CN107627899B - Torque determination method and device and electric automobile - Google Patents
Torque determination method and device and electric automobile Download PDFInfo
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- CN107627899B CN107627899B CN201710691483.8A CN201710691483A CN107627899B CN 107627899 B CN107627899 B CN 107627899B CN 201710691483 A CN201710691483 A CN 201710691483A CN 107627899 B CN107627899 B CN 107627899B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a torque determination method and device and an electric automobile, and solves the problem that the torque output by the electric automobile cannot meet the current driving requirement easily because the conventional torque management method only calculates the required torque according to a gear signal and the like and does not consider the application function currently started by the automobile. The torque determination method of the invention includes: determining a first target required torque according to the required torque corresponding to the current operation parameter; judging whether the electric automobile starts a preset application function or not; and if the electric automobile starts a preset application function, determining the final required torque of the electric automobile according to a second target required torque corresponding to the preset application function, otherwise, determining the final required torque of the electric automobile according to the first target required torque. The invention enables the final required torque to meet the current preset application function, thereby achieving the purpose of meeting the current driving requirement.
Description
Technical field
The present invention relates to electric vehicle engineering fields more particularly to a kind of torque to determine method, apparatus and electric car.
Background technique
At present when the torque to electric car is managed, according only to gear signal, acceleration signals, brake signal, with
And motor and battery signal calculate operator demand's torque, do not consider the application function that vehicle is currently opened, such as open anti-
It slips by slope, the functions such as cruise, Anti-slip regulation, so that the torque of electric car output is difficult to meet current traveling demand.
Summary of the invention
The purpose of the present invention is to provide a kind of torques to determine method, apparatus and electric car, to solve existing torsion
Square management method does not consider the application function that vehicle is currently opened according only to the calculating demand torque such as gear signal, leads to electricity
The torque of electrical automobile output is difficult to the problem of meeting current traveling demand.
To achieve the goals above, the embodiment of the present invention provides a kind of torque and determines method, is applied to electric car, packet
It includes:
According to the corresponding demand torque of current operating parameter, first object demand torque is determined；
Judge whether the electric car opens default application function；
If the electric car opens default application function, according to the corresponding second target need of the default application function
Seek torque, determine the final demand torque of the electric car, otherwise, according to the first object demand torque, determine described in
The final demand torque of electric car.
Wherein, described according to the corresponding demand torque of current operating parameter, the step of determining first object demand torque, packet
It includes:
If the electric car opens cruise function, by the corresponding demand torque of cruise function and current fortune
The corresponding demand torque of row parameter is compared；
If the corresponding demand torque of cruise function is greater than the corresponding demand torque of current operating parameter, constant speed is patrolled
The corresponding demand torque of boat function is determined as the first object demand torque, otherwise, by the corresponding demand of current operating parameter
Torque is determined as the first object demand torque.
Wherein, the default application function includes: unmanned function and Anti-slip regulation function；
If the electric car opens default application function, according to corresponding second mesh of the default application function
The step of marking demand torque, determining the final demand torque of the electric car, comprising:
If the electric car only opens unmanned function, turned round according to the corresponding demand of the unmanned function
Square determines the final demand torque of the electric car；
If the electric car only opens Anti-slip regulation function or opens unmanned function and Anti-slip regulation function simultaneously
Can, then according to the corresponding demand torque of the Anti-slip regulation function, determine the final demand torque of the electric car.
Wherein it is determined that after the final demand torque of the electric car, further includes:
If the absolute value of the difference of the final demand torque and current output torque is greater than predetermined torque gradient value, right
The final demand torque carries out torque smooth control processing, obtains final output torque.
Wherein, torque smooth control processing is carried out to the final demand torque, obtains final output torque, comprising:
The predetermined torque gradient value is increased or decreased on the basis of current output torque, is obtained updated output and is turned round
Square；
If the absolute value of updated output torque and the difference of final demand torque is less than the predetermined torque gradient value,
Updated output torque is then determined as final output torque, otherwise, continues to increase on the basis of output torque in the updated
Add deduct less the predetermined torque gradient value, until the absolute value of updated output torque and the difference of final demand torque is small
In the predetermined torque gradient value.
Wherein, torque smooth control processing is carried out to the final demand torque, obtaining final output torque includes:
Using default filter transfer function, torque smooth control processing is carried out to the final demand torque, obtains final output
Torque.
Wherein, torque smooth control processing is carried out to the final demand torque, after obtaining final output torque, further includes:
Judge whether the final output torque is greater than the max. output torque of electric car；
If the final output torque is less than the max. output torque of the electric car, and current torque enabled state table
Bright permission torque output, then export the final output torque.
Wherein, the current operating parameter includes: pedal opening, motor speed and gear.
To achieve the goals above, the embodiments of the present invention also provide a kind of torque determining devices, are applied to electronic vapour
Vehicle, comprising:
First determining module, for determining first object demand torque according to the corresponding demand torque of current operating parameter；
First judgment module, for judging whether the electric car opens default application function；
Second determining module, if opening default application function for the electric car, according to described default using function
The corresponding second target requirement torque of energy, determines the final demand torque of the electric car, otherwise, according to the first object
Demand torque determines the final demand torque of the electric car.
Wherein, first determining module includes:
Comparative sub-module, it is if opening cruise function for the electric car, cruise function is corresponding
Demand torque demand torque corresponding with current operating parameter is compared；
First determines submodule, if it is corresponding to be greater than current operating parameter for the corresponding demand torque of cruise function
The corresponding demand torque of cruise function is then determined as the first object demand torque by demand torque, otherwise, will be current
The corresponding demand torque of operating parameter is determined as the first object demand torque.
Wherein, the default application function includes: unmanned function and Anti-slip regulation function；
Second determining module includes:
Second determine submodule, if only opening unmanned function for the electric car, according to it is described nobody drive
The corresponding demand torque of function is sailed, determines the final demand torque of the electric car；
Third determines submodule, drives if only opening Anti-slip regulation function for the electric car or opening nobody simultaneously
Function and Anti-slip regulation function are sailed, then according to the corresponding demand torque of the Anti-slip regulation function, determines the electric car
Final demand torque.
Wherein, above-mentioned torque determining device, further includes:
Processing module, if the absolute value of the difference for the final demand torque and current output torque is greater than default turn round
Square gradient value then carries out torque smooth control processing to the final demand torque, obtains final output torque.
Wherein, the processing module includes:
Processing submodule is obtained for increasing or decreasing the predetermined torque gradient value on the basis of current output torque
To updated output torque；
4th determines submodule, if the absolute value for updated output torque and the difference of final demand torque is less than
The predetermined torque gradient value, then be determined as final output torque for updated output torque, otherwise, output in the updated
The predetermined torque gradient value is continued growing or reduced on the basis of torque, until updated output torque and final demand are turned round
The absolute value of the difference of square is less than the predetermined torque gradient value.
Wherein, the processing module is used to carry out torque to the final demand torque using default filter transfer function
Smoothing processing obtains final output torque.
Wherein, above-mentioned torque determining device, further includes:
Second judgment module, for judging whether the final output torque is greater than the max. output torque of electric car；
Torque output module, if it is less than the max. output torque of the electric car for the final output torque, and
Current torque enabled state shows that permission torque exports, then exports the final output torque.
Wherein, the current operating parameter includes: pedal opening, motor speed and gear.
To achieve the goals above, the embodiment of the invention also provides a kind of electric cars, including torque as described above
Determining device.
To achieve the goals above, the embodiment of the invention also provides a kind of electric cars, comprising: processor, memory
And it is stored in the computer program that can be run on the memory and on the processor, the computer program is by the place
Reason device realizes the step of torque as described above determines method when executing.
To achieve the goals above, the embodiment of the invention also provides a kind of computer readable storage medium, the calculating
It is stored with computer program on machine readable storage medium storing program for executing, as described above turn round is realized when the computer program is executed by processor
Square determines the step of method.
The embodiment of the present invention has the advantages that
The above-mentioned technical proposal of the embodiment of the present invention determines the first mesh according to the corresponding demand torque of current operating parameter
Mark demand torque；Judge whether the electric car opens default application function；If the electric car is opened default using function
Can, then according to the corresponding second target requirement torque of the default application function, determine that the final demand of the electric car is turned round
Otherwise square according to the first object demand torque, determines the final demand torque of the electric car, so that final demand
Torque is able to satisfy current default application function, and then achievees the purpose that meet current traveling demand.
Detailed description of the invention
Fig. 1 is that the torque of the embodiment of the present invention determines the first work flow diagram of method；
Fig. 2 is that the torque of the embodiment of the present invention determines the second work flow diagram of method；
Fig. 3 is that the torque of the embodiment of the present invention determines the third work flow diagram of method；
Fig. 4 is that the torque of the embodiment of the present invention determines the 4th work flow diagram of method；
Fig. 5 is the first module diagram of the torque determining device of the embodiment of the present invention；
Fig. 6 is the second module diagram of the torque determining device of the embodiment of the present invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with specific implementation
Example and attached drawing are described in detail.
The embodiment provides a kind of torques to determine method, apparatus and electric car, solves existing torque
Management method does not consider the application function that vehicle is currently opened according only to the calculating demand torque such as gear signal, causes electronic
The torque of automobile output is difficult to the problem of meeting current traveling demand.
As shown in Figure 1, the embodiment provides a kind of torques to determine method, it is applied to electric car, comprising:
Step 101: according to the corresponding demand torque of current operating parameter, determining first object demand torque.
The current operating parameter may particularly include: pedal opening, motor speed and gear.
In the embodiment of the present invention, entire car controller receives the gear signal that shift mechanism is sent by CAN line, if current shelves
When position is P grades or N grades, first object demand torque is 0, if current gear is drive shift (D grades, E grades) or reverse gear (R grades),
Follow the steps below: entire car controller is according to gear signal, pedal opening and motor speed from preset drive shift torque MAP
Corresponding first object demand torque is searched in table or reverse gear torque MAP table；Under drive shift, when the first object found
When the value of demand torque is greater than 0, vehicle is in torque output state, if vehicle is in torque recycling state less than 0；It is falling
Under shelves, when the value of the first object demand torque found is less than 0, vehicle is in torque output state, if more than 0, then
Vehicle is in torque recycling state；The drive shift torque MAP table be under drive shift state, by the aperture of accelerator pedal by
0% to 100% is divided into multiple opening values, and motor speed is divided into 0 to wn to peak speed is rotated forward by reverse peak revolving speed
Multiple tachometer values, the opening value corresponds to form corresponding torque value with tachometer value.
Step 102: judging whether the electric car opens default application function.
The default application function includes Anti-slip regulation function and/or unmanned function.The unmanned function includes: distant
Control drives function and adaptive cruise function.
Step 103: if the electric car opens default application function, according to the default application function corresponding the
Two target requirement torques determine the final demand torque of the electric car, otherwise, according to the first object demand torque,
Determine the final demand torque of the electric car.
In the embodiment of the present invention, when electric car opens default application function, according to default application function corresponding the
Two target requirement torques determine the final demand torque of electric car, so that final demand torque is able to satisfy current default answer
With function, and then achieve the purpose that meet current traveling demand.
Further, above-mentioned steps 101 include:
If the electric car opens cruise function, by the corresponding demand torque of cruise function and current fortune
The corresponding demand torque of row parameter is compared；
If the corresponding demand torque of cruise function is greater than the corresponding demand torque of current operating parameter, constant speed is patrolled
The corresponding demand torque of boat function is determined as the first object demand torque, otherwise, by the corresponding demand of current operating parameter
Torque is determined as the first object demand torque.
Here, the corresponding demand torque of current operating parameter demand torque corresponding with cruise function is compared
Compared with one of larger in selection the two to be used as first object demand torque.
Further, as shown in Fig. 2, above-mentioned steps 102 include:
Step 1021: corresponding according to the unmanned function if the electric car only opens unmanned function
Demand torque, determine the final demand torque of the electric car.
Step 1022: if the electric car only opens Anti-slip regulation function or opens unmanned function and drive simultaneously
Dynamic antiskid function determines that the final demand of the electric car is turned round then according to the corresponding demand torque of the Anti-slip regulation function
Square.
The unmanned function includes: remote driving function and adaptive cruise function.Nobody is only opened in electric car
When driving function, can first judge whether opening remote control drives function to electric car, if opening remote control drives function, according to remote control
It drives the corresponding demand torque of function and determines final demand torque, if non-opening remote control drives function, judge that electric car is
No unlatching adaptive cruise function, if adaptive cruise function is opened, according to the corresponding demand torque of adaptive cruise function
It determines final demand torque, final demand torque is otherwise determined according to first object demand torque.
When electric car opens the Anti-slip regulation TCS function of electric stabilizing system ESP, the intervention of chassis torque, chassis is turned round
Square intervention is defined as vehicle priority and safety higher torque intervention, horizontal according to current vehicle safety, and TCS function is from vehicle
Safety reduces the output of vehicle torque.Therefore, Anti-slip regulation function is only opened in the electric car or open nothing simultaneously
When people drives function and Anti-slip regulation function, according to the corresponding demand torque of Anti-slip regulation function, the electric car is determined
Final demand torque can effectively ensure that the safety of vehicle.
Further, as shown in figure 3, after above-mentioned steps 103, further includes:
Step 104: if the absolute value of the difference of the final demand torque and current output torque is greater than predetermined torque ladder
Angle value then carries out torque smooth control processing to the final demand torque, obtains final output torque.
As a kind of optional implementation, the predetermined torque ladder is increased or decreased on the basis of current output torque
Angle value obtains updated output torque；If the absolute value of updated output torque and the difference of final demand torque is less than
The predetermined torque gradient value, then be determined as final output torque for updated output torque, otherwise, output in the updated
The predetermined torque gradient value is continued growing or reduced on the basis of torque, until updated output torque and final demand are turned round
The absolute value of the difference of square is less than the predetermined torque gradient value.
Specifically, defining TR is operator demand's torque value (current time demand torque), TL is moment output on vehicle
Torque value, TGN are by torque gradient treated final output value, and △ TN is the absolute value of the difference of TR and TL, and TG is current
Moment torque gradient value (scalar quantity), TGM are the maximum torque increase value that current motor allows.When △ TN is greater than scalar quantity, to working as
Preceding output torque TG is increased stepwise and (is successively decreased) near TGN to TR torque value on the basis of TL torque, which realizes torsion
The preliminary smooth processing of square.
The final demand torque is carried out using default filter transfer function as another optional implementation
Torque smooth control processing, obtains final output torque.
Default filter transfer function can be specially y=(S/ (1+TS)) * x, to this preset filter transfer function carry out it is discrete
Processing obtains control expression equation are as follows: yt=(T/ (Δ t+T)) * yt-1+(1/(Δt+T))*(xt-xt-1)；In formula: ytFor output
Torque value, T are filter factor (scalar quantity), and △ t is program circulating period (depending on according to the actual situation), yt-1For the torsion of upper period
Square output valve, xtFor current torque sampled value, xt-1For torque sampled value of upper period.
By being smoothed to final demand torque, i.e., final demand torque disappear peak load processing, it can be with
Ensure torque smooth control transition, prevent vehicle from sharply shaking, improves the comfort of vehicle driver in the process of moving.Separately
Outside, after the intervention of unmanned and chassis torque, vehicle torque can be taken over by other ECU completely for some time, but
Unmanned and chassis torque may be because torque irregularity causes vehicle sharply to be shaken, therefore when exiting, and the embodiment of the present invention is logical
It crosses the torque value back production of upper period to the output of chassis torque and carries out torque smooth control processing, it can be ensured that torque smooth control transition.
Further, as shown in figure 4, the torque of the embodiment of the present invention determines in method, to the final demand torque into
Row torque smooth control processing, after obtaining final output torque, further includes:
Step 105: judging whether the final output torque is greater than the max. output torque of electric car；
Step 106: if the final output torque is less than the max. output torque of the electric car, and current torque makes
Energy state shows that permission torque exports, then exports the final output torque.
The torque exported after the completion of final output torque arithmetic in the embodiment of the present invention is vehicle demand torque, and the torque
Not meet the torque that current vehicle can be provided, therefore, it is necessary to turn round according to vehicle running state (such as battery capacity) to demand
Square carries out a degree of limitation or even the output of zero torque.Whether final output torque, which allows to export, also needs to be judged, the step
Suddenly directly determine whether vehicle allows to travel from vehicle security standpoint, such as: there are charging gun insertion, driving conditions in driving conditions
Middle vehicle has program to upgrade demand, pull-up, vehicle are in the hole etc. by force by user by vehicle EPB (electronics parking brake).
The torque of the embodiment of the present invention determines method, not only for the demand torque of user's stepping on accelerator pedal, but
It is filtered when handling when by remote driving, adaptive cruise, the intervention of TCS torque, and being exited to above-mentioned operating condition,
Ensure that vehicle transits to driver-operated torque smooth control transition by unmanned, prevent vehicle from sharply shaking, improves driver
Driving experience.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program (instruction),
The program (instruction) performs the steps of when being executed by processor
According to the corresponding demand torque of current operating parameter, first object demand torque is determined；
Judge whether the electric car opens default application function；
If the electric car opens default application function, according to the corresponding second target need of the default application function
Seek torque, determine the final demand torque of the electric car, otherwise, according to the first object demand torque, determine described in
The final demand torque of electric car.
Optionally, following steps be can also be achieved when which is executed by processor: if the electric car is opened
Cruise function then compares the corresponding demand torque of cruise function demand torque corresponding with current operating parameter
Compared with；
If the corresponding demand torque of cruise function is greater than the corresponding demand torque of current operating parameter, constant speed is patrolled
The corresponding demand torque of boat function is determined as the first object demand torque, otherwise, by the corresponding demand of current operating parameter
Torque is determined as the first object demand torque.
Optionally, the default application function includes: unmanned function and Anti-slip regulation function；
The program (instruction) can also be achieved following steps when being executed by processor:
If the electric car only opens unmanned function, turned round according to the corresponding demand of the unmanned function
Square determines the final demand torque of the electric car；
If the electric car only opens Anti-slip regulation function or opens unmanned function and Anti-slip regulation function simultaneously
Can, then according to the corresponding demand torque of the Anti-slip regulation function, determine the final demand torque of the electric car.
Optionally, following steps be can also be achieved when which is executed by processor:
If the absolute value of the difference of the final demand torque and current output torque is greater than predetermined torque gradient value, right
The final demand torque carries out torque smooth control processing, obtains final output torque.
Optionally, following steps be can also be achieved when which is executed by processor:
The predetermined torque gradient value is increased or decreased on the basis of current output torque, is obtained updated output and is turned round
Square；
If the absolute value of updated output torque and the difference of final demand torque is less than the predetermined torque gradient value,
Updated output torque is then determined as final output torque, otherwise, continues to increase on the basis of output torque in the updated
Add deduct less the predetermined torque gradient value, until the absolute value of updated output torque and the difference of final demand torque is small
In the predetermined torque gradient value.
Optionally, following steps be can also be achieved when which is executed by processor:
Using default filter transfer function, torque smooth control processing is carried out to the final demand torque, obtains final output
Torque.
Optionally, following steps be can also be achieved when which is executed by processor:
Judge whether the final output torque is greater than the max. output torque of electric car；
If the final output torque is less than the max. output torque of the electric car, and current torque enabled state table
Bright permission torque output, then export the final output torque.
Optionally, pedal opening, motor speed and gear.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
As shown in figure 5, being applied to electric car the embodiments of the present invention also provide a kind of torque determining device, comprising:
First determining module 501, for determining that first object demand is turned round according to the corresponding demand torque of current operating parameter
Square；
First judgment module 502, for judging whether the electric car opens default application function；
Second determining module 503, if default application function is opened for the electric car, according to the default application
The corresponding second target requirement torque of function, determines the final demand torque of the electric car, otherwise, according to first mesh
Demand torque is marked, determines the final demand torque of the electric car.
As shown in fig. 6, the torque determining device of the embodiment of the present invention, first determining module 501 include:
Comparative sub-module 5011, if cruise function is opened for the electric car, by cruise function pair
The demand torque answered demand torque corresponding with current operating parameter is compared；
First determines submodule 5012, if being greater than current operating parameter pair for the corresponding demand torque of cruise function
The corresponding demand torque of cruise function is then determined as the first object demand torque by the demand torque answered, otherwise, will
The corresponding demand torque of current operating parameter is determined as the first object demand torque.
The torque determining device of the embodiment of the present invention, the default application function include: that unmanned function and driving are anti-
Sliding function；
Second determining module 503 includes:
Second determines submodule 5031, if only opening unmanned function for the electric car, according to the nothing
People drives the corresponding demand torque of function, determines the final demand torque of the electric car；
Third determines submodule 5032, if only opening Anti-slip regulation function for the electric car or opening nothing simultaneously
People drives function and Anti-slip regulation function and determines the electronic vapour then according to the corresponding demand torque of the Anti-slip regulation function
The final demand torque of vehicle.
The torque determining device of the embodiment of the present invention, which is characterized in that further include:
Processing module 504, if the absolute value of the difference for the final demand torque and current output torque is greater than in advance
If torque gradient value, then torque smooth control processing is carried out to the final demand torque, obtain final output torque.
The torque determining device of the embodiment of the present invention, the processing module 504 include:
Submodule 5041 is handled, for increasing or decreasing the predetermined torque gradient on the basis of current output torque
Value, obtains updated output torque；
4th determines submodule 5042, if the absolute value for updated output torque and the difference of final demand torque
Less than the predetermined torque gradient value, then updated output torque is determined as final output torque, otherwise, in the updated
The predetermined torque gradient value is continued growing or reduced on the basis of output torque, until updated output torque is needed with final
The absolute value of the difference of torque is asked to be less than the predetermined torque gradient value.
The torque determining device of the embodiment of the present invention, the processing module 504 is used for using default filter transfer function, right
The final demand torque carries out torque smooth control processing, obtains final output torque.
The torque determining device of the embodiment of the present invention, further includes:
Second judgment module 505, for judging whether the final output torque is greater than the maximum output torsion of electric car
Square；
Torque output module 506, if being less than the max. output torque of the electric car for the final output torque,
And current torque enabled state shows that torque is allowed to export, then exports the final output torque.
The torque determining device of the embodiment of the present invention, the current operating parameter include: pedal opening, motor speed and shelves
Position.
The torque determining device of the embodiment of the present invention determines the first mesh according to the corresponding demand torque of current operating parameter
Mark demand torque；Judge whether the electric car opens default application function；If the electric car is opened default using function
Can, then according to the corresponding second target requirement torque of the default application function, determine that the final demand of the electric car is turned round
Otherwise square according to the first object demand torque, determines the final demand torque of the electric car, so that final demand
Torque is able to satisfy current default application function, and then achievees the purpose that meet current traveling demand.
The embodiment of the present invention also provides a kind of electric car, including torque determining device as described above.
The embodiment of the present invention also provides a kind of electric car, comprising: processor, memory and is stored on the memory
And the computer program that can be run on the processor, it realizes when the computer program is executed by the processor as above-mentioned
Torque determines each process of embodiment of the method, and can reach identical technical effect, and to avoid repeating, which is not described herein again.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (15)
1. a kind of torque determines method, it is applied to electric car characterized by comprising
According to the corresponding demand torque of current operating parameter, first object demand torque is determined；
Judge whether the electric car opens default application function；
If the electric car opens default application function, turned round according to corresponding second target requirement of the default application function
Square determines the final demand torque of the electric car, otherwise, according to the first object demand torque, determines described electronic
The final demand torque of automobile；
It is described according to the corresponding demand torque of current operating parameter, the step of determining first object demand torque, comprising:
If the electric car opens cruise function, the corresponding demand torque of cruise function and current operation are joined
The corresponding demand torque of number is compared；
If the corresponding demand torque of cruise function is greater than the corresponding demand torque of current operating parameter, by cruise function
The corresponding demand torque of energy is determined as the first object demand torque, otherwise, by the corresponding demand torque of current operating parameter
It is determined as the first object demand torque；
The default application function includes: unmanned function and Anti-slip regulation function；
If the electric car opens default application function, according to the corresponding second target need of the default application function
The step of seeking torque, determining the final demand torque of the electric car, comprising:
If the electric car only opens unmanned function, according to the corresponding demand torque of the unmanned function, really
The final demand torque of the fixed electric car；
If the electric car only opens Anti-slip regulation function or opens unmanned function and Anti-slip regulation function simultaneously,
According to the corresponding demand torque of the Anti-slip regulation function, the final demand torque of the electric car is determined.
2. torque according to claim 1 determines method, which is characterized in that determine that the final demand of the electric car is turned round
After square, further includes:
If the absolute value of the difference of the final demand torque and current output torque is greater than predetermined torque gradient value, to described
Final demand torque carries out torque smooth control processing, obtains final output torque.
3. torque according to claim 2 determines method, which is characterized in that it is flat to carry out torque to the final demand torque
Sliding processing, obtains final output torque, comprising:
The predetermined torque gradient value is increased or decreased on the basis of current output torque, obtains updated output torque；
It, will if the absolute value of updated output torque and the difference of final demand torque is less than the predetermined torque gradient value
Updated output torque is determined as final output torque, otherwise, continued growing on the basis of output torque in the updated or
The predetermined torque gradient value is reduced, until the absolute value of updated output torque and the difference of final demand torque is less than institute
State predetermined torque gradient value.
4. torque according to claim 2 determines method, which is characterized in that it is flat to carry out torque to the final demand torque
Sliding processing, obtaining final output torque includes:
Using default filter transfer function, torque smooth control processing is carried out to the final demand torque, obtains final output torque.
5. torque according to claim 2 determines method, which is characterized in that it is flat to carry out torque to the final demand torque
Sliding processing, after obtaining final output torque, further includes:
Judge whether the final output torque is greater than the max. output torque of electric car；
If the final output torque is less than the max. output torque of the electric car, and current torque enabled state shows to permit
Perhaps torque exports, then exports the final output torque.
6. torque according to claim 1 determines method, which is characterized in that the current operating parameter includes: that pedal is opened
Degree, motor speed and gear.
7. a kind of torque determining device is applied to electric car characterized by comprising
First determining module, for determining first object demand torque according to the corresponding demand torque of current operating parameter；
First judgment module, for judging whether the electric car opens default application function；
Second determining module, if default application function is opened for the electric car, according to the default application function pair
The the second target requirement torque answered, determines the final demand torque of the electric car, otherwise, according to the first object demand
Torque determines the final demand torque of the electric car；
First determining module includes:
Comparative sub-module, if cruise function is opened for the electric car, by the corresponding demand of cruise function
Torque demand torque corresponding with current operating parameter is compared；
First determines submodule, if being greater than the corresponding demand of current operating parameter for the corresponding demand torque of cruise function
The corresponding demand torque of cruise function is then determined as the first object demand torque by torque, otherwise, will currently be run
The corresponding demand torque of parameter is determined as the first object demand torque；
The default application function includes: unmanned function and Anti-slip regulation function；
Second determining module includes:
Second determines submodule, if only opening unmanned function for the electric car, according to the unmanned function
The corresponding demand torque of energy, determines the final demand torque of the electric car；
Third determines submodule, if only opening Anti-slip regulation function for the electric car or opening unmanned function simultaneously
The final of the electric car can be determined then according to the corresponding demand torque of the Anti-slip regulation function with Anti-slip regulation function
Demand torque.
8. torque determining device according to claim 7, which is characterized in that further include:
Processing module, if the absolute value of the difference for the final demand torque and current output torque is greater than predetermined torque ladder
Angle value then carries out torque smooth control processing to the final demand torque, obtains final output torque.
9. torque determining device according to claim 8, which is characterized in that the processing module includes:
Processing submodule obtains more for increasing or decreasing the predetermined torque gradient value on the basis of current output torque
Output torque after new；
4th determines submodule, if being less than for the absolute value of updated output torque and the difference of final demand torque described
Updated output torque is then determined as final output torque by predetermined torque gradient value, otherwise, output torque in the updated
On the basis of continue growing or reduce the predetermined torque gradient value, until updated output torque and final demand torque
The absolute value of difference is less than the predetermined torque gradient value.
10. torque determining device according to claim 8, which is characterized in that the processing module is used for using default filter
Wave transmission function carries out torque smooth control processing to the final demand torque, obtains final output torque.
11. torque determining device according to claim 8, which is characterized in that further include:
Second judgment module, for judging whether the final output torque is greater than the max. output torque of electric car；
Torque output module, if being less than the max. output torque of the electric car for the final output torque, and current
Torque enabled state shows that permission torque exports, then exports the final output torque.
12. torque determining device according to claim 7, which is characterized in that the current operating parameter includes: that pedal is opened
Degree, motor speed and gear.
13. a kind of electric car characterized by comprising such as the described in any item torque determining devices of claim 7 to 12.
14. a kind of electric car characterized by comprising processor, memory and be stored on the memory and can be in institute
The computer program run on processor is stated, such as claim 1 to 6 is realized when the computer program is executed by the processor
Any one of described in torque the step of determining method.
15. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized when the computer program is executed by processor as torque described in any one of claims 1 to 6 determines method
The step of.
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| CN108891304B (en) * | 2018-06-27 | 2020-07-03 | 北京长城华冠汽车科技股份有限公司 | Acceleration control method and device for unmanned electric vehicle |
| CN110949139B (en) * | 2018-09-27 | 2021-08-17 | 联合汽车电子有限公司 | Automatic slope-stopping method of electric vehicle |
| CN110126829B (en) * | 2019-03-29 | 2021-11-26 | 北京车和家信息技术有限公司 | Torque filter coefficient determining method, vehicle-mounted terminal and vehicle |
| CN110375994A (en) * | 2019-07-25 | 2019-10-25 | 北京智行者科技有限公司 | Drive brake parameters automatic calibration method and device |
| CN112440756B (en) * | 2019-08-29 | 2022-06-17 | 北京新能源汽车股份有限公司 | Constant-speed cruise torque control method, controller, constant-speed cruise system and vehicle |
| CN112622637B (en) * | 2020-12-28 | 2022-08-09 | 长城汽车股份有限公司 | Vehicle torque control method, device, medium and vehicle |
| CN112644295A (en) * | 2020-12-31 | 2021-04-13 | 大运汽车股份有限公司 | Torque arbitration control method and torque arbitration control system for new energy commercial vehicle |
| CN113580952A (en) * | 2021-08-03 | 2021-11-02 | 山东临工工程机械有限公司 | Control method and device of electric vehicle and electric vehicle |
| CN113619560A (en) * | 2021-09-06 | 2021-11-09 | 中国第一汽车股份有限公司 | Method and device for controlling output torque of automobile, electronic equipment and medium |
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