Vehicle torque control method and device, vehicle, and storage medium

Abstract

Provided are a vehicle torque control method and device, a vehicle, and a storage medium. The vehicle torque control method comprises: upon receiving a torque reduction request, determining a motor request torque original value and motor request compensation torque of a vehicle on the basis of torque information of the vehicle (S301); determining a target torque compensation mode on the basis of the motor request torque original value and the motor request compensation torque (S302); and controlling torque output of the vehicle on the basis of the target torque compensation mode (S303). The requirement of torque reduction is implemented by means of torque compensation, thereby avoiding the problem of delayed vehicle response to a torque request, allowing a vehicle to reduce torque in a timely manner, ensuring smooth vehicle traveling, and optimizing driving experience.

Description

Torque control method and device of vehicle, vehicle and storage medium TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of automobiles, and particularly relates to a torque control method and device of vehicle, vehicle and storage medium.

[0002] BACKGROUND

[0003] In order to meet the concept of sustainable development, the automobile industry also pays more and more attention to the development of new energy vehicles. Hybrid vehicles increase electric power assistance on the basis of retaining engine power, and can realize pure electric driving, pure oil driving and dual-power hybrid driving. The common driving modes in current hybrid vehicles mainly include pure electric mode, series mode and direct drive mode.

[0004] When the throttle is released or braking in the direct drive mode of the vehicle, the required engine torque is reduced, however, due to the delay of engine response torque request, the problem of unexpected acceleration or jolt of the vehicle is easily caused, which affects the driving experience. SUMMARY

[0005] The present disclosure aims to provide a torque control method and device of vehicle, vehicle and storage medium, which aims to solve the problem that in the traditional hybrid vehicle, when the throttle is released or braking, the unexpected acceleration or jolt of the vehicle is easily caused, which affects the driving experience.

[0006] A first aspect of the embodiments of the present disclosure provides a torque control method of vehicle, the method comprising:

[0007] When a torque reduction request is received, based on torque information of the vehicle, a motor request torque original value and a motor compensation request torque of the vehicle are determined, the motor compensation request torque is the torque that the motor needs to output in the case of torque assistance by the motor, and the motor request torque original value is the torque value that the motor can currently output;

[0008] A target torque compensation mode is determined according to the motor request torque original value and the motor compensation request torque;

[0009] Based on the target torque compensation mode, the torque output of the vehicle is controlled.

[0010] A second aspect of the embodiments of the present disclosure provides a torque control device of vehicle, comprising a vehicle controller, wherein the vehicle controller is connected with a driving parameter perception system of the vehicle, the driving parameter perception system comprises a plurality of sensors for acquiring a plurality of driving parameters of the vehicle; the vehicle controller is used for receiving a plurality of driving parameters and torque information of the vehicle; the vehicle controller comprises:

[0011] The first determining unit is configured to, when receiving the torque reduction request, determine a motor request torque original value and a motor compensation request torque based on the torque information of the vehicle, the motor compensation request torque being a torque that the motor needs to output in a case that the motor provides torque assistance, and the motor request torque original value being a torque value that the motor is currently allowed to output;

[0012] The second determining unit is configured to determine a target torque compensation mode according to the motor request torque original value and the motor compensation request torque.

[0013] The control unit is configured to control the torque output of the vehicle based on the target torque compensation mode.

[0014] A third aspect of the embodiments of the present disclosure provides a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the torque control method of the vehicle as described above when executing the computer program.

[0015] A fourth aspect of the embodiments of the present disclosure provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the torque control method of the vehicle as described above.

[0016] Compared with the prior art, the embodiments of the present disclosure have the following beneficial effects:

[0017] In the embodiments of the present disclosure, when receiving a torque reduction request, the motor request torque original value that the motor is currently allowed to output and the motor compensation request torque that the motor needs to output when the motor provides torque compensation are determined based on the current torque information of the vehicle, a suitable target torque compensation mode is determined according to the motor request torque original value and the motor compensation request torque, and the engine of the vehicle is compensated for torque based on the target torque compensation mode, so as to control the torque output of the vehicle. In this way, when the torque needs to be reduced, the motor compensation request torque that the motor needs to output is determined, the torque request of the engine that is delayed in response is compensated for through the compensation request, so as to reduce the problem of unexpected acceleration or jolt of the vehicle caused by the delayed torque request, thereby ensuring the stability of the vehicle in driving and optimizing the driving experience. In addition, the target torque compensation mode that matches the motor compensation request torque is determined in combination with the motor compensation request torque, and torque compensation is performed through the target torque compensation mode, so as to prevent problems such as insufficient motor torque compensation, thereby further preventing the problem of delayed response of the vehicle to the torque request, enabling the vehicle to reduce the torque in time, and thereby ensuring the stability of the vehicle in driving and optimizing the driving experience.

[0018] BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 shows a schematic diagram of a vehicle architecture of a four-wheel drive hybrid vehicle according to an example embodiment;

[0020] Fig. 2 shows a schematic diagram of a system involved in a torque control method of a vehicle according to an example embodiment;

[0021] Fig. 3 shows a flowchart of a torque control method of a vehicle according to an example embodiment;

[0022] Fig. 4 shows a flowchart of a torque control method of a vehicle according to an example embodiment;

[0023] Fig. 5 shows a flowchart of a torque control method of a vehicle according to an example embodiment;

[0024] Fig. 6 shows a schematic diagram of a correspondence between preset values and a front axle torque range and an actual gear position of a front axle of a vehicle according to an example embodiment;

[0025] Fig. 7 shows a schematic diagram of a torque control device of a vehicle according to an example embodiment;

[0026] Fig. 8 is a schematic diagram of a vehicle according to an example embodiment

[0027] Manner of implementing the present application

[0028] In order to make the technical problems to be solved by the present disclosure, the technical solutions and the beneficial effects clearer, the present disclosure will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present disclosure and not intended to limit the present disclosure.

[0029] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0030] Since traditional energy sources such as oil are non-renewable energy sources, vehicles using traditional energy sources such as oil as a power source do not conform to the concept of sustainable development. In order to conform to the concept of sustainable development, more and more attention is paid to the development of new energy vehicles in the automobile industry. Hybrid vehicles achieve the purpose of oil-electric dual use by adding a hybrid power system on the basis of the original traditional power system, and because of its low fuel consumption and high driving performance, it has become one of the current mainstream models.

[0031] Hybrid vehicles improve the performance of vehicles by adding a hybrid system to combine traditional fuel power with electric power. Among them, the engine and the vehicle battery jointly provide power for the vehicle, improve the comfort of the vehicle, and enhance the user's driving experience. Referring to FIG. 1, it shows a vehicle architecture of a four-wheel drive hybrid vehicle. Among them, the front motor is located between the engine and the front axle transmission, and is connected with the engine through a clutch. When the engine is not started, the clutch is in an open state, and the front motor drives the vehicle through the front axle transmission. When the engine is started, the clutch is in a closed state, and the front motor undertakes the role of starting the engine.

[0032] Since the hybrid vehicle adds electric power on the basis of the original transmission system, it can realize pure electric driving, pure oil driving and dual-power hybrid driving. The current common driving modes mainly include pure electric mode, series mode and direct drive mode. Different driving modes can be selected according to different driving conditions, and the driving mode can be switched in time.

[0033] In actual application, in the direct drive mode, the vehicle is directly driven by the engine, and the engine itself has the characteristic of delayed response torque request. Therefore, when the engine demand torque decreases, the vehicle cannot respond to the torque reduction request in time, resulting in that the torque of the vehicle cannot be reduced in time, causing the vehicle to produce unexpected acceleration or jolt, affecting the driving experience.

[0034] The present disclosure provides a torque control method and device for a hybrid vehicle, a vehicle and a storage medium. When a torque reduction request is received, based on the current torque information of the vehicle, the original value of the motor request torque allowed to be output by the motor and the motor compensation request torque required to be output by the motor for torque compensation are determined. According to the original value of the motor request torque and the motor compensation request torque, a suitable target torque compensation mode is determined, and the engine of the vehicle is compensated based on the target torque compensation mode, so as to control the torque output of the vehicle. In this way, when the torque needs to be reduced, the motor compensation request torque required to be output by the motor is determined. The torque request of the engine delayed response is compensated through the compensation request, so as to reduce the problem of unexpected acceleration or jolt of the vehicle caused by the delayed response torque request, thereby ensuring the stability of the vehicle driving and optimizing the driving experience. In addition, in combination with the motor compensation request torque to be compensated, a target torque compensation mode matched with the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation mode, so as to prevent the problem of insufficient motor torque compensation, thereby further preventing the problem of delayed response of the vehicle to the torque request, so that the vehicle can reduce the torque in time, thereby ensuring the stability of the vehicle driving and optimizing the driving experience.

[0035] Referring to FIG. 2, a schematic diagram of a system involved in a torque control method of a vehicle according to an example embodiment is shown. The system includes a driving parameter sensing system 10 and a vehicle controller 20. The vehicle controller 20 is connected to the driving parameter sensing system 10.

[0036] The driving parameter sensing system 10 is configured to acquire driving parameters of the vehicle and send the driving parameters to the vehicle controller 20. The driving parameter sensing system 10 includes various sensors or other devices configured to acquire different driving parameters of the vehicle. For example, the driving parameter sensing system 10 includes a vehicle speed sensor configured to detect a driving speed of the vehicle and send the driving speed of the vehicle to the vehicle controller. The driving parameter sensing system 10 also includes a temperature sensor configured to detect a battery temperature or a motor body temperature of the vehicle and send the battery temperature or the motor body temperature to the vehicle controller 20. The driving parameter sensing system 10 also includes a throttle opening degree sensor configured to detect a throttle opening degree of the vehicle and send the throttle opening degree to the vehicle controller 20. In some embodiments, the driving parameter sensing system 10 also includes a motor and a generator configured to send torque information of the motor and the generator to the vehicle controller 20. The driving parameter sensing system 10 can include more or fewer devices, which are not specifically limited in the embodiments of the present disclosure.

[0037] The vehicle controller 20 is configured to receive the driving parameters and the torque information of the vehicle, determine whether the vehicle needs torque compensation according to the driving parameters and the torque information of the vehicle, and when it is determined that the vehicle needs torque compensation, select a suitable target torque compensation mode according to the driving parameters and the torque information, and compensate the output torque of the vehicle.

[0038] The torque control method of the vehicle will be described below in combination with specific method embodiments. Referring to FIG. 3, a flowchart of a torque control method of a vehicle according to an example embodiment is shown. As an example but not limitation, the method is applied to a vehicle.

[0039] S301, when a torque reduction request is received, the vehicle determines a motor request torque original value and a motor compensation request torque of the vehicle based on torque information of the vehicle.

[0040] The motor compensation request torque is the torque that needs to be output by the motor in the case of torque assistance by the motor, and the motor request torque original value is the torque value that the motor is currently allowed to output.

[0041] In the direct drive mode, if a torque reduction request is received, the vehicle obtains torque information of the vehicle. The torque reduction request can be triggered by detecting the accelerator opening and the brake pedal state. Accordingly, when the accelerator opening is detected to decrease, the vehicle determines that the torque reduction request is triggered. Alternatively, when the brake pedal is detected to be depressed, the vehicle determines that the torque reduction request is triggered.

[0042] The torque information includes front axle request torque, engine request torque, engine actual torque, etc. Different torque information can be obtained in different ways. For example, for the front axle request torque, the vehicle can read the front axle request torque through the front axle power system. For the engine request torque, the vehicle can obtain the accelerator opening or other driving parameters and calculate the current engine request torque requested by the vehicle. For the engine actual torque, the vehicle can determine the current engine actual torque through the controller of the engine, etc.

[0043] After obtaining the torque information of the vehicle, the vehicle determines the motor request torque original value and the motor compensation request torque according to different torque information.

[0044] S302, the vehicle determines the target torque compensation mode according to the motor request torque original value and the motor compensation request torque.

[0045] The target torque compensation mode can be classified according to the device for torque compensation. For example, the target torque compensation mode can be torque compensation through the motor, or torque compensation through engine ignition angle release, or torque compensation through the engine and the motor at the same time.

[0046] In this step, the vehicle determines the appropriate torque compensation mode according to the motor request torque original value and the motor compensation request torque. In some embodiments, when the maximum torque supported by the motor meets the motor compensation request torque according to the motor request torque original value and the motor compensation request torque, torque compensation can be performed through the motor; when the maximum torque supported by the motor does not meet the motor compensation request torque according to the motor request torque original value and the motor compensation request torque, torque compensation can be performed through the engine ignition angle release, or torque compensation can be performed through the engine and the motor at the same time.

[0047] S303, the vehicle controls the torque output of the vehicle based on the target torque compensation mode.

[0048] The vehicle controls the torque output of the motor and the engine based on the determined target torque compensation mode.

[0049] In the embodiments of the present disclosure, when a torque reduction request is received, based on the current torque information of the vehicle, a motor request torque original value of the current allowable output of the motor and a motor compensation request torque required to be output by the motor when torque compensation is performed by the motor are determined, a suitable target torque compensation mode is determined according to the motor request torque original value and the motor compensation request torque, and torque compensation is performed on the engine of the vehicle based on the target torque compensation mode, so as to control the torque output of the vehicle. In this way, when torque reduction is required, the motor compensation request torque required to be output by the motor is determined, so that the delayed torque request of the engine is compensated by the compensation request, thereby reducing the problem of unexpected acceleration or jolt of the vehicle caused by the delayed torque request, thereby ensuring the stability of the vehicle during driving and optimizing the driving experience. In addition, in combination with the motor compensation request torque to be compensated, a target torque compensation mode matched with the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation mode, thereby preventing problems such as insufficient torque compensation of the motor, further preventing the problem of delayed response of the vehicle to the torque request, and enabling the vehicle to timely reduce torque, thereby ensuring the stability of the vehicle during driving and optimizing the driving experience.

[0050] When torque compensation is performed, the value of the torque to be compensated needs to be determined first. In order to obtain more accurate motor compensation torque, the vehicle can limit the motor assist torque to obtain more accurate motor compensation torque. The method for determining the motor request torque original value and the motor compensation request torque of the vehicle will be described below in combination with specific embodiments. Referring to FIG. 4, a flowchart of a torque control method of a vehicle provided in an exemplary embodiment is shown. As an example but not limitation, the method is applied to a vehicle.

[0051] S401, when a torque reduction request is received, the vehicle determines a motor assist torque according to an engine request torque and an engine actual torque of the vehicle.

[0052] The vehicle determines the difference between the engine request torque and the engine actual torque as the torque to be compensated by the vehicle. In some embodiments, the vehicle determines the torque to be compensated as the motor assist torque. In some embodiments, the vehicle limits the torque to be compensated and determines the limited torque as the motor assist torque. This process can be implemented through the following steps S4011-S4012, including:

[0053] S4011, the vehicle determines a motor assist torque original value according to the difference between the engine request torque and the engine actual torque of the vehicle.

[0054] In order to prevent the problem of vehicle driving unevenness caused by sudden change of engine request torque, in some embodiments, the engine request torque is filtered, and the difference between the filtered engine request torque and the actual engine torque is determined as the motor assist torque original value.

[0055] The filtering manner of the engine request torque can be set as needed, and in the embodiments of the present disclosure, the filtering manner is not specifically limited.

[0056] S4012, the vehicle limits the motor assist torque original value according to the driving parameter of the vehicle to obtain the motor assist torque.

[0057] In this step, the vehicle determines the maximum torque limit and the minimum torque limit of the motor according to the driving parameter, and limits the motor assist original value based on the maximum torque limit and the minimum torque limit. Accordingly, the vehicle determines the maximum torque limit and the minimum torque limit of the motor according to the driving parameter of the vehicle; limits the motor assist torque original value according to the minimum torque limit and the maximum torque limit.

[0058] The maximum torque limit and the minimum torque limit can be determined according to the current driving parameter of the motor. Taking the minimum torque limit as an example for description. The driving parameter includes motor charging power within a preset time, motor body temperature, high-voltage battery remaining capacity, vehicle speed and gear position. The vehicle calculates the minimum available negative torque of the motor within the preset time based on the motor charging power within the preset time, determines a first coefficient based on the motor body temperature, determines a second coefficient based on the high-voltage battery remaining capacity, and determines a third coefficient based on the vehicle speed and the gear position. The first coefficient, the second coefficient and the third coefficient can be obtained by table lookup. The preset time can be set as needed, and in the embodiments of the present disclosure, the preset time is not specifically limited. For example, the preset time can be 2 seconds, 3 seconds, etc. Accordingly, the minimum torque limit = minimum available negative torque within the preset time * first coefficient * second coefficient * third coefficient.

[0059] The process of determining the maximum torque limit by the vehicle is the same as the process of determining the minimum torque limit, which will not be described here.

[0060] After the vehicle determines the maximum torque limit and the minimum torque limit, the vehicle compares the motor assist torque original value with the maximum torque limit and the minimum torque limit. When the motor assist torque original value is greater than the minimum torque limit and less than the maximum torque limit, the motor assist torque original value is determined as the motor assist torque. When the motor assist torque original value is not greater than the minimum torque limit, the minimum torque limit is determined as the motor assist torque. When the motor assist torque original value is not less than the maximum torque limit, the maximum torque limit is determined as the motor assist torque.

[0061] In the present implementation, the motor assist original torque is limited according to the driving parameter of the motor, so as to prevent the motor assist torque from exceeding the motor capability range.

[0062] S402, the vehicle determines the torque required to be allocated to the motor according to the front axle request torque and the engine request torque of the vehicle.

[0063] The vehicle determines the difference between the front axle request torque and the engine request torque as the torque required to be allocated to the motor.

[0064] S403, the vehicle determines the motor compensation request torque according to the motor assist torque and the torque required to be allocated to the motor.

[0065] The vehicle determines the sum of the motor assist torque and the torque required to be allocated to the motor as the motor compensation request torque.

[0066] S404, the vehicle determines the motor request torque original value according to the front axle request torque and the engine actual torque.

[0067] The vehicle determines the difference between the front axle request torque and the engine actual torque as the motor request torque original value.

[0068] S405, the vehicle determines the target torque compensation mode according to the motor request torque original value and the motor compensation request torque.

[0069] The present step has the same principle as step S302, and thus will not be described herein.

[0070] S406, the vehicle controls the torque output of the vehicle based on the target torque compensation mode.

[0071] The present step has the same principle as step S303, and thus will not be described herein.

[0072] In the embodiments of the present disclosure, when a torque reduction request is received, based on the current torque information of the vehicle, a motor request torque original value of the current allowable output of the motor and a motor compensation request torque required to be output by the motor when torque compensation is performed by the motor are determined, a suitable target torque compensation mode is determined according to the motor request torque original value and the motor compensation request torque, torque compensation is performed on the engine of the vehicle based on the target torque compensation mode, so as to control the torque output of the vehicle. In this way, when torque reduction is required, the motor compensation request torque required to be output by the motor is determined, so that the delayed torque request of the engine is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or jolt of the vehicle caused by the delayed torque request, thereby ensuring the stability of the vehicle driving and optimizing the driving experience. In addition, in combination with the motor compensation request torque to be compensated, a target torque compensation mode matched with the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation mode, thereby preventing problems such as insufficient motor torque compensation, further preventing the problem of delayed response of the vehicle to the torque request, so that the vehicle can timely reduce the torque, thereby ensuring the stability of the vehicle driving and optimizing the driving experience.

[0073] Further, in the embodiments of the present disclosure, the motor assist original torque is limited by the driving parameters of the motor, so as to prevent the motor assist torque from exceeding the motor capability range, thereby reducing the influence of torque compensation on the motor.

[0074] After the motor request torque original value and the motor compensation request torque are determined, the vehicle determines whether the motor can meet the motor compensation request torque according to the motor request torque original value and the motor compensation request torque, so as to select a suitable torque compensation mode for torque compensation. The method of controlling torque based on the target torque compensation mode will be described below in combination with specific embodiments. Referring to FIG. 5, a flowchart of a torque control method of a hybrid vehicle provided in an exemplary embodiment is shown. As an example but not limitation, the method is applied to a vehicle.

[0075] S501, when a torque reduction request is received, based on the torque information of the vehicle, a motor request torque original value of the vehicle and a motor compensation request torque are determined.

[0076] The principle of this step is the same as that of step S301, which will not be described here again.

[0077] S502, based on the motor request torque original value and the motor compensation request torque, a motor torque difference value is determined.

[0078] The vehicle determines the difference between the motor request torque original value and the motor compensation request torque as the motor torque difference value.

[0079] S503, according to the motor torque difference value, a target torque compensation mode is determined.

[0080] The motor torque difference represents the torque that is not achieved when torque compensation is performed by the motor. The vehicle determines a target torque compensation mode according to the motor torque difference. When the difference is small, the torque that is not achieved has a small impact on the vehicle torque output, and thus the motor can be selected to perform torque compensation. When the difference is large, the torque that is not achieved has a large impact on the vehicle torque output, and thus the motor and the engine can be selected to perform torque compensation.

[0081] Correspondingly, in some embodiments, the vehicle compares the motor torque difference with a preset value, when the motor torque difference is less than the preset value, determines an engine ignition angle based on the motor torque difference, controls the engine output torque based on the engine ignition angle, and controls the motor output torque of the vehicle based on the motor torque difference and the motor compensation request torque. When the motor torque difference is not less than the preset value, controls the motor output torque of the vehicle based on the motor compensation request torque.

[0082] The preset value can be determined according to the ignition angle release threshold of the engine, and correspondingly, the preset value can be determined by table lookup according to the front axle torque range and the actual front axle gear of the vehicle. Referring to FIG. 6, which shows the correspondence between the preset value and the front axle torque range and the actual front axle gear of the vehicle according to an exemplary embodiment. Wherein x represents the front axle torque range, and y represents the actual front axle gear.

[0083] When the motor torque difference is less than the preset value, the engine ignition angle is determined based on the motor torque difference, the engine output torque is controlled based on the engine ignition angle, and the motor output torque of the vehicle is controlled based on the motor torque difference and the motor compensation request torque.

[0084] When the motor torque difference is less than the preset value, the engine output torque = the engine actual torque + the motor torque difference; the motor output torque = the motor assist torque - the motor torque difference.

[0085] When the motor torque difference is not less than the preset value, the motor output torque of the vehicle is controlled based on the motor compensation request torque. That is, the engine output torque = the engine actual torque; the motor output torque = the motor assist torque.

[0086] S504, the vehicle controls the torque output of the vehicle based on the target torque compensation mode.

[0087] This step has the same principle as step S303, which will not be repeated here.

[0088] In the embodiments of the present disclosure, when a torque reduction request is received, based on current torque information of the vehicle, a motor request torque original value of a current allowable output of the motor and a motor compensation request torque required to be output by the motor for torque compensation are determined, a suitable target torque compensation mode is determined according to the motor request torque original value and the motor compensation request torque, and torque compensation is performed on the engine of the vehicle based on the target torque compensation mode, so as to control the torque output of the vehicle. In this way, when torque reduction is required, the motor compensation request torque required to be output by the motor is determined, and the delayed torque request of the engine is compensated through the compensation request, so as to reduce the problem of unexpected acceleration or jolt of the vehicle caused by the delayed torque request, thereby ensuring the stability of the vehicle and optimizing the driving experience. In addition, the motor compensation request torque to be compensated is combined to determine a target torque compensation mode matched with the motor compensation request torque, and torque compensation is performed through the target torque compensation mode, so as to prevent problems such as insufficient torque compensation of the motor, thereby further preventing the problem of delayed response of the vehicle to the torque request, so that the vehicle can timely reduce the torque, thereby ensuring the stability of the vehicle and optimizing the driving experience.

[0089] Further, the vehicle determines a suitable target torque compensation mode according to a torque difference between the motor request torque original value and the motor compensation request torque, so as to prevent that the torque compensation is insufficient only through the motor when the torque of the engine is reduced, and the torque compensation is performed through the release of the ignition angle when the torque difference is small, thereby ensuring the effect of torque reduction through torque compensation.

[0090] In addition, when the motor is sufficient for torque compensation, the motor is preferentially used for torque compensation, so as to reduce the frequency of release of the ignition angle of the engine, which is beneficial to reduce the fuel consumption of the vehicle and improve the efficiency of the engine.

[0091] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0092] Referring to FIG. 7, a structural schematic diagram of a torque control device of a vehicle provided by the present disclosure is shown, each unit included therein is used to execute each step in the above embodiments. Referring to FIG. 7, the torque control device of the vehicle includes:

[0093] A first determination unit 701 is configured to, when a torque reduction request is received, determine a motor request torque original value and a motor compensation request torque of the vehicle based on torque information of the vehicle, the motor compensation request torque being a torque required to be output by the motor for torque assistance, and the motor request torque original value being a torque value currently allowed to be output by the motor;

[0094] The second determining unit 702 is configured to determine a target torque compensation mode according to the motor request torque original value and the motor compensation request torque.

[0095] The control unit 703 is configured to control torque output of the vehicle based on the target torque compensation mode.

[0096] In some embodiments, the second determining unit 702 is configured to determine a motor torque difference value based on the motor request torque original value and the motor compensation request torque, and determine the target torque compensation mode according to the motor torque difference value.

[0097] In some embodiments, the second determining unit 702 is configured to determine an engine ignition angle based on the motor torque difference value when the motor torque difference value is less than a preset value, control engine output torque based on the engine ignition angle, and control motor output torque of the vehicle based on the motor torque difference value and the motor compensation request torque.

[0098] In some embodiments, the second determining unit 702 is configured to control motor output torque of the vehicle based on the motor compensation request torque when the motor torque difference value is not less than the preset value.

[0099] In some embodiments, the first determining unit 701 is configured to determine a motor assist torque according to an engine request torque and an engine actual torque of the vehicle, determine a torque required to be allocated to the motor according to a front axle request torque and the engine request torque of the vehicle, and determine the motor compensation request torque according to the motor assist torque and the torque required to be allocated to the motor.

[0100] In some embodiments, the first determining unit 701 is configured to determine a motor assist torque original value according to a difference between the engine request torque and the engine actual torque of the vehicle, and limit the motor assist torque original value according to a driving parameter of the vehicle to obtain the motor assist torque.

[0101] In some embodiments, the first determining unit 701 is configured to determine a maximum torque limit and a minimum torque limit of the motor according to the driving parameter of the vehicle, and limit the motor assist torque original value according to the minimum torque limit and the maximum torque limit.

[0102] In the embodiments of the present disclosure, when a torque reduction request is received, based on current torque information of the vehicle, a motor request torque original value of a current allowable output of the motor and a motor compensation request torque required to be output by the motor for torque compensation are determined, a suitable target torque compensation mode is determined according to the motor request torque original value and the motor compensation request torque, and torque compensation is performed on the engine of the vehicle based on the target torque compensation mode, so as to control the torque output of the vehicle. In this way, when the torque needs to be reduced, the motor compensation request torque required to be output by the motor is determined, so that the delayed torque request of the engine is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or jolt of the vehicle caused by the delayed torque request, thereby ensuring the stability of the vehicle and optimizing the driving experience. In addition, the motor compensation request torque to be compensated is combined to determine a target torque compensation mode matched with the motor compensation request torque, and torque compensation is performed through the target torque compensation mode, thereby preventing problems such as insufficient torque compensation of the motor, further preventing the problem of delayed response of the vehicle to the torque request, and enabling the vehicle to timely reduce the torque, thereby ensuring the stability of the vehicle and optimizing the driving experience.

[0103] FIG. 8 is a schematic diagram of a vehicle according to an example embodiment of the present disclosure. As shown in FIG. 8, the vehicle 8 of this embodiment includes a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as a torque control program of the vehicle. The processor 80 implements the steps in the above-mentioned various torque control method embodiments of the vehicle, such as steps S301 to S303 shown in FIG. 3, when executing the computer program 82. Alternatively, the processor 80 implements the functions of the units in the above-mentioned various device embodiments, such as the functions of the units 701 to 703 shown in FIG. 7, when executing the computer program 82.

[0104] For example, the computer program 82 can be divided into one or more units stored in the memory 81 and executed by the processor 80 to complete the present disclosure. The one or more units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 82 in the vehicle 8. For example, the computer program 82 can be divided into a first determining unit, a second determining unit, and a control unit, and the specific functions of each module are as follows:

[0105] The first determining unit 701 is configured to, when a torque reduction request is received, determine a motor request torque original value of the vehicle and a motor compensation request torque based on torque information of the vehicle, the motor compensation request torque being a torque required to be output by the motor for torque assistance, and the motor request torque original value being a torque value currently allowed to be output by the motor;

[0106] The second determining unit 702 is configured to determine a target torque compensation mode according to the motor request torque original value and the motor compensation request torque.

[0107] The control unit 703 is configured to control torque output of the vehicle based on the target torque compensation mode.

[0108] The vehicle 8 can be any vehicle with a control function. The vehicle 8 can include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art can understand that FIG. 8 is only an example of the vehicle 8 and does not constitute a limitation on the vehicle 8, and can include more or fewer components than those shown, or combine certain components, or different components, for example, the vehicle 8 can also include an input / output device, a network access device, a bus, etc.

[0109] The processor 80 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0110] The memory 81 can be an internal storage unit of the vehicle 8, such as a hard disk or a memory of the vehicle 8. The memory 81 can also be an external storage device of the vehicle 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 81 can include both the internal storage unit and the external storage device of the vehicle 8. The memory 81 is used to store the computer program and other programs and data required by the terminal device. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the disclosure. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0112] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0113] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the disclosure.

[0114] In the embodiments provided in the disclosure, it should be understood that the disclosed apparatus / terminal device and method can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are only schematic, and the division of the modules or units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0115] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0116] In addition, each functional unit in each of the embodiments of the present disclosure can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0117] The integrated module / unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, the computer program can implement the steps of each method embodiment. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the computer-readable medium can include or exclude contents according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0118] The embodiments of the present disclosure also provide a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the above-mentioned method embodiments are implemented.

[0119] The embodiments of the present disclosure also provide a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in each of the above-mentioned method embodiments.

[0120] The above-mentioned embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limit them. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent technical features. Such modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure.

Claims

1. A torque control method of a vehicle, the method comprising: determining a motor requested torque original value and a motor compensation requested torque of the vehicle based on torque information of the vehicle when a torque down request is received, the motor compensation requested torque being a torque that the motor needs to output in a case that torque assist by the motor is performed, and the motor requested torque original value being a torque value that the motor is currently allowed to output; determining a target torque compensation mode according to the motor requested torque original value and the motor compensation requested torque; controlling torque output of the vehicle based on the target torque compensation mode.

2. The method of claim 1, wherein, The determining a target torque compensation mode according to the motor requested torque original value and the motor compensation requested torque comprises: determining a motor torque difference value based on the motor requested torque original value and the motor compensation requested torque; determining a target torque compensation mode according to the motor torque difference value.

3. The method of claim 2, wherein, The determining a target torque compensation mode according to the motor torque difference value comprises: when the motor torque difference value is less than a preset value, determining an engine ignition angle based on the motor torque difference value; controlling engine output torque based on the engine ignition angle; and controlling motor output torque of the vehicle based on the motor torque difference value and the motor compensation requested torque.

4. The method of claim 2 or 3, wherein, The determining a target torque compensation mode according to the motor requested torque original value and the motor compensation requested torque comprises: when the motor torque difference value is not less than a preset value, controlling motor output torque of the vehicle based on the motor compensation requested torque.

5. The method of any one of claims 1 to 4, wherein, The torque information comprises a front axle requested torque, an engine requested torque, and an engine actual torque; and the determining a motor compensation requested torque of the vehicle based on driving torque information of the vehicle comprises: determining a motor assist torque according to the engine requested torque and the engine actual torque of the vehicle; determining a torque that needs to be allocated to the motor according to the front axle requested torque and the engine requested torque of the vehicle; determining the motor compensation requested torque according to the motor assist torque and the torque that needs to be allocated to the motor.

6. The method of claim 5, wherein, The determining a motor assist torque according to the engine requested torque and the engine actual torque of the vehicle comprises: determining a motor assist torque original value according to a difference between the engine requested torque and the engine actual torque of the vehicle; limiting the motor assist torque original value according to a driving parameter of the vehicle to obtain the motor assist torque.

7. The method of claim 6, wherein, The determining a motor assist torque original value according to a difference between the engine requested torque and the engine actual torque of the vehicle comprises: filtering the engine requested torque, and determining the motor assist torque original value according to a difference between the filtered engine requested torque and the engine actual torque of the vehicle.

8. The method of claim 6 or 7, wherein, The limiting the motor assist torque original value according to a driving parameter of the vehicle to obtain the motor assist torque comprises: determining a maximum torque limit and a minimum torque limit of the motor according to the driving parameter of the vehicle; limiting the motor assist torque original value according to the minimum torque limit and the maximum torque limit.

9. The method of claim 8, wherein, The driving parameters include motor charging power in a preset time period, motor body temperature, high-voltage battery remaining power, vehicle speed, and gear position; the maximum torque limit and the minimum torque limit of the motor are determined according to the driving parameters of the vehicle, including: The minimum available negative torque and the maximum available negative torque of the motor in the preset time period are calculated based on the motor charging power in the preset time period; A first coefficient is determined based on the motor body temperature; A second coefficient is determined based on the high-voltage battery remaining power; A third coefficient is determined based on the vehicle speed and the gear position; The minimum torque limit and the maximum torque limit of the motor are determined based on the minimum available negative torque, the first coefficient, the second coefficient, and the third coefficient.

10. The method of claim 8 or 9, wherein, The motor assist torque original value is limited according to the minimum torque limit and the maximum torque limit, including: The motor assist torque original value is compared with the maximum torque limit and the minimum torque limit; When the motor assist torque original value is greater than the minimum torque limit and less than the maximum torque limit, the motor assist torque original value is determined as the motor assist torque; When the motor assist torque original value is not greater than the minimum torque limit, the minimum torque limit is determined as the motor assist torque; When the motor assist torque original value is not less than the maximum torque limit, the maximum torque limit is determined as the motor assist torque.

11. The method of claim 5, wherein, The torque that needs to be allocated to the motor is determined according to the front axle request torque and the engine request torque of the vehicle, including: The sum of the motor assist torque and the torque that needs to be allocated to the motor is determined as the motor compensation request torque.

12. The method of any one of claims 1 to 11, wherein, The torque information includes front axle request torque, engine request torque, and engine actual torque; The motor request torque original value is determined based on the torque information of the vehicle, including: The motor request torque original value is determined according to the front axle request torque and the engine actual torque; wherein the difference between the front axle request torque and the engine actual torque is determined as the motor request torque original value.

13. A torque control apparatus for a vehicle, comprising a vehicle controller, wherein, The vehicle controller is connected with a driving parameter perception system of the vehicle, and the driving parameter perception system includes a plurality of sensors for acquiring a plurality of driving parameters of the vehicle; The vehicle controller is configured to receive the plurality of driving parameters and torque information of the vehicle; The vehicle controller includes: A first determination unit configured to, when a torque reduction request is received, determine the motor request torque original value and the motor compensation request torque of the vehicle based on the driving torque information of the vehicle, the motor compensation request torque being the torque that needs to be output by the motor in the case of torque assistance by the motor, and the motor request torque original value being the torque value that the motor is currently allowed to output; A second determination unit configured to determine a target torque compensation mode according to the motor request torque original value and the motor compensation request torque; A control unit configured to control the torque output of the vehicle based on the target torque compensation mode.

14. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor executes the computer program to implement the torque control method of the vehicle according to any one of claims 1 to 12.

15. A computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the torque control method of the vehicle according to any one of claims 1 to 12.

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