirements of a user for the current traveling working condition can also be satisfied, thereby improving the driving experience of the user.

Description

Torque output method, torque output device, vehicle and readable storage medium

[0001] Priority information

[0002] The present application claims priority to and the benefit of the filing date of the patent application with the China National Intellectual Property Office on September 29, 2024, with the patent application number of “202411381047.7”, and incorporates it herein in its entirety by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicles, and more particularly, to a torque output method, a torque output device, a vehicle and a non-volatile computer readable storage medium. BACKGROUND

[0004] The vehicle stops by using the braking torque, which is achieved by the torque generated by the brake. The role of this torque is to make the speed of the wheels drop, and ultimately make the car decelerate until it stops. In the case of braking of the vehicle, in order to ensure the braking effect, the maximum torque that the vehicle can output is often used to control the rapid deceleration of the vehicle, however, during the deceleration process, the rapid deceleration will cause the passengers to feel uncomfortable, thereby affecting the driving experience of the passengers. SUMMARY

[0005] The present application provides a torque output method, a torque output device, a vehicle and a non-volatile computer readable storage medium.

[0006] The torque output method of the present application is applied to a vehicle, and the method comprises determining a torque output strategy according to a current driving condition of the vehicle, the torque output strategy matching the driving demand corresponding to the current driving condition; and controlling the vehicle to operate according to the current operating parameter of the vehicle and the torque output strategy.

[0007] The torque output device of the present application is applied to a vehicle, and the torque output device comprises a strategy determination module and a control module. The strategy determination module is used to determine a torque output strategy according to a current driving condition of the vehicle, the torque output strategy matching the driving demand corresponding to the current driving condition. The control module is used to control the vehicle to operate according to the current operating parameter of the vehicle and the torque output strategy.

[0008] The vehicle of the embodiments of the present application comprises a processor, a memory and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program comprises instructions for executing a torque output method. The torque output method is applied to a vehicle, and the method comprises determining a torque output strategy according to a current driving condition of the vehicle, the torque output strategy matching a driving demand corresponding to the current driving condition; and controlling the vehicle to operate according to a current operating parameter of the vehicle and the torque output strategy.

[0009] The non-volatile computer readable storage medium of the embodiments of the present application comprises a computer program, which, when executed by a processor, causes the processor to execute a torque output method. The torque output method is applied to a vehicle, and the method comprises determining a torque output strategy according to a current driving condition of the vehicle, the torque output strategy matching a driving demand corresponding to the current driving condition; and controlling the vehicle to operate according to a current operating parameter of the vehicle and the torque output strategy.

[0010] The torque output method, torque output device, vehicle and computer readable storage medium of the embodiments of the present application can determine a corresponding brake torque output strategy based on a current driving condition of the vehicle, the brake torque output strategy matching a driving demand corresponding to the current driving condition. Then the vehicle can be controlled to operate according to the torque output strategy and a current operating parameter of the vehicle. It can be understood that the braking process of the vehicle can meet the driving demand corresponding to the current driving condition under the action of the torque output strategy. In this way, the corresponding torque output strategy can be selectively determined based on the current driving condition of the vehicle, so that the driving demand corresponding to the current driving condition of the user can be met while the vehicle is braked, thereby improving the driving experience of the user.

[0011] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0012] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0013] FIG. 1 is a schematic diagram of a partial structure of a vehicle according to some embodiments of the present application;

[0014] FIG. 2 is a schematic diagram of a torque output method according to some embodiments of the present application;

[0015] FIG. 3 is a schematic diagram of a scenario of a torque output method according to some embodiments of the present application;

[0016] FIG. 4 is a flowchart of a torque output method according to some embodiments of the present application;

[0017] FIG. 5 is a flowchart of a torque output method according to some embodiments of the present application;

[0018] FIG. 6 is a preset coefficient data diagram of a torque output method according to some embodiments of the present application;

[0019] FIG. 7 is a flowchart of a torque output method according to some embodiments of the present application;

[0020] FIG. 8 is a flowchart of a torque output method according to some embodiments of the present application;

[0021] FIG. 9 is a scenario diagram of a torque output method according to some embodiments of the present application;

[0022] FIG. 10 is a flowchart of a torque output method according to some embodiments of the present application;

[0023] FIG. 11 is a flowchart of a torque output method according to some embodiments of the present application;

[0024] FIG. 12 is a flowchart of a torque output method according to some embodiments of the present application;

[0025] FIG. 13 is a flowchart of a torque output method according to some embodiments of the present application;

[0026] FIG. 14 is a module diagram of a torque output device according to some embodiments of the present application;

[0027] FIG. 15 is a partial structure diagram of a vehicle according to some embodiments of the present application;

[0028] FIG. 16 is a connection state diagram of a non-volatile computer readable storage medium and a processor according to some embodiments of the present application. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals are used throughout the drawings to refer to the same or like elements or elements having the same or similar functionality. The embodiments described below are exemplary and are merely intended to explain the present application, and are not to be understood as limiting the present application.

[0030] The present application provides a torque output method, which is described in detail as follows:

[0031] The regenerative energy feedback can recover part of the energy during the vehicle sliding and braking phase, thereby improving the driving range and the utilization rate of the whole vehicle energy of the vehicle, especially the new energy vehicle. When the vehicle is decelerating and braking, its kinetic energy is not only converted into heat energy by the braking system, but also can be converted into electric energy by the motor and stored in the battery for driving the vehicle to travel.

[0032] Referring to FIG. 1, the vehicle 100 provided by the embodiment of the present application comprises a motor 1, a motor controller 2, a coordinate transformation module 3, a space vector pulse width modulation module 4, a braking torque output strategy module 5 and a current closed-loop regulation module 6. The braking torque output strategy module 5 can determine the target torque according to the torque output method of the present application, and output the target direct and quadrature axis current combination according to the target torque.

[0033] The relevant sensors collect the phase current values flowing between the motor 1 and the motor controller 2 and the real-time motor speed values, and transmit them to the coordinate transformation module 3. The motor controller 2 synchronously collects the electric control direct current bus voltage and transmits it to the space vector pulse width modulation module 4. The coordinate transformation module converts the three-phase static current into two-phase direct and quadrature axis current through corresponding transformation, compares it with the target direct and quadrature axis current combination output by the braking torque output strategy module 5, adjusts it through the current closed-loop regulation module 6, and then transmits it to the coordinate transformation module 3. The coordinate transformation module 3 further converts the two-phase rotating voltage into two-phase static voltage and transmits it to the space vector pulse width modulation module 4. Finally, the space vector pulse width modulation module 4 generates a switching signal and transmits it to the motor controller 2, realizes the conduction and turn-off of the power switching device, and completes the torque response.

[0034] Referring to FIG. 2, the embodiment of the present application provides a torque output method applied to a vehicle, which comprises:

[0035] Step 011: determining the torque output strategy according to the current driving condition of the vehicle, the torque output strategy matching the driving demand corresponding to the current driving condition;

[0036] Specifically, the driving condition refers to the working condition of the vehicle during the transportation driving process, and specifically includes starting, acceleration, constant speed, deceleration, turning, uphill and downhill, parking and other movement forms. The driving demand of the vehicle under different driving conditions may be different, so the corresponding torque output strategy can be determined according to the driving demand corresponding to each driving condition. For example, the current driving condition at least includes the emergency braking condition and the coasting condition. In the case of the current driving condition being the emergency braking condition, the driving demand is to quickly realize braking, and a larger torque needs to be output, so the torque output strategy at this time can be a strategy of preferentially determining the target torque according to the maximum torque that the motor can output. In the case of the current driving condition being the coasting condition, the requirements for braking time, braking torque, etc. are not high, at this time, the user's driving experience can be focused on improving, and the driving demand is to realize braking while improving the user's driving experience. Therefore, the torque output strategy at this time can be a strategy of focusing on feedback torque calculation from the driving experience to determine the target torque.

[0037] The current driving condition of the vehicle can be determined according to the current operating parameter. For example, a corresponding depth threshold can be set according to the pedal depth of the driver stepping on the brake pedal in the emergency braking condition, and a corresponding depth threshold can be set according to the pedal depth of the driver stepping on the brake pedal in the coasting condition. The current operating parameter includes the current pedal depth, and the current driving condition can be determined by comparing the current pedal depth with the two depth thresholds, for example, in the case that the current pedal depth is greater than the depth threshold corresponding to the emergency braking condition, the current driving condition can be considered as the emergency braking condition.

[0038] After determining the current driving condition, the corresponding torque output strategy can be determined according to the current driving condition to obtain the torque output strategy corresponding to the driving demand of the current driving condition.

[0039] Step 013: controlling the vehicle to operate according to the current operating parameter of the vehicle and the torque output strategy;

[0040] Specifically, after determining the torque output strategy, the target torque can be determined according to the current operating parameter and the torque output strategy. For example, in the case that the torque output strategy is the braking torque strategy, the maximum output torque that the motor can output at the current vehicle speed can be determined according to the current vehicle speed of the vehicle, and the target torque can be determined according to the maximum output torque. For another example, in the case that the torque output strategy is the driving experience strategy, the target torque can be determined according to the vehicle speed and the preset coefficient data. The preset coefficient data related to the driving experience can be obtained based on the actual test of the real vehicle driving experience under different feedback coefficients. After determining the target torque, the combination of the direct-axis current and the quadrature-axis current can be reasonably selected in combination with the current battery feedback power state, and then the motor can be controlled to operate according to the combination of the direct-axis current and the quadrature-axis current point, so that the motor completes the torque response. It can be understood that the output torque of the motor at this time is the target torque.

[0041] The target torque corresponds to the driving demand of the current driving condition, so that the driving demand of the current driving condition can be met after the vehicle is controlled to operate according to the target torque. For example, in the case where the current driving condition is an emergency braking condition, the vehicle can achieve rapid braking. In the case where the current driving condition is a coasting condition, the vehicle can improve the driving experience of the user while achieving braking. The driving experience of the user is determined according to whether the braking process meets the driving demand of the user and the degree of satisfaction. The higher the driving experience of the user is, the more the braking process meets the driving demand. Therefore, the application can improve the driving experience of the user while ensuring that the vehicle can complete braking.

[0042] The torque output method of the application can determine a corresponding braking torque output strategy based on the current driving condition of the vehicle, and the braking torque output strategy matches the driving demand corresponding to the current driving condition. Then, the vehicle can be controlled to operate according to the torque output strategy and the current operating parameter of the vehicle. It can be understood that under the action of the torque output strategy, the braking process of the vehicle can meet the driving demand corresponding to the current driving condition. In this way, the corresponding torque output strategy can be selectively determined based on the current driving condition of the vehicle, so that the driving demand corresponding to the current driving condition of the user can be met while achieving braking of the vehicle, thereby improving the driving experience of the user. Meanwhile, the application can automatically adjust the target torque output according to the actual working condition demand of the vehicle during braking, thereby achieving the purpose of improving the energy optimization control of braking.

[0043] In addition, the vehicle generally includes a mechanical braking system, which refers to a series of special devices that apply a certain force to some parts (mainly wheels) of the vehicle to forcibly brake them to a certain extent. The application mainly uses a motor to brake, and when the mechanical braking system fails, the application can also continuously provide a large braking force, reduce the friction loss of the mechanical braking system, and improve the safety redundancy of the vehicle.

[0044] Please refer to FIG. 3. In some embodiments, the current driving condition includes at least one of an emergency braking condition, a fast braking condition, a coasting condition, or a slow braking condition. Step 011: determining a torque output strategy according to the current driving condition of the vehicle, including:

[0045] Step 0111: in the case where the current driving condition is an emergency braking condition or a fast braking condition, determining that the torque output strategy is a braking torque strategy, and the braking torque strategy gives priority to meeting the braking demand torque of the vehicle when controlling the vehicle to operate, the braking demand torque of the vehicle being a torque required by the vehicle to complete braking at present;

[0046] Step 0112: In the case that the current driving condition is the coasting condition or the slow braking condition, the torque output strategy is determined as the driving experience strategy. The driving experience strategy controls the vehicle to run, and the driving experience is preferentially met.

[0047] Specifically, the current driving condition at least includes one of the emergency braking condition, the fast braking condition, the coasting condition or the slow braking condition. The current driving condition of the vehicle can be determined according to the current operating parameters. For example, the first preset threshold, the second preset threshold and the third preset threshold can be set according to the pedal depth of the driver stepping on the brake pedal in different braking conditions, and the three thresholds increase in turn, wherein the first preset threshold is the maximum depth of the driver stepping on the brake pedal in the coasting condition, the second preset threshold is the maximum depth of the driver stepping on the brake pedal in the slow braking condition, and the third preset threshold is the maximum depth of the driver stepping on the brake pedal in the fast braking condition. The condition that the pedal depth is greater than the third preset threshold is the emergency braking condition. The fourth preset threshold is set according to the throttle depth of the driver stepping on the throttle in the coasting condition, and the fourth preset threshold is the maximum depth of the driver stepping on the throttle in the coasting condition. In the case that the current pedal depth is less than the first preset threshold and the current throttle depth is less than the fourth preset threshold, for example, in the case that the current pedal depth is 0 and the current throttle depth is 0, the current driving condition is the coasting condition. In the case that the current pedal depth is less than the second preset threshold and greater than the first preset threshold, the current driving condition is the slow braking condition. In the case that the current pedal depth is less than the third preset threshold and greater than the second preset threshold, the current driving condition is the fast braking condition. In the case that the current pedal depth is greater than the third preset threshold, the current driving condition is the emergency braking condition.

[0048] In the case that the current driving condition is the emergency braking condition or the fast braking condition, the braking torque response real-time requirement is high, the driving demand is to quickly realize braking, and a large torque needs to be output, so the torque output strategy at this time is the braking torque strategy. The braking torque strategy controls the vehicle to run, and the braking demand torque of the vehicle is preferentially met. The braking demand torque of the vehicle is the torque required by the vehicle to complete braking at present. In this way, the vehicle can be controlled to run while ensuring that the braking demand torque is met, so as to ensure that the fast braking can be completed.

[0049] In the case that the current driving condition is the coasting condition or the slow braking condition, the requirements for braking time and braking torque are not high, the driving demand is to realize braking while improving the driving experience of the user, and therefore the torque output strategy at this time is the driving experience strategy. The driving experience strategy controls the vehicle to run, and the driving experience is preferentially met, that is, in the case that the strategy is the driving experience strategy, the feedback torque calculation is focused on the driving experience to determine the target torque.

[0050] In particular, the priorities of the related vehicle states and the related braking state content contained therein for the selection of the braking torque output strategy are not fixed, and can be adjusted based on design requirements and actual situations, and have a certain flexibility.

[0051] In this way, the corresponding torque output strategy can be set according to the driving requirements of different working conditions, so as to control the vehicle according to the torque output strategy corresponding to the current driving working condition in the subsequent process, thereby realizing the optimized control of braking energy, ensuring that the vehicle can realize braking on one hand and meet the driving requirements of the current driving working condition on the other hand, and further improving the driving experience of the user.

[0052] Referring to FIG. 4, in some embodiments, when the torque output strategy is a braking torque strategy, step 013: controlling the vehicle to operate according to the current operating parameters of the vehicle and the torque output strategy, comprising:

[0053] Step 0131: determining the braking demand torque of the vehicle and the maximum output torque of the motor according to the current operating parameters;

[0054] Step 0132: determining the target torque according to the braking demand torque and the maximum output torque, so as to control the motor to operate according to the target torque.

[0055] Specifically, when the torque output strategy is a braking torque strategy, the braking demand torque of the vehicle can be determined according to the current operating parameters. The braking demand torque refers to the torque that needs to be generated by the vehicle braking system to ensure that the vehicle can decelerate or stop as expected.

[0056] For example, the braking demand torque is first calculated based on vehicle state parameters such as vehicle weight, wheel rolling radius, etc. and working condition parameters such as brake pedal opening degree change, etc. Specifically, the braking force required when the vehicle brakes can be determined in combination with the vehicle state parameters and the dynamics model. Then, after the braking force is determined, the braking efficiency and reaction time of the vehicle can be combined. The braking efficiency refers to the proportion between the actual applied braking force and the theoretically calculated required braking force. The reaction time relates to the time delay from when the driver feels the need to brake to when the braking starts. Finally, the braking demand torque is determined according to the calculated braking force and the considered system efficiency and reaction time.

[0057] At the same time, the maximum output torque that the motor can currently output can also be determined according to the current operating parameters, for example, the maximum output torque of the motor at the current speed is obtained based on the motor external characteristic curve and the current speed.

[0058] Then the target torque can be determined according to the braking demand torque and the maximum output torque, and the motor is controlled to operate according to the target torque. For example, in the case where the braking demand torque is less than the maximum output torque, it can be considered that the output torque of the motor can meet the torque demand, so the target torque can be directly determined according to the braking demand torque, and the motor is controlled to operate according to the target torque. In the case where the braking demand torque is greater than the maximum output torque, it can be considered that the output torque of the motor cannot meet the torque demand, and in this case, the target torque is determined according to the maximum output torque, and the motor is controlled to operate according to the target torque. In some embodiments, in the case where the braking demand torque is greater than the maximum output torque, the mechanical braking system of the vehicle can also be controlled to operate according to the difference between the braking demand torque and the maximum output torque, to ensure that the braking force finally generated by the vehicle can meet the braking demand torque. The mechanical braking system can be a hydraulic mechanical braking system, which generates and transmits braking force by using the pressure of liquid in a closed pipeline through the principle of hydraulic transmission.

[0059] Therefore, in the emergency braking condition or the fast braking condition, the target torque can be determined based on the braking torque strategy, so that the target torque matches the braking demand torque, and in the case where the target torque is less than the braking demand torque, the mechanical braking system can also be used for braking assistance, to ensure that the braking force finally generated by the vehicle can match the braking demand torque, thereby achieving fast braking and meeting the driving demand corresponding to the emergency braking condition and the fast braking condition.

[0060] Meanwhile, the traditional mechanical braking system has the problems of slow response speed and poor control accuracy. Therefore, in the emergency braking condition or the fast braking condition, the motor braking scheme is preferentially used in the present application to allocate as much torque as possible to the motor braking. Compared with the mechanical braking system, the motor braking scheme has higher response speed and higher control accuracy, so the present application can improve the response speed and control accuracy of braking.

[0061] Please refer to FIG. 5. In some embodiments, in the case where the torque output strategy is the driving experience strategy, step 013: controlling the vehicle to operate according to the current operating parameters of the vehicle and the torque output strategy, including:

[0062] Step 0133: determining the braking demand torque of the vehicle according to the current operating parameters;

[0063] Step 0134: determining the target torque according to the preset coefficient data corresponding to the current driving condition, the current operating parameters and the braking demand torque, to control the motor to operate according to the target torque until the condition of the vehicle changes.

[0064] Specifically, in the case that the torque output strategy is the driving experience strategy, the preset coefficient data is driving experience optimal feedback data, which can be obtained by calibrating the actual driving experience of the vehicle under different feedback coefficients based on different operating parameters in actual tests. The driving experience optimal feedback data can reflect the output torque of the vehicle when the driving experience is better under different operating parameters. The operating parameters corresponding to the preset coefficient data can be various, for example, the operating parameters corresponding to the preset coefficient data can be vehicle speed, or vehicle speed, road conditions, and brake deceleration information. The specific determination can be made according to actual use, which is not limited here. The preset coefficient data can be in the form of a curve or a table.

[0065] In the case that the torque output strategy is the driving experience strategy, first, the brake demand torque of the vehicle needs to be determined according to the current operating parameters, for example, the brake demand torque is calculated based on vehicle state parameters such as vehicle weight, wheel rolling radius, etc. and brake pedal opening degree change and other working condition parameters. Then, the feedback coefficient is obtained according to the preset coefficient data corresponding to the current driving condition and the current operating parameters. The product of the feedback coefficient and the brake demand torque is the brake torque. At this time, the brake torque and the maximum output torque of the motor can be compared, and the minimum value of the brake torque and the maximum output torque is taken as the target torque to ensure that the motor can output the target torque. It can be understood that the target torque is the optimal torque under the driving experience.

[0066] Then, the motor can be controlled to operate according to the target torque until the operating condition of the vehicle changes, that is, in the coasting condition or slow braking condition, the target torque at the initial time of the condition is taken as the target torque in the entire braking or coasting process, so that the feedback power of the entire braking process remains unchanged.

[0067] In this way, during the coasting or braking process, the acceleration of the vehicle remains unchanged, the vehicle travels smoothly, and the user will not feel jerky, which is convenient for further improving the driving experience of the user. At the same time, the target torque is determined based on the driving experience optimal feedback curve, so that after the motor operates according to the target torque, the vehicle can realize braking on the one hand, and can ensure the driving experience of the user on the other hand.

[0068] Referring to FIG. 6, in some embodiments, the preset coefficient data corresponding to the coasting working condition (i.e., the coasting preset coefficient curve in FIG. 6) and the preset coefficient data corresponding to the slow braking working condition (i.e., the braking preset coefficient curve in FIG. 6) are different, and the two preset coefficient data can be obtained according to the real vehicle driving experience under different feedback coefficients based on different operating parameters in the corresponding working condition. In the case that the current driving working condition is the coasting working condition, the target torque is determined based on the preset coefficient data corresponding to the coasting working condition. In the case that the current driving working condition is the slow braking working condition, the target torque is determined based on the preset coefficient data corresponding to the slow braking working condition. In this way, the coasting energy feedback and the braking energy feedback can be controlled separately to determine the target torque according to the specific working condition, thereby facilitating the optimization control of the braking energy.

[0069] Referring to FIG. 7, in some embodiments, step 0112: in the case that the current driving working condition is the coasting working condition or the slow braking working condition, the torque output strategy is determined as the driving experience strategy, including:

[0070] Step 01121: in the case that the current driving working condition is the coasting working condition or the slow braking working condition, if the current temperature of the vehicle is greater than the preset temperature threshold, the torque output strategy is determined as the driving experience strategy;

[0071] Step 011: determining the torque output strategy according to the current driving working condition of the vehicle, including:

[0072] Step 0113: in the case that the current driving working condition is the coasting working condition or the slow braking working condition, if the current temperature is less than or equal to the preset temperature threshold, the torque output strategy is determined as the heating power strategy, and the heating power strategy controls the vehicle to operate while meeting the target torque and the heating power.

[0073] Specifically, the current temperature of the vehicle (i.e., the temperature of the passenger compartment) may be low during the braking process of the vehicle, and if the temperature of the vehicle is low, it may also affect the driving experience of the user. The motor also has a heating function. The motor can also be provided with a heating device, which is usually composed of an electric heating wire or a PTC (Positive Temperature Coefficient) thermistor element. The heating power of the electric heating wire or the PTC thermistor can be controlled by adjusting the current or voltage to achieve the purpose of heating.

[0074] According to the formula: braking feedback power = heating power + battery feedback power, it can be found that mechanical energy can be converted into heat energy and electrical energy during the braking feedback process, so the braking feedback power can be ensured to be unchanged while the heating power of the vehicle is improved, and only the heating power and the battery feedback power need to be adjusted at the same time. Therefore, the preset temperature threshold can be determined according to the maximum value of the temperature of the vehicle when the temperature of the vehicle is low and the driving experience of the user is poor.

[0075] In the case that the current driving condition is the coasting condition or the slow braking condition, if the current temperature is greater than the preset temperature threshold, it can be considered that the current temperature of the vehicle does not cause poor driving experience of the user at this time, and thus the torque output strategy is determined as the driving experience strategy, so as to improve the driving experience of the user in the braking process.

[0076] In the case that the current driving condition is the coasting condition or the slow braking condition, if the current temperature is less than or equal to the preset temperature threshold, it can be considered that the current temperature of the vehicle affects the driving experience of the user, and thus the torque output strategy is determined as the heating power strategy. The heating power strategy satisfies both the target torque and the heating power. In this way, after the vehicle runs based on the heating power strategy, the vehicle can also achieve braking, and the motor can be heated, the heat is circulated to heat the corresponding components, and the temperature of the vehicle can be gradually increased, so as to achieve the purpose of improving the utilization rate of braking energy, and further improve the driving experience of the user.

[0077] Referring to FIG. 8, in some embodiments, in the case that the torque output strategy is the heating power strategy, step 013: controlling the vehicle to run according to the current running parameter of the vehicle and the torque output strategy, comprising:

[0078] Step 0135: determining the target torque based on the preset coefficient data corresponding to the current driving condition of the target moment and the running parameter of the target moment, the target moment being any moment from the current moment to the moment when the condition of the vehicle changes;

[0079] Step 0136: determining the target current point from the current point with the maximum heating power in the plurality of current points corresponding to the braking torque data of the target torque, wherein one torque corresponds to one braking torque data, the torque corresponding to different current points of the same braking torque data is the same, and the heating power corresponding to different current points is different;

[0080] Step 0137: controlling the motor to run based on the target current point.

[0081] Specifically, in the case that the torque output strategy is the heating power strategy, the way of determining the target torque is the same as that of the driving experience strategy. The difference between the two is that the driving experience strategy only determines the target torque once at the initial condition moment, and thereafter controls the vehicle to run according to the target torque until the current driving condition changes, so as to ensure that the acceleration is constant during braking, thereby improving the driving experience of the user; while the heating power optimal power determines the target torque according to the current running parameter at each moment during the entire braking process, so as to ensure that the subsequent determined heating power can quickly heat the vehicle, thereby improving the driving experience of the user.

[0082] Therefore, in the case that the torque output strategy is the heating power strategy, the brake demand torque can be first determined according to the current operating parameter of the target moment. Then, the feedback coefficient is determined according to the brake demand torque and the preset coefficient data corresponding to the current moment of the target moment. The product of the brake demand torque and the feedback coefficient is the brake torque. At this time, the brake torque and the maximum output torque of the motor can be compared, and the minimum value of the brake torque and the maximum output torque is taken as the target torque, so as to ensure that the motor can finally output the target torque. The target moment is any moment from the current moment to the moment when the working condition of the vehicle changes.

[0083] As shown in FIG. 9, the brake torque curve in the figure is the brake torque data, the horizontal axis in the coordinate system is the direct-axis current, and the vertical axis is the quadrature-axis current. Each coordinate point in the coordinate system can be considered as a current point. According to the horizontal and vertical coordinates of the current point, the current combination corresponding to the point, i.e., the combination of the quadrature-axis current and the direct-axis current, can be determined. The motor controller controls the motor to operate according to the quadrature-axis current and the direct-axis current. Each torque can have corresponding brake torque data. The brake torque data can be in the form of a curve or a table. After the motor is controlled to operate according to the current point on the brake torque data, the motor can output the torque corresponding to the brake torque data. In the case that the brake torque data is in the form of a curve, one torque corresponds to one piece of brake torque data. For example, one piece of brake torque data refers to one brake torque curve. The torques corresponding to different current points in the same piece of brake torque data are the same, and the heating powers corresponding to different current points are different.

[0084] Therefore, the heating powers of the multiple current points corresponding to the brake torque data of the target torque can be obtained, and the current point with the maximum heating power is determined as the target current point. Then, the motor can be controlled to operate according to the current combination corresponding to the target current point, so that the motor can output the target torque on the one hand, and the motor can also output a larger heating power on the other hand, thereby the temperature of the vehicle can be quickly raised, which is beneficial to improve the driving and riding experience of the user.

[0085] In summary, the heating power strategy gives priority to the heating power. On the premise that the motor can output the target torque, the current point that meets the maximum heating power demand can be adjusted, so that when the passenger compartment, the battery and other parts have heating demand in a low-temperature environment, the heating time can be shortened, and the brake energy utilization rate can be improved.

[0086] Referring to FIG. 10, in some embodiments, the torque output method further comprises:

[0087] Step 015: In the case that the battery feedback power of the vehicle is less than or equal to a preset power threshold, the torque output strategy is determined as the brake feedback power strategy, and the brake feedback power strategy controls the vehicle to run by increasing the heating power so that the actual brake feedback power of the motor meets the target brake feedback power of the target torque corresponding to the torque output strategy, the actual brake feedback power corresponding to the output torque of the motor;

[0088] Step 011: determining the torque output strategy according to the current working condition of the vehicle, comprising:

[0089] Step 0114: in the case that the battery feedback power is greater than the preset power threshold, the torque output strategy is determined according to the current working condition, and the torque power optimal strategy is preferentially based on the principle of increasing the torque power by increasing the heating power under the condition that the battery feedback power is unchanged to control the vehicle to run.

[0090] Specifically, when the target torque calculated by the above-mentioned multiple torque output strategies is used in actual situations, the current of the motor may not reach the d-q axis current point corresponding to the target torque and output the target torque due to factors such as limited battery feedback power, so the current point needs to be selected accordingly and appropriately in the torque response stage. Based on the formula: brake feedback power = heating power + battery feedback power, it can be found that in the case of limited battery feedback power, the effect of increasing the brake feedback power can be achieved by adjusting the heating power, and the actual brake feedback power of the motor corresponds to the output torque of the motor, so the effect of increasing the output torque of the motor can be achieved.

[0091] The operation principle of the brake feedback power strategy is as follows: please refer to FIG. 9, the brake torque curve in the figure is the brake torque data, and the intersection point of the feedback energy optimal curve and the brake torque curve in FIG. 9 is the torque corresponding to the motor output brake torque curve, and the current point corresponding to the minimum energy consumption. When the vehicle is braked urgently and the battery feedback power is limited, the current torque output by the motor is usually small under normal circumstances, and it is assumed that the brake torque curve corresponding to the current torque is brake torque curve 1, and the brake torque curve corresponding to the target torque calculated by the above-mentioned multiple torque output strategies is brake torque curve 2. It can be found that the distance between any current point of brake torque curve 1 and the origin is less than the distance between any current point of brake torque curve 2 and the origin, that is, the current synthesis vector of any current point of brake torque curve 1 is less than the current synthesis vector of any current point of brake torque curve 2, so the torque corresponding to brake torque curve 1 is less than the torque corresponding to brake torque curve 2, that is, the target torque is greater than the current torque.

[0092] At this time, the current point selection can be combined with the feedback energy optimal curve and the braking torque curve 1, and point A is obtained. It can be understood that the output torque of the motor is small when the motor is controlled according to the current combination corresponding to point A. If the size of the output torque of the motor needs to reach the size of the target torque, the current point selection can be performed according to the feedback energy optimal curve and the braking torque curve 2, and point B is obtained. The torque corresponding to each current point of the braking torque curve 2 is the same, and the corresponding heating efficiency is different. Therefore, point B can be used as a base point to slide among the current points of the braking torque curve 2, and the current point at which the sum of the heating power and the battery feedback power is equal to the braking feedback power corresponding to the target torque is determined as the target current point, for example, the target current point is the current point corresponding to point D, so as to ensure that the energy consumption of the motor is low after the motor is controlled according to the target current point.

[0093] It can be found that the torque corresponding to point D is greater than the torque corresponding to point A, so that in the case that the battery feedback power is limited, the motor can be controlled according to the target current point to increase the heating power, thereby increasing the braking feedback power, so that the motor can finally output a target torque greater than the current torque. In this way, the purpose of increasing the torque output can be achieved under the condition that the battery feedback power remains unchanged. It should be noted that the direction of the corresponding d-q axis current point sliding along the torque curve can change accordingly at different vehicle speeds. Generally, the d-q axis current point is more inclined to slide in the positive direction of the d-axis at low vehicle speed, and is more inclined to slide in the negative direction of the d-axis at high vehicle speed.

[0094] Therefore, when determining the torque output strategy, it is also necessary to determine whether the battery feedback power is less than the preset power threshold. The preset power threshold is the maximum efficiency when the battery feedback power is blocked. In the case that the battery feedback power is greater than the preset power threshold, it can be considered that the battery feedback power is not blocked, and at this time, the torque output strategy can be directly determined according to the current driving condition. For example, in the case that the current driving condition is an emergency braking or fast braking condition, the torque output strategy is determined as the braking torque strategy. In the case that the current driving condition is a coasting or slow braking condition, if the current temperature of the vehicle is greater than the preset temperature threshold, the torque output strategy is determined as the driving experience strategy. In the case that the current driving condition is a coasting or slow braking condition, if the current temperature is less than the preset temperature threshold, the torque output strategy is determined as the heating power strategy. Then, the target torque can be calculated according to the corresponding torque output strategy, and after the target torque is obtained, the current combination can be determined according to the conventional method, for example, the d-q axis current combination can be reasonably selected in combination with the target torque and the current battery feedback power state, the current combination is not adjusted in a targeted manner, and then the motor is controlled according to the current combination.

[0095] In a case where the battery feedback power is less than or equal to the preset power threshold, it can be considered that the battery feedback power is blocked, and at this time, the torque output strategy is determined as the torque efficiency strategy. The brake feedback power strategy controls the vehicle to run by increasing the heat generation power so that the actual brake feedback power of the motor meets the target brake feedback power corresponding to the target torque of the torque output strategy. The torque efficiency strategy focuses on increasing the actual brake feedback power of the motor by improving the heat generation efficiency under the condition that the battery feedback power is unchanged, so that the actual brake feedback power meets the target brake feedback power, and thus the output torque of the motor can reach the target torque, thereby increasing the brake torque output capability of the motor under the condition that the battery feedback power is limited.

[0096] Referring to FIG. 11, in some embodiments, the current running parameter includes the battery feedback power, and the torque output method further includes:

[0097] Step 017: determining a target torque according to the current running parameter and the torque output strategy;

[0098] Step 019: in a case where the battery feedback power is greater than the preset power threshold, or in a case where the battery feedback power is less than the preset power threshold and the target torque is less than the torque corresponding to the battery feedback power, or in a case where the battery feedback power is equal to the preset power threshold and the target torque is less than the torque corresponding to the battery feedback power, or in a case where the battery feedback power is equal to the preset power threshold and the target torque is equal to the torque corresponding to the battery feedback power, the torque output strategy is kept unchanged;

[0099] Step 021: in a case where the battery feedback power is less than the preset power threshold and the target torque is greater than the torque corresponding to the battery feedback power, or in a case where the battery feedback power is equal to the preset power threshold and the target torque is greater than the torque corresponding to the battery feedback power, the torque output strategy is updated to the brake feedback power strategy. The brake feedback power strategy controls the vehicle to run by increasing the heat generation power so that the actual brake feedback power of the motor meets the target brake feedback power corresponding to the target torque of the torque output strategy, and the actual brake feedback power corresponds to the output torque of the motor.

[0100] Specifically, in a case where the battery feedback power is blocked, the motor can still output a certain torque. If the target torque is less than or equal to the torque corresponding to the battery feedback power, the motor can also output the target torque, and at this time, it is not necessary to adjust the heat generation power to increase the output torque of the motor. Therefore, after determining the torque output strategy according to the current running condition, the target torque can be determined according to the target parameter and the torque output strategy, and then it is judged whether the motor can output the target torque.

[0101] At this time, it can be determined whether the battery feedback power is greater than the preset power threshold and whether the target torque is less than the torque corresponding to the battery feedback power. In the case where the battery feedback power is greater than the preset power threshold, it can be considered that the battery feedback power is not blocked and the motor can output the target torque, so at this time the torque output strategy can be maintained unchanged, and subsequently the vehicle can be controlled according to the torque output power corresponding to the current driving condition. In the case where the battery feedback power is less than the preset power threshold and the target torque is less than the torque corresponding to the battery feedback power, or in the case where the battery feedback power is equal to the preset power threshold and the target torque is less than the torque corresponding to the battery feedback power, or in the case where the battery feedback power is equal to the preset power threshold and the target torque is equal to the torque corresponding to the battery feedback power, it can be considered that the battery feedback power is blocked, but the motor can output the target torque, so at this time the torque output strategy can be maintained unchanged, and subsequently the vehicle can be controlled according to the torque output power corresponding to the current driving condition.

[0102] In the case where the battery feedback power is less than the preset power threshold and the target torque is greater than the torque corresponding to the battery feedback power, or in the case where the battery feedback power is equal to the preset power threshold and the target torque is greater than the torque corresponding to the battery feedback power, it can be considered that the battery feedback power is limited and the output torque of the motor cannot reach the target torque, so at this time the torque output strategy needs to be adjusted to the brake feedback power strategy to increase the output torque of the motor by increasing the heating power, so that the output torque of the vehicle can reach the target torque when the vehicle is controlled based on the brake feedback power strategy subsequently.

[0103] Referring to FIG. 12, in some embodiments, the current operating parameter includes the battery feedback power, and in the case where the torque output strategy is the brake feedback power strategy, step 013: controlling the vehicle to operate according to the current operating parameter of the vehicle and the torque output strategy, including:

[0104] Step 0138: determining the target torque according to the torque output strategy corresponding to the current driving condition and the current operating parameter of the vehicle;

[0105] Step 0139: determining the target current point according to the battery feedback power, the target brake feedback power corresponding to the target torque, the brake torque data corresponding to the target torque, and the preset energy consumption data, wherein one torque corresponds to one set of brake torque data, the torques corresponding to different current points of the same set of brake torque data are the same, and the heating powers corresponding to different current points are different;

[0106] Step 0140: controlling the motor to operate according to the target current point.

[0107] Specifically, in the case that the torque output strategy is the brake feedback power strategy, the target torque is first determined according to the torque output strategy corresponding to the current driving condition and the current operating parameter, so that the target torque can meet the current driving demand, thereby facilitating to improve the driving experience of the user. For details, refer to the process of determining the target torque according to each torque output strategy described above, which will not be repeated here.

[0108] Please refer to FIG. 9. The preset energy consumption data is the optimal feedback energy consumption data, which can be in the form of a curve or a table. After determining the target torque, the target heating power can be determined according to the target brake feedback power corresponding to the target torque and the current battery feedback power, for example, by determining the target heating power according to the difference between the target brake feedback power and the battery feedback power. The initial current point can be determined according to the intersection of the brake torque data corresponding to the target torque and the preset energy consumption data, and the initial current point is taken as the base point to slide on the brake torque data corresponding to the target torque to obtain a target current point corresponding to the heating power equal to the target heating power, and then the motor is controlled to operate according to the current combination corresponding to the target current point.

[0109] In this way, in the case that the torque output strategy is the brake feedback power strategy, the target current point can be adjusted to improve the heating power, so as to increase the output torque of the motor by increasing the heating power, so as to ensure that the output torque of the motor can reach the target torque, thereby increasing the brake torque output capability of the motor under the condition that the battery feedback power is limited. In addition, the brake feedback power strategy can improve the output torque of the motor to reduce the use of the mechanical brake system, avoiding the problems of vehicle shaking and brake effect not meeting the expectation caused by poor torque response capability of the mechanical brake system, thereby facilitating to improve the torque response capability and brake effect. At the same time, the initial current point is determined based on the preset energy consumption curve to obtain the target current point, which can also ensure that the energy consumption is low when the motor outputs torque.

[0110] Please refer to FIG. 13. In some embodiments, the torque control method further comprises:

[0111] In the case that it is determined according to the current operating parameter that the vehicle meets the preset feedback condition, the step of determining the torque output strategy according to the current driving condition is entered;

[0112] In the case that it is determined according to the current operating parameter that the vehicle does not meet the preset feedback condition, the mechanical brake system of the vehicle is controlled to operate.

[0113] Specifically, in the case that it is determined that the vehicle needs to be braked, it can be first determined whether the vehicle meets a preset feedback condition. The preset feedback condition is a condition corresponding to the case that the regenerative energy feedback process of the vehicle can be normally performed, and can also be considered as a condition corresponding to the case that the motor can normally generate torque and the battery can normally recover the energy generated in the braking process. For example, the preset feedback condition includes at least one of the following: the motor system is fault-free, the battery management system is fault-free, the brake pedal signal is fault-free, the accelerator pedal signal is fault-free, and the anti-lock braking system (ABS) is fault-free. Wherein the motor system being fault-free means that the motor can normally respond to the torque instruction of the vehicle controller (VCU), and the motor winding temperature and the inverter power device temperature do not exceed the temperature threshold. The battery management system being fault-free means that the SOC state can be correctly identified, and the charging and discharging of the battery can be normally implemented. The brake pedal signal and the accelerator pedal signal being fault-free means that the two signals can be timely and accurately output to the corresponding unit. The ABS system being fault-free means that the ABS anti-lock system can timely and accurately identify the wheel end braking condition, and can normally enter the working state to avoid the wheel lock caused by excessive braking torque, which affects the driving safety and the steering stability of the vehicle.

[0114] The current operating parameters include information about whether the motor system is faulty, whether the battery management system is faulty, whether the brake pedal signal is faulty, whether the accelerator pedal signal is faulty, and whether the anti-lock braking system is faulty. In the case that the current operating parameters determine that the vehicle meets the preset feedback condition, it can be considered that the regenerative energy feedback process can be normally performed at this time, and then the step of determining the torque output strategy according to the current driving condition is entered, i.e., step 011, to realize braking by using the motor. In the case that the current operating parameters determine that the vehicle does not meet the preset feedback condition, it can be considered that the regenerative energy feedback process cannot be normally performed at this time, and then the mechanical braking system of the vehicle is controlled to operate to ensure that the vehicle can be braked.

[0115] In this way, the current braking method used can be determined in real time according to the current operating parameters. In the case that the regenerative energy feedback process is normal, the motor braking method is preferred to be used in order to improve the problem that the vehicle shakes and the braking effect cannot meet the expected value due to the poor torque response ability of the mechanical braking system, thereby facilitating to improve the response ability of the torque output method and the braking effect. In the case that the regenerative energy feedback process cannot be normally performed, the mechanical braking system is used for braking to improve the driving safety of the vehicle.

[0116] Referring to FIG. 14, to better implement the torque output method of the embodiments of the present application, the embodiments of the present application further provide a torque output device 10. The torque output device 10 can include a strategy determination module 11 and a first control module 12. The strategy determination module 11 is configured to determine a torque output strategy according to a current driving condition, the torque output strategy matching a driving demand corresponding to the current driving condition. The first control module 12 is configured to control vehicle operation according to a current operating parameter of the vehicle and the torque output strategy.

[0117] The strategy determination module 11 is specifically configured to, in a case where the current driving condition is an emergency braking or fast braking condition, determine the torque output strategy as a braking torque strategy, the braking torque strategy controlling vehicle operation to preferentially satisfy a braking demand torque of the vehicle, the braking demand torque of the vehicle being a torque required by the vehicle to complete braking at present; and in a case where the current driving condition is a coasting or slow braking condition, determine the torque output strategy as a driving and riding experience strategy, the driving and riding experience strategy controlling vehicle operation to preferentially satisfy a driving and riding experience.

[0118] The first control module 12 is specifically configured to determine the braking demand torque of the vehicle and a maximum output torque of the motor according to the current operating parameter; determine a target torque according to the braking demand torque and the maximum output torque, to control the motor to operate according to the target torque.

[0119] The first control module 12 is specifically configured to, in a case where the braking demand torque is less than the maximum output torque, determine the target torque according to the braking demand torque; and in a case where the braking demand torque is greater than the maximum output torque, determine the target torque according to the maximum output torque.

[0120] The first control module 12 is specifically configured to, in a case where the braking demand torque is greater than the maximum output torque, control a mechanical braking system of the vehicle to operate according to a difference between the braking demand torque and the maximum output torque.

[0121] The first control module 12 is specifically configured to determine the braking demand torque of the vehicle according to the current operating parameter; determine a target torque according to preset coefficient data corresponding to the current driving condition, the current operating parameter and the braking demand torque, to control the motor to operate according to the target torque until a condition of the vehicle changes.

[0122] The strategy determination module 11 is specifically configured to, in a case where the current driving condition is a coasting or slow braking condition, determine the torque output strategy as the driving and riding experience strategy if a current temperature of the vehicle is greater than a preset temperature threshold.

[0123] The strategy determination module 11 is specifically configured to determine the torque output strategy as the heating power strategy if the current temperature is less than or equal to the preset temperature threshold when the current driving condition is the coasting condition or the slow braking condition, and the heating power strategy controls the vehicle to run while meeting the target torque and the heating power.

[0124] The first control module 12 is specifically configured to determine the target torque based on preset coefficient data corresponding to the condition at the target moment and the running parameter at the target moment, the target moment being any moment from the current moment to the moment when the condition of the vehicle changes; determine the target current point from the current point with the maximum heating power among a plurality of current points corresponding to the braking torque data of the target torque, one torque corresponding to one set of braking torque data, the torque being the same at different current points of the same set of braking torque data, and the heating power being different at different current points; and control the motor to run based on the target current point.

[0125] The strategy determination module 11 is specifically configured to determine the torque output strategy as the braking feedback power strategy when the battery feedback power of the vehicle is less than or equal to the preset power threshold, and the braking feedback power strategy controls the vehicle to run by increasing the heating power so that the actual braking feedback power of the motor meets the target braking feedback power of the target torque corresponding to the torque output strategy, the actual braking feedback power corresponding to the output torque of the motor; and determine the torque output strategy according to the current running condition when the battery feedback power is greater than the preset power threshold.

[0126] The strategy determination module 11 is specifically configured to determine the target torque according to the current running parameter and the torque output strategy; keep the torque output strategy unchanged when the battery feedback power is greater than the preset power threshold, or when the battery feedback power is less than the preset power threshold and the target torque is less than the torque corresponding to the battery feedback power, or when the battery feedback power is equal to the preset power threshold and the target torque is less than the torque corresponding to the battery feedback power, or when the battery feedback power is equal to the preset power threshold and the target torque is equal to the torque corresponding to the battery feedback power; update the torque output strategy to the braking feedback power strategy when the battery feedback power is less than the preset power threshold and the target torque is greater than the torque corresponding to the battery feedback power, or when the battery feedback power is equal to the preset power threshold and the target torque is greater than the torque corresponding to the battery feedback power, the braking feedback power strategy controlling the vehicle to run by increasing the heating power so that the actual braking feedback power of the motor meets the target braking feedback power of the target torque corresponding to the torque output strategy, the actual braking feedback power corresponding to the output torque of the motor.

[0127] The first control module 12 is specifically configured to determine a target torque according to a torque output strategy corresponding to a current driving condition and a current operating parameter of the vehicle; determine a target current point according to a battery feedback power, a target braking feedback power corresponding to the target torque, braking torque data corresponding to the target torque, and preset energy consumption data, wherein one torque corresponds to one set of braking torque data, the torque corresponding to different current points of the same set of braking torque data is the same, and the heating power corresponding to different current points is different; and control the motor to operate according to the target current point.

[0128] The torque output device 10 further includes a judgment module 13 and a second control module 14. The judgment module 13 is configured to, in a case where it is determined according to the current operating parameter that the vehicle satisfies a preset feedback condition, enter the step of determining the torque output strategy according to the current driving condition. The second control module 14 is configured to, in a case where it is determined according to the current operating parameter that the vehicle does not satisfy the preset feedback condition, control the mechanical braking system of the vehicle to operate.

[0129] In the foregoing, the torque output device 10 is described from the perspective of functional modules, which can be implemented in the form of hardware, implemented in the form of instructions of software, or implemented in the form of a combination of hardware and software modules. Specifically, each step of the method embodiments in the embodiments of the present application can be completed by integrated logic circuits of hardware in a processor and / or instructions of software in the form of software, and the steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware coding processors to execute and complete, or executed and completed by a combination of hardware and software modules in the coding processor. Alternatively, the software module can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, and the like. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware thereof to complete the steps in the above method embodiments.

[0130] Referring to FIG. 15, the vehicle 100 in the embodiments of the present application includes a processor 20, a memory 30, and a computer program, wherein the computer program is stored in the memory 30 and executed by the processor 20, and the computer program includes instructions for executing the torque output method of any of the above embodiments.

[0131] Referring to FIG. 16, the embodiments of the present application further provide a computer readable storage medium 300, which stores a computer program 310, and the steps of the torque output method of any of the above embodiments are implemented when the computer program 310 is executed by a processor 320. For brevity, details are not described herein.

[0132] In the description of the specification, the description of the terms "certain embodiments", "in an example", "exemplarily" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0133] Any process or method descriptions or descriptions of the flow diagrams in the flow charts described herein and elsewhere can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for performing specific logic functions or steps in the process, and that the various systems described herein can include one or more circuits, circuitry, or other hardware for implementing the described functions or steps. The various systems described herein can form part of a machine in the form of a computer, embedded computer, arithmetical logic unit, or other device for example.

[0134] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A torque output method, wherein, The method is applied to a vehicle and comprises: determining a torque output strategy according to a current driving condition, the torque output strategy matching a driving demand corresponding to the current driving condition; and controlling the vehicle to operate according to current operating parameters of the vehicle and the torque output strategy.

2. The torque output method of claim 1, wherein, The current driving condition comprises at least one of an emergency braking condition, a fast braking condition, a coasting condition, or a slow braking condition. The determining of the torque output strategy according to the current driving condition comprises: in a case where the current driving condition is the emergency braking condition or the fast braking condition, determining the torque output strategy as a braking torque strategy, the braking torque strategy giving priority to a braking demand torque of the vehicle when controlling the vehicle to operate, the braking demand torque of the vehicle being a torque required by the vehicle to complete braking at present; in a case where the current driving condition is the coasting condition or the slow braking condition, determining the torque output strategy as a ride feeling strategy, the ride feeling strategy giving priority to a ride feeling when controlling the vehicle to operate.

3. The torque output method of claim 2, wherein, The vehicle comprises an electric motor, and in a case where the torque output strategy is the braking torque strategy, the controlling of the vehicle to operate according to the current operating parameters of the vehicle and the torque output strategy comprises: determining the braking demand torque of the vehicle and a maximum output torque of the electric motor according to the current operating parameters; determining a target torque according to the braking demand torque and the maximum output torque, so as to control the electric motor to operate according to the target torque.

4. The torque output method of claim 3, wherein, The determining of the target torque according to the braking demand torque and the maximum output torque comprises: in a case where the braking demand torque is less than the maximum output torque, determining the target torque according to the braking demand torque; in a case where the braking demand torque is greater than the maximum output torque, determining the target torque according to the maximum output torque.

5. The torque output method of claim 4, wherein, The controlling of the vehicle to operate according to the current operating parameters of the vehicle and the torque output strategy further comprises: in a case where the braking demand torque is greater than the maximum output torque, controlling a mechanical braking system of the vehicle to operate according to a difference between the braking demand torque and the maximum output torque.

6. The torque output method of claim 2, wherein, The vehicle comprises an electric motor, and in a case where the torque output strategy is the ride feeling strategy, the controlling of the vehicle to operate according to the current operating parameters of the vehicle and the torque output strategy comprises: determining a braking demand torque of the vehicle according to the current operating parameters; determining a target torque according to preset coefficient data corresponding to the current driving condition, the current operating parameters, and the braking demand torque, so as to control the electric motor to operate according to the target torque until a condition of the vehicle changes.

7. The torque output method of claim 6, wherein, The preset coefficient data corresponding to the coasting condition is different from preset coefficient data corresponding to the slow braking condition.

8. The torque output method of claim 2, wherein, The determining of the torque output strategy as the ride feeling strategy in a case where the current driving condition is the coasting condition or the slow braking condition comprises: In a case where the current driving condition is the coasting condition or the slow braking condition, if a current temperature of the vehicle is greater than a preset temperature threshold, the torque output strategy is determined as a driving experience strategy.

9. The torque output method of claim 1, wherein, The determining the torque output strategy according to the current driving condition comprises: In a case where the current driving condition is the coasting condition or the slow braking condition, if the current temperature is less than or equal to the preset temperature threshold, the torque output strategy is determined as a heating power strategy, and the heating power strategy controls the vehicle to run while satisfying a target torque and a heating power.

10. The torque output method of claim 9, wherein, The vehicle comprises an electric motor, and in a case where the torque output strategy is the heating power strategy, the controlling the vehicle to run according to the current running parameter of the vehicle and the torque output strategy comprises: determining a target torque based on preset coefficient data corresponding to the current driving condition at a target moment and the running parameter at the target moment, the target moment being any moment from a current moment to a moment when the condition of the vehicle changes; determining a target current point from current points corresponding to braking torque data of the target torque, the target current point being a current point with maximum heating power, one torque corresponding to one piece of the braking torque data, different current points corresponding to the same piece of the braking torque data having the same torque, and different current points corresponding to different heating powers; controlling the electric motor to run based on the target current point.

11. The torque output method of claim 1, wherein, The vehicle comprises an electric motor, and the method further comprises: In a case where a battery feedback power of the vehicle is less than or equal to a preset power threshold, the torque output strategy is determined as a braking feedback power strategy, and the braking feedback power strategy controls the vehicle to run by increasing a heating power so that an actual braking feedback power of the electric motor satisfies a target braking feedback power of a target torque corresponding to the torque output strategy, the actual braking feedback power corresponding to an output torque of the electric motor. The determining the torque output strategy according to the current driving condition comprises: In a case where the battery feedback power is greater than the preset power threshold, the torque output strategy is determined according to the current driving condition.

12. The torque output method of claim 1, wherein, The vehicle comprises an electric motor, and the current running parameter comprises a battery feedback power, and before the controlling the vehicle to run according to the current running parameter of the vehicle and the torque output strategy, the method comprises: determining a target torque according to the current running parameter and the torque output strategy; in a case where the battery feedback power is greater than the preset power threshold, or in a case where the battery feedback power is less than the preset power threshold and the target torque is less than a torque corresponding to the battery feedback power, or in a case where the battery feedback power is equal to the preset power threshold and the target torque is less than the torque corresponding to the battery feedback power, or in a case where the battery feedback power is equal to the preset power threshold and the target torque is equal to the torque corresponding to the battery feedback power, the torque output strategy is kept unchanged; In a case where the battery feedback power is less than the preset power threshold and the target torque is greater than a torque corresponding to the battery feedback power, or in a case where the battery feedback power is equal to the preset power threshold and the target torque is greater than a torque corresponding to the battery feedback power, the torque output strategy is updated to a brake feedback power strategy, and the brake feedback power strategy controls the vehicle to run by increasing a heating power so that an actual brake feedback power of the motor meets a target brake feedback power of the target torque corresponding to the torque output strategy, the actual brake feedback power corresponding to an output torque of the motor.

13. The torque output method of claim 11 or 12, wherein, The current operating parameter includes a battery feedback power, and in a case where the torque output strategy is the brake feedback power strategy, the controlling the vehicle to run according to the current operating parameter of the vehicle and the torque output strategy includes: determining a target torque according to the torque output strategy corresponding to the current driving condition and the current operating parameter of the vehicle; determining a target current point according to the battery feedback power, a target brake feedback power corresponding to the target torque, brake torque data corresponding to the target torque, and preset energy consumption data, one torque corresponding to one piece of the brake torque data, the same piece of the brake torque data corresponding to the same torque at different current points, and the heating power being different at different current points; controlling the motor to run according to the target current point.

14. The torque output method of claim 1, wherein, includes: in a case where it is determined according to the current operating parameter that the vehicle meets a preset feedback condition, entering the step of determining the torque output strategy according to the current driving condition; in a case where it is determined according to the current operating parameter that the vehicle does not meet the preset feedback condition, controlling a mechanical brake system of the vehicle to run.

15. The torque output method of claim 14, wherein, The preset feedback condition includes at least one of a motor system being free of faults, a battery management system being free of faults, a brake pedal signal being free of faults, an accelerator pedal signal being free of faults, and an anti-lock brake system being free of faults.

16. A torque output device, wherein, The device is applied to a vehicle and includes: a strategy determination module configured to determine a torque output strategy according to a current driving condition, the torque output strategy matching a driving demand corresponding to the current driving condition; and a first control module configured to control the vehicle to run according to a current operating parameter of the vehicle and the torque output strategy.

17. A vehicle, wherein, includes: a processor, a memory, and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the torque output method in any one of claims 1 to 15. The computer program is executed by the processor to cause the processor to execute the torque output method in any one of claims 1 to 15.

18. A non-transitory computer readable storage medium containing a computer program, wherein, ​

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