CN109720213B - Vehicle torque control method and device - Google Patents

Vehicle torque control method and device Download PDF

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Publication number
CN109720213B
CN109720213B CN201711035350.1A CN201711035350A CN109720213B CN 109720213 B CN109720213 B CN 109720213B CN 201711035350 A CN201711035350 A CN 201711035350A CN 109720213 B CN109720213 B CN 109720213B
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vehicle
accelerator pedal
torque
change rate
pedal opening
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CN109720213A (en
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楚金甫
刘亚闯
赵心
刘忠政
董龙飞
李美霞
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Henan Senyuan Heavy Industry Co Ltd
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Henan Senyuan Heavy Industry Co Ltd
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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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a vehicle torque control method and a device, when a vehicle is judged to be in a rapid acceleration mode, acquiring the opening degree information of an accelerator pedal of the vehicle and the state information of the vehicle to obtain a vehicle accelerator pedal opening degree change rate influence coefficient and a vehicle state coefficient which influence the compensation torque of the vehicle so as to obtain the compensation torque of the vehicle; the compensation torque of the vehicle is added to the reference torque of the vehicle to obtain the output torque of the vehicle. The invention takes the state information of the vehicle into account to obtain the compensation torque of the vehicle, so that the obtained compensation torque of the vehicle is more accurate. In addition, a huge expert knowledge base does not need to be established, the compensation curve of the motor is more linear, parameters can be easily optimized through simulation and experiments, the realization is simpler, and the method can be realized without upgrading the existing vehicle control unit.

Description

Vehicle torque control method and device
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle torque control method and device.
Background
With the continuous progress of society and the continuous development of science and technology, the use of traditional fossil energy is gradually reduced, and the preferential policy of the new energy automobile industry is continuously released. As a green novel vehicle, the electric automobile has smaller influence on the environment compared with the traditional automobile, is increasingly favored by people and becomes a leading force of social development. The electric automobile not only changes the utilization mode of energy, but also has remarkable environmental benefit, convenience, rapidness, low noise, zero emission and remarkable social benefit.
The driver demand torque directly reflects the vehicle power demanded by the driver and the expected energy consumption, so the calculation method of the driver demand torque has important influence on the power performance and the economy of the electric vehicle.
In the prior art, in order to obtain an output command of a motor, a decision of a compensation torque output command is obtained according to an input variable by means of fuzzy reasoning or a genetic algorithm and the like so as to appropriately improve the sensitivity of the torque command to the operation of a driver. However, these methods usually require a huge expert knowledge base to be established, and have complex algorithms, high requirements on a processor, and low real-time performance of calculated data.
Disclosure of Invention
The invention aims to provide a vehicle torque control method and a vehicle torque control device, which are used for solving the problem of complex algorithm in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a vehicle torque control method, which comprises the following method schemes:
the first method scheme comprises the following steps:
judging whether the vehicle is in a rapid acceleration mode:
if the vehicle is in the rapid acceleration mode, acquiring the opening degree information of an accelerator pedal of the vehicle and the state information of the vehicle to obtain a vehicle accelerator pedal opening degree change rate influence coefficient and a vehicle state coefficient which influence the compensation torque of the vehicle so as to obtain the compensation torque of the vehicle;
the compensation torque of the vehicle is added to the reference torque of the vehicle to obtain the output torque of the vehicle.
And in the second method scheme, on the basis of the first method scheme, the reference torque of the vehicle is obtained by acquiring the opening degree information of the accelerator pedal of the vehicle.
A third method scheme is that on the basis of the first method scheme, the state information of the vehicle comprises vehicle speed information and vehicle SOC information; the vehicle state coefficient comprises a vehicle speed influence coefficient and a battery system SOC influence coefficient.
In a fourth method aspect, on the basis of the third method aspect, the compensation torque of the vehicle is as follows:
Torque_cmp＝KDACC·KSPEED·KSOC·KADJ·Torque_base
or:
Torque_cmp＝(KDACC+KSPEED+KSOC+KADJ)·Torque_base
wherein, Torque _ cmp is the compensation Torque of the vehicle;
KDACCis obtained according to the collected accelerator pedal opening degree information and is an accelerator pedal opening degree change rate influence coefficient
Figure BDA0001450376480000021
Figure BDA0001450376480000022
The current accelerator pedal opening change rate is obtained, and DACC _ base is a reference value of an accelerator pedal opening change rate influence coefficient;
KSPEEDis the current real-time vehicle speed influence coefficient obtained according to the collected current real-time vehicle speed information, and
Figure BDA0001450376480000023
Figure BDA0001450376480000024
for the acquired current real-time vehicle SPEED, the SPEED _ base is a reference value of the current real-time vehicle SPEED influence coefficient;
KSOCis the SOC influence coefficient of the battery system, is obtained according to the collected SOC information of the vehicle, and
Figure BDA0001450376480000025
Figure BDA0001450376480000026
the SOC _ base is a reference value of a SOC influence coefficient of a battery system for the collected value of the current state of charge of the vehicle;
KADJadjusting the coefficients to compensate for the torque;
torque _ base is a reference Torque for compensating the Torque.
In a fifth embodiment of the present invention, on the basis of the fourth embodiment, the determining whether the vehicle is in the rapid acceleration mode includes:
calculating and judging whether the accelerator pedal opening, the pedal opening change rate and the compensation torque of the vehicle meet the following conditions:
Figure BDA0001450376480000027
wherein, Torque _ cmp is the compensation Torque of the vehicle, and d is the threshold value of the set compensation Torque of the vehicle; c is a set minimum threshold value of the accelerator pedal opening degree change rate, and a and b are respectively a set minimum value and a set maximum value of the accelerator pedal opening degree;
Figure BDA0001450376480000028
is TnOpening degree of an accelerator pedal at a moment;
Figure BDA0001450376480000029
is the rate of change of the opening of the accelerator pedal, and:
Figure BDA0001450376480000031
wherein the content of the first and second substances,
Figure BDA0001450376480000032
is Tn-1Opening degree of an accelerator pedal at a moment;
and if so, judging that the vehicle is in a rapid acceleration mode.
And a sixth method, on the basis of the first method, when the vehicle is in a rapid acceleration mode, the method further comprises the step of judging the collected accelerator pedal opening information and the vehicle speed information:
if the accelerator pedal opening change rate is smaller than a set maximum threshold of the accelerator pedal opening change rate, or the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the current vehicle speed is larger than or equal to the target vehicle speed, exiting the acceleration mode;
if the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the front vehicle speed is smaller than the target vehicle speed, continuing to maintain the acceleration mode;
wherein, the accelerator pedal opening degree change rate is as follows:
Figure BDA0001450376480000033
wherein the content of the first and second substances,
Figure BDA0001450376480000034
are respectively Tn、Tn-1The opening degree of the accelerator pedal at the time,
Figure BDA0001450376480000035
is the opening change rate of the accelerator pedal;
and the target vehicle speed is obtained from the collected opening information of the accelerator pedal.
The invention also provides a vehicle torque control device, which comprises the following device scheme:
the first device comprises a processor, and the processor is used for implementing the following instructions of the method:
judging whether the vehicle is in a rapid acceleration mode:
if the vehicle is in the rapid acceleration mode, acquiring the opening degree information of an accelerator pedal of the vehicle and the state information of the vehicle to obtain a vehicle accelerator pedal opening degree change rate influence coefficient and a vehicle state coefficient which influence the compensation torque of the vehicle so as to obtain the compensation torque of the vehicle;
the compensation torque of the vehicle is added to the reference torque of the vehicle to obtain the output torque of the vehicle.
And in the second device scheme, on the basis of the first device scheme, the reference torque of the vehicle is obtained by acquiring the opening degree information of the accelerator pedal of the vehicle.
On the basis of the first device scheme, the state information of the vehicle comprises vehicle speed information and vehicle SOC information; the vehicle state coefficient comprises a vehicle speed influence coefficient and a battery system SOC influence coefficient.
And on the basis of the third device scheme, the compensation torque of the vehicle is as follows:
Torque_cmp＝KDACC·KSPEED·KSOC·KADJ·Torque_base
or:
Torque_cmp＝(KDACC+KSPEED+KSOC+KADJ)·Torque_base
wherein, Torque _ cmp is the compensation Torque of the vehicle;
KDACCis obtained according to the collected accelerator pedal opening degree information and is an accelerator pedal opening degree change rate influence coefficient
Figure BDA0001450376480000041
Figure BDA0001450376480000042
The current accelerator pedal opening change rate is obtained, and DACC _ base is a reference value of an accelerator pedal opening change rate influence coefficient;
KSPEEDis the current real-time vehicle speed influence coefficient obtained according to the collected current real-time vehicle speed information, and
Figure BDA0001450376480000043
Figure BDA0001450376480000044
for the acquired current real-time vehicle SPEED, the SPEED _ base is a reference value of the current real-time vehicle SPEED influence coefficient;
KSOCis the SOC influence coefficient of the battery system, is obtained according to the collected SOC information of the vehicle, and
Figure BDA0001450376480000045
Figure BDA0001450376480000046
the SOC _ base is a reference value of a SOC influence coefficient of a battery system for the collected value of the current state of charge of the vehicle;
KADJadjusting the coefficients to compensate for the torque;
torque _ base is a reference Torque for compensating the Torque.
In the fifth embodiment, on the basis of the fourth embodiment, the determining whether the vehicle is in the rapid acceleration mode includes:
calculating and judging whether the accelerator pedal opening, the pedal opening change rate and the compensation torque of the vehicle meet the following conditions:
Figure BDA0001450376480000047
wherein, Torque _ cmp is the compensation Torque of the vehicle, and d is the threshold value of the set compensation Torque of the vehicle; c is a set minimum threshold value of the accelerator pedal opening degree change rate, and a and b are respectively a set minimum value and a set maximum value of the accelerator pedal opening degree;
Figure BDA0001450376480000048
is TnOpening degree of an accelerator pedal at a moment;
Figure BDA0001450376480000049
is the rate of change of the opening of the accelerator pedal, and:
Figure BDA00014503764800000410
wherein the content of the first and second substances,
Figure BDA00014503764800000411
is Tn-1Opening degree of an accelerator pedal at a moment;
and if so, judging that the vehicle is in a rapid acceleration mode.
And a sixth device scheme, on the basis of the first device scheme, when the vehicle is in a rapid acceleration mode, the method further comprises the step of judging the collected accelerator pedal opening information and the vehicle speed information:
if the accelerator pedal opening change rate is smaller than a set maximum threshold of the accelerator pedal opening change rate, or the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the current vehicle speed is larger than or equal to the target vehicle speed, exiting the acceleration mode;
if the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the front vehicle speed is smaller than the target vehicle speed, continuing to maintain the acceleration mode;
wherein, the accelerator pedal opening degree change rate is as follows:
Figure BDA0001450376480000051
wherein the content of the first and second substances,
Figure BDA0001450376480000052
are respectively Tn、Tn-1The opening degree of the accelerator pedal at the time,
Figure BDA0001450376480000053
is the opening change rate of the accelerator pedal;
and the target vehicle speed is obtained from the collected opening information of the accelerator pedal.
The invention has the beneficial effects that:
when the vehicle is judged to be in the rapid acceleration mode, acquiring the opening degree information of an accelerator pedal of the vehicle and the state information of the vehicle to obtain a vehicle accelerator pedal opening degree change rate influence coefficient and a vehicle state coefficient which influence the compensation torque of the vehicle so as to obtain the compensation torque of the vehicle; the compensation torque of the vehicle is added to the reference torque of the vehicle to obtain the output torque of the vehicle. The invention takes the state information of the vehicle into account to obtain the compensation torque of the vehicle, so that the obtained compensation torque of the vehicle is more accurate. Moreover, a huge expert knowledge base does not need to be established, and the implementation is simple; meanwhile, the compensation curve of the motor is more linear, the obtained output torque is simpler, parameters can be easily optimized through simulation and experiments, and the method can be realized without upgrading the existing vehicle control unit.
Drawings
FIG. 1 is a flow chart of a rapid acceleration mode determination;
FIG. 2 is a flow chart for exiting the turbo mode.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
In order to realize the control of the output torque of the motor of the electric automobile, the following method is adopted:
firstly, the opening degree information of an accelerator pedal is collected and transmitted to a vehicle control unit, and the vehicle control unit calculates the opening degree change of the accelerator pedal or the opening degree change rate of the accelerator pedal, namely:
Figure BDA0001450376480000054
Figure BDA0001450376480000055
wherein, the period of the collection is T ═ Tn-Tn-1，
Figure BDA0001450376480000061
Are respectively Tn、Tn-1The opening degree of the accelerator pedal at the time,
Figure BDA0001450376480000062
in order for the opening degree of the accelerator pedal to be changed,
Figure BDA0001450376480000063
is the opening change rate of the accelerator pedal.
In practical application, the acquisition period T of the vehicle control unit for the accelerator pedal opening change rate is fixed, so that the opening of the accelerator pedal can be changed in order to reduce the calculation amount of the processor
Figure BDA0001450376480000064
Directly as the rate of change of opening of an accelerator pedal
Figure BDA0001450376480000065
In this embodiment, the following is still adopted
Figure BDA0001450376480000066
Then, vehicle speed information and vehicle State of Charge (SOC) information of the vehicle amount are collected, and the accelerator pedal opening change rate are judged whether to meet the requirements
Figure BDA0001450376480000067
And is
Figure BDA0001450376480000068
(c is a set minimum threshold value of the accelerator pedal opening degree change rate, and a and b are respectively a set minimum value and a set maximum value of the accelerator pedal opening degree):
if the compensation Torque is satisfied, calculating the compensation Torque _ cmp of the vehicle, wherein the compensation Torque _ cmp of the vehicle can be calculated by the following two methods, different calculation formulas can be selected under different application occasions, and appropriate influence coefficients can be selected correspondingly. The calculation formulas of the two methods are respectively as follows:
Torque_cmp＝KDACC·KSPEED·KSOC·KADJ·Torque_base
Torque_cmp＝(KDACC+KSPEED+KSOC+KADJ)·Torque_base
wherein, Torque _ cmp is the compensation Torque of the vehicle;
KDACCis obtained according to the collected accelerator pedal opening degree information and is an accelerator pedal opening degree change rate influence coefficient
Figure BDA0001450376480000069
Figure BDA00014503764800000610
The current accelerator pedal opening change rate is obtained, and DACC _ base is a reference value of an accelerator pedal opening change rate influence coefficient;
KSPEEDis the current real-time vehicle speed influence coefficient obtained according to the collected current real-time vehicle speed information, and
Figure BDA00014503764800000611
Figure BDA00014503764800000612
for the acquired current real-time vehicle SPEED, the SPEED _ base is a reference value of the current real-time vehicle SPEED influence coefficient;
KSOCis the SOC influence coefficient of the battery system, is obtained according to the collected SOC information of the vehicle, and
Figure BDA00014503764800000613
Figure BDA00014503764800000614
the SOC _ base is a reference value of a SOC influence coefficient of a battery system for the collected value of the current state of charge of the vehicle;
KADJadjusting the coefficients to compensate for the torque;
torque _ base is a reference Torque for compensating the Torque.
The reference values of the above coefficients are calculated by the design parameters of the vehicle itself, the output parameters of the motor and the design torque output curve, and K is adjusted by simulation and actual road testADJThe value of Torque _ base may make the curve of the compensation Torque more consistent with the design requirements.
If not, the normal power mode is entered.
Next, it is further determined whether or not the vehicle compensation Torque _ cmp satisfies Torque _ cmp > d (d is a threshold value of the vehicle compensation Torque set):
if so, indicating that the vehicle enters a rapid acceleration mode;
if not, the vehicle enters a general power model.
Finally, when the vehicle is judged to enter the rapid acceleration mode, the calculated compensation Torque Torque _ cmp of the vehicle is added to the reference Torque Torque _ map calculated based on the opening degree of the accelerator pedal to generate new output Torque of the vehicle, and the vehicle control unit sends the output Torque command to the motor or the motor controller, so that the motor can respond to the driving intention of the driver more sensitively and accurately. The output Torque _ out of the vehicle is:
Torque_out＝Torque_map+Torque_cmp
wherein, Torque _ map is the reference Torque of the vehicle, and Torque _ cmp is the compensation Torque of the vehicle.
In this way, the vehicle control unit can continuously update the output torque command of the engine through the collected parameters such as the opening degree of the accelerator pedal, the change rate of the opening degree of the accelerator pedal, the state of the vehicle and the like. Meanwhile, whether the vehicle should exit the rapid acceleration mode or not can be judged according to the collected information, and a relevant torque command is sent out.
As shown in fig. 2, when the vehicle is in the rapid acceleration mode, it is calculated and determined whether the accelerator pedal opening change rate is satisfied or not based on the collected accelerator pedal opening information
Figure BDA0001450376480000071
(e is the set maximum threshold value of the accelerator pedal opening degree change rate):
if yes, exiting the rapid acceleration mode;
if the current vehicle speed does not meet the target vehicle speed, calculating to obtain a target vehicle speed V 'through table lookup or a motor torque output curve according to the collected accelerator pedal opening information, and comparing the target vehicle speed V' with the current vehicle speed V:
if the current vehicle speed V is greater than or equal to the target vehicle speed V', the emergency acceleration mode is exited;
and if the current vehicle speed V is less than the target vehicle speed V', continuing to maintain the rapid acceleration mode.
The invention also provides a vehicle torque control device, comprising a processor, and instructions for implementing the following method: judging whether the vehicle is in a rapid acceleration mode: if the vehicle is in the rapid acceleration mode, acquiring the opening degree information of an accelerator pedal of the vehicle and the state information of the vehicle to obtain a vehicle accelerator pedal opening degree change rate influence coefficient and a vehicle state coefficient which influence the compensation torque of the vehicle so as to obtain the compensation torque of the vehicle; the compensation torque of the vehicle is added to the reference torque of the vehicle to obtain the output torque of the vehicle.
The essence is that the method is adopted, and the device is not described in detail since the description of the method is clear enough.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims (8)

1. A vehicle torque control method characterized by comprising the steps of:
judging whether the vehicle is in a rapid acceleration mode:
if the vehicle is in the rapid acceleration mode, acquiring the opening degree information of an accelerator pedal of the vehicle and the state information of the vehicle to obtain a vehicle accelerator pedal opening degree change rate influence coefficient and a vehicle state coefficient which influence the compensation torque of the vehicle so as to obtain the compensation torque of the vehicle;
adding the compensation torque of the vehicle and the reference torque of the vehicle to obtain the output torque of the vehicle;
the state information of the vehicle comprises vehicle speed information and vehicle SOC information; the vehicle state coefficient comprises a vehicle speed influence coefficient and a battery system SOC influence coefficient;
the compensation torque of the vehicle is as follows:
Torque_cmp＝KDACC×KSPEED×KSOC×KADJ×Torque_base
or:
Torque_cmp＝(KDACC+KSPEED+KSOC+KADJ)×Torque_base
wherein, Torque _ cmp is the compensation Torque of the vehicle;
KDACCis obtained according to the collected accelerator pedal opening degree information and is an accelerator pedal opening degree change rate influence coefficient, and KDACC＝DACC_PTn/DACC_base，DACC_PTnThe current accelerator pedal opening change rate is obtained, and DACC _ base is a reference value of an accelerator pedal opening change rate influence coefficient;
KSPEEDis the current real-time vehicle speed influence coefficient obtained according to the collected current real-time vehicle speed information, and KSPEED＝SPEED_PTn/SPEED_base，SPEED_PTnFor the collected current real-time vehicle SPEED, SPEED _ ba is a reference value of the current real-time vehicle SPEED influence coefficient;
KSOCobtaining a battery system SOC influence coefficient according to the collected vehicle SOC information, and KSOC＝SOC_PTn/SOC_base，SOC_PTnThe SOC _ base is a reference value of a SOC influence coefficient of a battery system for the collected value of the current state of charge of the vehicle;
KADJadjusting the coefficients to compensate for the torque;
torque _ base is a reference Torque for compensating the Torque.
2. The vehicle torque control method according to claim 1, characterized in that the reference torque of the vehicle is obtained by collecting accelerator pedal opening information of the vehicle.
3. The vehicle torque control method according to claim 1, wherein the determining whether the vehicle is in a rapid acceleration mode includes:
calculating and judging whether the accelerator pedal opening, the pedal opening change rate and the compensation torque of the vehicle meet the following conditions:
Figure FDA0002577048000000021
wherein, Torque _ cmp is the compensation Torque of the vehicle, and d is the threshold value of the set compensation Torque of the vehicle; c is a set minimum threshold value of the accelerator pedal opening degree change rate, and a and b are respectively a set minimum value and a set maximum value of the accelerator pedal opening degree;
Figure FDA0002577048000000022
is TnOpening degree of an accelerator pedal at a moment;
Figure FDA0002577048000000023
is the rate of change of the opening of the accelerator pedal, and:
Figure FDA0002577048000000024
wherein the content of the first and second substances,
Figure FDA0002577048000000025
is Tn-1Opening degree of an accelerator pedal at a moment;
and if so, judging that the vehicle is in a rapid acceleration mode.
4. The vehicle torque control method according to claim 1, further comprising the step of determining the collected accelerator pedal opening degree information and vehicle speed information when the vehicle is in a rapid acceleration mode:
if the accelerator pedal opening change rate is smaller than a set maximum threshold of the accelerator pedal opening change rate, or the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the current vehicle speed is larger than or equal to the target vehicle speed, exiting the acceleration mode;
if the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the front vehicle speed is smaller than the target vehicle speed, continuing to maintain the acceleration mode;
wherein, the accelerator pedal opening degree change rate is as follows:
Figure FDA0002577048000000026
wherein the content of the first and second substances,
Figure FDA0002577048000000027
are respectively Tn、Tn-1The opening degree of the accelerator pedal at the time,
Figure FDA0002577048000000028
is the opening degree of an accelerator pedalA rate of change;
and the target vehicle speed is obtained from the collected opening information of the accelerator pedal.
5. A vehicle torque control device comprising a processor for implementing instructions for the method of:
judging whether the vehicle is in a rapid acceleration mode:
if the vehicle is in the rapid acceleration mode, acquiring the opening degree information of an accelerator pedal of the vehicle and the state information of the vehicle to obtain a vehicle accelerator pedal opening degree change rate influence coefficient and a vehicle state coefficient which influence the compensation torque of the vehicle so as to obtain the compensation torque of the vehicle;
adding the compensation torque of the vehicle and the reference torque of the vehicle to obtain the output torque of the vehicle;
the state information of the vehicle comprises vehicle speed information and vehicle SOC information; the vehicle state coefficient comprises a vehicle speed influence coefficient and a battery system SOC influence coefficient;
the compensation torque of the vehicle is as follows:
Torque_cmp＝KDACC×KSPEED×KSOC×KADJ×Torque_base
or:
Torque_cmp＝(KDACC+KSPEED+KSOC+KADJ)×Torque_base
wherein, Torque _ cmp is the compensation Torque of the vehicle;
KDACCis obtained according to the collected accelerator pedal opening degree information and is an accelerator pedal opening degree change rate influence coefficient
Figure FDA0002577048000000031
Figure FDA0002577048000000032
The current accelerator pedal opening change rate is obtained, and DACC _ base is a reference value of an accelerator pedal opening change rate influence coefficient;
KSPEEDfor the current real-time vehicle speed influence coefficient, based onThe current real-time vehicle speed information is acquired, and
Figure FDA0002577048000000033
Figure FDA0002577048000000034
for the collected current real-time vehicle SPEED, SPEED _ ba is a reference value of the current real-time vehicle SPEED influence coefficient;
KSOCis the SOC influence coefficient of the battery system, is obtained according to the collected SOC information of the vehicle, and
Figure FDA0002577048000000035
Figure FDA0002577048000000036
the SOC _ base is a reference value of a SOC influence coefficient of a battery system for the collected value of the current state of charge of the vehicle;
KADJadjusting the coefficients to compensate for the torque;
torque _ base is a reference Torque for compensating the Torque.
6. The vehicular torque control apparatus according to claim 5, characterized in that the reference torque of the vehicle is obtained by collecting accelerator pedal opening information of the vehicle.
7. The vehicular torque control apparatus according to claim 5, wherein the determination as to whether the vehicle is in the rapid acceleration mode includes:
calculating and judging whether the accelerator pedal opening, the pedal opening change rate and the compensation torque of the vehicle meet the following conditions:
Figure FDA0002577048000000037
wherein, Torque _ cmp is the compensation Torque of the vehicle, and d is the threshold value of the set compensation Torque of the vehicle; c is set accelerator pedal openingThe minimum threshold value of the change rate, a and b are respectively the minimum value and the maximum value of the set accelerator pedal opening;
Figure FDA0002577048000000041
is TnOpening degree of an accelerator pedal at a moment;
Figure FDA0002577048000000042
is the rate of change of the opening of the accelerator pedal, and:
Figure FDA0002577048000000043
wherein the content of the first and second substances,
Figure FDA0002577048000000044
is Tn-1Opening degree of an accelerator pedal at a moment;
and if so, judging that the vehicle is in a rapid acceleration mode.
8. The vehicle torque control device according to claim 5, further comprising a step of determining the collected accelerator pedal opening degree information and vehicle speed information when the vehicle is in a rapid acceleration mode:
if the accelerator pedal opening change rate is smaller than a set maximum threshold of the accelerator pedal opening change rate, or the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the current vehicle speed is larger than or equal to the target vehicle speed, exiting the acceleration mode;
if the accelerator pedal opening change rate is larger than or equal to the set maximum threshold of the accelerator pedal opening change rate and the front vehicle speed is smaller than the target vehicle speed, continuing to maintain the acceleration mode;
wherein, the accelerator pedal opening degree change rate is as follows:
Figure FDA0002577048000000045
wherein the content of the first and second substances,
Figure FDA0002577048000000046
are respectively Tn、Tn-1The opening degree of the accelerator pedal at the time,
Figure FDA0002577048000000047
is the opening change rate of the accelerator pedal;
and the target vehicle speed is obtained from the collected opening information of the accelerator pedal.
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