CN111976500B - Torque filtering method, torque filtering device and vehicle - Google Patents

Torque filtering method, torque filtering device and vehicle Download PDF

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Publication number
CN111976500B
CN111976500B CN201910440351.7A CN201910440351A CN111976500B CN 111976500 B CN111976500 B CN 111976500B CN 201910440351 A CN201910440351 A CN 201910440351A CN 111976500 B CN111976500 B CN 111976500B
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torque
target
current
change rate
filtering
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CN111976500A (en
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马东辉
付世财
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Beijing CHJ Automobile Technology Co Ltd
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Beijing CHJ Automobile Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the invention provides a torque filtering method, a torque filtering device and a vehicle, wherein the method is applied to the vehicle and comprises the following steps: determining a target required torque; determining a target torque change rate according to at least one of a current driving mode and a current energy recovery level of the vehicle, and a difference between the target demand torque and a current torque of the vehicle; and filtering the target required torque according to the target torque change rate, and taking the output torque after filtering as the target torque of the vehicle. According to the embodiment of the invention, the sudden change of the vehicle torque can be avoided, and the comfort level of vehicle driving is improved.

Description

Torque filtering method, torque filtering device and vehicle
Technical Field
The invention relates to the technical field of electric automobile control, in particular to a torque filtering method, a torque filtering device and a vehicle.
Background
The vehicle is under different driving environment and driving condition, and its magnitude of demand torque is different, for example: the difference of the required torque under the working conditions of braking, uphill and the like is large.
In the related art, if the required torque of the vehicle is greatly changed, the output torque of the engine suddenly changes, so that the vehicle is subjected to sudden braking, sudden acceleration and the like, and the comfort level of the vehicle is reduced.
Disclosure of Invention
The embodiment of the invention provides a torque filtering method, a torque filtering device and a vehicle, and aims to solve the problem that the vehicle in the related art is low in comfort level.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a torque filtering method applied to a vehicle, where the method includes:
determining a target required torque;
determining a target torque change rate according to at least one of a current driving mode and a current energy recovery level of the vehicle, and a difference between the target demand torque and a current torque of the vehicle;
and filtering the target required torque according to the target torque change rate, and taking the output torque after filtering as the target torque of the vehicle.
In a second aspect, an embodiment of the present invention provides a torque filter device applied to a vehicle, where the torque filter device includes:
a first determination module for determining a target required torque;
a second determination module for determining a target torque change rate based on at least one of a current driving mode and a current energy recovery level of the vehicle, and a difference between the target demand torque and a current torque of the vehicle;
and the filtering module is used for filtering the target required torque according to the target torque change rate and taking the output torque after filtering as the target torque of the vehicle.
In a third aspect, an embodiment of the present invention further provides a torque filtering apparatus, including: the torque filtering device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps in the torque filtering method provided by the embodiment of the invention when executing the computer program.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps in the torque filtering method provided by the embodiment of the present invention.
In a fifth aspect, the embodiment of the present invention further provides a vehicle, including the torque filter device provided in the second aspect of the embodiment of the present invention.
In the embodiment of the invention, a target torque change rate is determined according to at least one of a current driving mode and a current energy recovery level of a vehicle and a difference value between the target required torque and the current torque of the vehicle, and the target required torque is filtered according to the target torque change rate, so that the torque of the vehicle approaches the target required torque according to the target torque change rate until the current torque of the vehicle is equal to the target required torque. Therefore, under the condition of different driving modes or energy recovery levels, the torque of the vehicle can be changed according to the corresponding change rate, sudden change of the torque is avoided, and the comfort level of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a torque filtering method provided by an embodiment of the present invention;
FIG. 2 is a diagram of an application scenario of a torque filtering method provided by an embodiment of the present invention;
FIG. 3 is a second application scenario diagram of the torque filtering method according to the embodiment of the present invention;
FIG. 4 is a second flowchart of a torque filtering method according to an embodiment of the present invention;
FIG. 5 is one of the block diagrams of a first torque filter device according to embodiments of the present invention;
FIG. 6 is a second block diagram of a first torque filter device according to an embodiment of the present invention;
FIG. 7 is a third block diagram of a first torque filter device according to an embodiment of the present invention;
fig. 8 is a structural diagram of a second torque filter device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flow chart of a torque filtering method according to an embodiment of the invention is shown. The method is applied to a vehicle, and as shown in fig. 1, the method may include the steps of:
step 101, determining a target required torque.
In the driving process of the vehicle, in order to realize different working conditions of acceleration, deceleration, uphill and the like of the vehicle, the torque of the vehicle is changed, and during specific implementation, the target required torque of the vehicle can be determined according to information of the accelerator opening degree, the driving speed, the gear position of the vehicle and the like of the vehicle, and then the output torque of the motor on the vehicle is controlled to approach the target required torque, so that the purpose of changing the driving working condition of the vehicle is achieved.
Step 102, determining a target torque change rate according to at least one of a current driving mode and a current energy recovery level of the vehicle and a difference value between the target demand torque and a current torque of the vehicle.
In a specific implementation, the vehicle comprises at least two selectable driving modes, for example: motion mode, regular mode, economy mode, etc., wherein the motion mode may better adapt to a motion scene, such as: the driving scenes such as cross country and climbing have high requirements on the change speed and the change size of the driving force of the vehicle. The economic driving mode is more suitable for driving scenes of flat road conditions such as cities and high speeds, has lower requirements on the change speed and the change size of the driving force of the vehicle, and can save the power consumption of the vehicle. The normal mode is between the sport mode and the economy driving mode.
Additionally, the vehicle includes at least two selectable front energy recovery levels, such as: light, medium, heavy and the like, and under different front energy recovery levels, the proportion or the electric quantity of the vehicle passing through the energy recovery is different.
In a specific implementation, if the difference between the target demand torque and the current torque of the vehicle is larger, the target torque change rate of the vehicle torque can be made larger, so that the vehicle can be quickly adjusted to the target demand torque. In addition, the torque of the vehicle can be divided into braking torque and driving torque, in the implementation, the braking torque can be smaller than 0, and the driving torque can be larger than 0, so that when the target required torque minus the current torque of the vehicle is larger than 0, the braking torque of the vehicle is determined to be reduced or the driving torque is determined to be increased, and the target torque change rate is larger than 0; when the target required torque minus the current torque of the vehicle is less than 0, it is determined that the braking torque of the vehicle will be increased or the driving torque will be decreased, so that the target torque change rate is less than 0.
Of course, in the embodiment of the present invention, the target torque change rate of the vehicle torque further corresponds to at least one of the current driving mode and the current energy recovery level, such as: under the condition that the difference value between the target demand torque and the current torque of the vehicle is constant, the absolute value of the target torque change rate corresponding to the sport mode is larger than the absolute value of the target torque change rate corresponding to the economy mode. In this way, the target change filtering of the torque can be matched with at least one of the current driving mode and the current energy recovery level of the vehicle, and the adaptive range of at least one of the driving mode and the energy recovery level of the vehicle can be improved while the comfort of the vehicle is improved.
And 103, filtering the target required torque according to the target torque change rate, and taking the output torque after filtering as the target torque of the vehicle.
In particular implementations, after determining a target torque for a vehicle, the vehicle will control the drive motor to output the target torque to effect adjusting a speed of the vehicle, and so forth. In addition, the process of filtering the vehicle torque is a continuous process, and the output torque after the last filtering process is the current torque of the vehicle.
In implementation, the target torque change rate may refer to an amount of torque that increases or decreases per unit time, such as: if the filtering process is performed every 1 second, the target torque output for the first second is the current torque at the time of the second, and if the vehicle torque changes to the target required torque at a rate of 100Nm/s (Nm/s) and the current torque at the first second is 200Nm, the current torque increases to 300Nm at the second.
In the embodiment of the invention, a target torque change rate is determined according to at least one of a current driving mode and a current energy recovery level of a vehicle and a difference value between the target required torque and the current torque of the vehicle, and the target required torque is filtered according to the target torque change rate, so that the torque of the vehicle approaches the target required torque according to the target torque change rate until the current torque of the vehicle is equal to the target required torque. Therefore, under the condition of different driving modes or energy recovery levels, the torque of the vehicle can be changed according to the corresponding change rate, sudden change of the torque is avoided, and the comfort level of the vehicle is improved.
As an alternative embodiment, the step of determining a target torque change rate based on at least one of a current driving mode and a current energy recovery level of the vehicle and a difference between the target required torque and a current torque of the vehicle includes:
determining a target filtering mode according to a difference value between the target required torque and the current torque, wherein the target filtering mode comprises at least two alternative torque change rates;
determining a torque change rate of the target filtering mode as a target torque change rate according to at least one of the current driving mode and the current energy recovery level, wherein the at least two candidate torque change rates include the target torque change rate.
In particular implementations, the vehicle may include a plurality of preset filtering modes, such as: a syntropic addition filtering mode, a syntropic reduction filtering mode, a zero-crossing filtering mode, etc. The filtering mode is used for reflecting the overall variation trend of the vehicle torque, such as: in the same-direction increase filtering mode, the vehicle torque may be increased to the target required torque; in the same-direction reduction filtering mode, the vehicle torque may be reduced to the target required torque; in the zero-cross filtering mode, the vehicle torque may be reduced to 0 first, and then increased to the target required torque, and the like.
It should be noted that each filtering mode includes at least two change rates, for example: in a case where the driving mode of the vehicle includes a sport mode and an economy mode, the equidirectional increase mode may include a first rate of change value and a second rate of change value corresponding to the sport mode and the economy mode, respectively, and in a case where it is determined that the current driving mode of the vehicle is the sport mode, the first rate of change value corresponding to the sport mode is determined to be the target torque rate of change.
It should be noted that a filtering mode may also include more than two change rates, for example: in the case where the target torque change rate is determined according to the current driving mode and the current energy recovery level, one filtering mode may include m × n change rates, where m is a kind of driving mode and n is a kind of energy recovery level.
In the embodiment of the invention, the change trend of the vehicle torque is determined according to the difference between the target required torque and the current torque, the target torque change rate is determined according to the corresponding relation between at least one of the current driving mode and the current energy recovery level and each alternative torque change rate in the target filtering mode, the vehicle torque can be ensured to change to the target required torque according to the change trend of the target filtering mode, and the target torque change rate is matched with at least one of the current driving mode and the current energy recovery level, so that the reliability and the applicability of the vehicle torque change process are improved.
As an optional implementation manner, in a case that the target filtering mode is a same-direction-increasing filtering mode, the step of determining that the torque change rate of the target filtering mode is a target torque change rate includes:
and determining a target torque change rate of the increase-in-the-same-direction filtering mode as a first change rate, wherein the target filtering mode is determined as the increase-in-the-same-direction filtering mode when the target required torque and the current torque are both driving torques or braking torques, the target required torque is greater than the current torque, and a difference value between the target required torque and the current torque is greater than or equal to a first preset value.
In a specific implementation, since the increase-in-same-direction filtering mode indicates that the absolute value of the target required torque is greater than the absolute value of the current torque, the value of the first change rate is greater than 0. In an implementation, the difference between the target required torque and the current torque is greater than or equal to a first preset value, which may indicate that an absolute value of a difference obtained by subtracting the current torque from the target required torque is greater than or equal to the first preset value.
Wherein, the first preset value can be determined according to configuration parameters of the vehicle, sensitivity of a motor on the vehicle, and the like, for example: if the first preset value is equal to 0.2Nm (Nm), the vehicle torque may not be filtered but the driving motor of the vehicle may be controlled to directly output the driving torque of 100.2Nm during the process of the driving torque of the vehicle changing from 100Nm to 100.2 Nm.
It should be noted that the first change rate may include a plurality of change rates of the sampling value, for example: a plurality of rates of change in one-to-one correspondence with driving patterns configured for the vehicle, and the like. In the application process, a mapping relationship between the first change rate and the increasing filter mode in the same direction and a mapping relationship between values of each driving mode and the torque change rate may be stored in advance, and in the case that the target filter mode is determined to be the increasing filter mode in the same direction, one change rate mapped with the current driving mode may be determined as the target torque change rate from a plurality of torque change rates mapped with the increasing filter mode in the same direction according to the current driving mode of the vehicle.
In this embodiment, when the target required torque and the current torque are both driving torque or braking torque, the target required torque is greater than the current torque, and a difference between the target required torque and the current torque is greater than or equal to a first preset value, the target filter mode is determined as the increase-in-the-same-direction filter mode, and a corresponding first change rate is determined as the target torque change rate according to the determined increase-in-the-same-direction filter mode, so that the target torque change rate can be quickly determined when the torque of the vehicle increases in the same direction.
As an optional implementation manner, in a case that the target filtering mode is the same-direction reduction filtering mode, the step of determining that the torque change rate of the target filtering mode is the target torque change rate includes:
and determining that the target torque change rate of the same-direction reduction filtering mode is a second change rate, wherein the target filtering mode is determined to be the same-direction reduction filtering mode under the condition that the target required torque and the current torque are both driving torques or braking torques, the target required torque is smaller than the current torque, and the difference value between the target required torque and the current torque is larger than or equal to the first preset value.
In a specific implementation, since the equidirectional reduction filtering mode indicates that the absolute value of the target required torque is smaller than the absolute value of the current torque, the value of the second change rate may be smaller than 0. In a specific implementation, the difference between the target required torque and the current torque is greater than or equal to a first preset value, which may indicate that an absolute value of a difference obtained by subtracting the current torque from the target required torque is greater than or equal to the first preset value.
For example: as shown in fig. 2, a solid line indicates that the target required torque and the current torque of the vehicle are both the driving torque, and the target required torque is changed from a first value to a second value, where the first value is greater than the second value, and the current torque of the vehicle is smaller than the second value.
And in the process that the current torque changes to the target required torque of the first value, filtering by adopting a same-direction increasing filtering mode.
And in the process that the current torque is changed from the first value to the target required torque of the second value, filtering by adopting a same-direction reduction filtering mode.
It should be noted that the target torque change rate during the filtering process can be represented as a slope of the solid line shown in fig. 2, where a slope greater than 0 indicates that the target torque change rate controls the current driving torque to increase, and a slope less than 0 indicates that the target torque change rate controls the current driving torque to decrease.
In addition, a dotted line in fig. 2 indicates that the target required torque and the current torque of the vehicle are both the braking torque, and the target required torque is changed from a third value to a fourth value, where the third value is greater than the fourth value, and the current torque of the vehicle is smaller than the fourth value.
And in the process that the current torque changes to the target required torque of the third value, filtering by adopting a same-direction increasing filtering mode.
And in the process that the current torque is changed from the third value to the target required torque of the fourth value, filtering by adopting a same-direction reduction filtering mode.
In this embodiment, the current energy recovery level of the vehicle is "high", and the target torque change rate during the braking torque homodromous reduction filter mode shown by the broken line is larger than the target torque change rate during the driving torque homodromous reduction filter mode shown by the solid line.
In addition, the second change rate may also include a plurality of change rates of the value taking, and the value taking situation is similar to the value taking situation of the first change rate, which is not described herein again.
As an optional implementation manner, in the case that the target filtering mode is a zero-crossing torque filtering mode, the step of determining that the torque change rate of the target filtering mode is a target torque change rate includes:
if the current torque is reversely reduced relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a third change rate, wherein the reverse reduction indicates that the current torque and the target required torque are respectively driving torque and braking torque, and the difference between the absolute value of the current torque and zero is greater than or equal to a first preset value;
if the current torque reversely increases relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a fourth change rate, wherein the reverse increase indicates that the current torque and the target required torque are both driving torque or braking torque, and the difference between the absolute value of the current torque and zero is greater than or equal to the first preset value;
if the current torque crosses zero, determining that the target torque change rate of the zero-crossing torque filtering mode is a fifth change rate, wherein the absolute value of the fifth change rate is in positive correlation with the absolute value of the current torque, and the zero crossing indicates that the difference value between the absolute value of the current torque and zero is smaller than a first preset value;
wherein the target filtering mode is determined to be the zero-cross torque filtering mode when the target required torque is a driving torque and the current torque is a braking torque, or when the target required torque is a braking torque and the current torque is a driving torque.
In practical applications, a driver may control the vehicle to change from acceleration to braking or from braking to acceleration, and the like, at which the direction of the vehicle torque changes, and in order to prevent the vehicle torque from changing too fast and generating a large impact force on the vehicle, the filtering of the vehicle torque in the present embodiment is divided into three parts, wherein the first part: and firstly, controlling the current torque to reversely reduce relative to the target required torque until the difference value between the current torque and 0 is smaller than a first preset value. A second part: the current torque zero crossing is then controlled to cause the vehicle current torque to be converted from braking torque to driving torque or from driving torque to braking torque. And a third part: and finally, controlling the current torque to reversely increase relative to the target demand torque until the difference between the current torque and the target demand torque is smaller than a first preset value.
It should be noted that, in the process of zero crossing of the current torque, the absolute value of the fifth rate of change is positively correlated with the absolute value of the current torque, that is, the larger the absolute value of the current torque is, the larger the absolute value of the fifth rate of change is, and the smaller the absolute value of the current torque is, the smaller the absolute value of the fifth rate of change is.
For example: as shown in fig. 3, wherein the solid line represents a filtering process in which the target required torque is a braking torque and the current torque of the vehicle is a driving torque.
During the Reverse reduction of the current torque, i.e., during the process of returning _ Up being 0 and returning _ Down being 1 in the solid line shown in fig. 3, and the absolute value of the current torque being greater than or equal to the first preset value (e.g., 0.2Nm), filtering is performed using the third rate of change.
And in the process of zero crossing of the current torque, filtering by adopting a fifth change rate, wherein the value of the fifth change rate is positively correlated with the value of the current torque. It should be noted that the current torque is the output torque of the electric motor at the current time, and as time changes, the current torque will also change toward the direction close to the required torque, which is equal to the output torque obtained after the last filtering, and therefore, the trend of the fifth rate of change may be represented as: (t), wherein A (t) represents the value of the current torque at time t, and x is an odd constant. In this way, the fifth rate of change tends to decrease in the process that Reverse _ Up is 0, Reverse _ Down is 1, and the absolute value of the current torque is smaller than the first preset value; the fifth rate of change tends to increase when Reverse _ Up is 1, Reverse _ Down is 0, and the absolute value of the current torque is greater than or equal to the first preset value.
In the process of reversely increasing the current torque, that is, in the process of changing Reverse _ Up to 1 and Reverse _ Down to 0 in the solid line shown in fig. 3, and the absolute value of the current torque is greater than or equal to the first preset value, filtering is performed by using a fourth rate of change.
Similarly, as shown by a dotted line in fig. 3, the current torque of the vehicle is a filtering process of the braking torque for the target required torque being the driving torque. The filtering process is similar to the filtering process in which the target required torque is the braking torque and the current torque is the driving torque, and is not described herein again.
In a specific implementation, the maximum value and the minimum value of the change rate may be stored in advance, and the third change rate may be made to take the maximum value in the current torque reversal reduction phase during the process of the torque transition of the vehicle from the braking torque to the driving torque; in a phase where the current torque crosses zero and is a braking torque, the value of the fifth change rate may be gradually decreased from the maximum value until the current torque is equal to 0, and the fifth change rate takes the minimum value; in a stage where the current torque crosses zero and is the driving torque, the value of the fifth change rate may be gradually increased until the current torque is equal to a first preset value, the fifth change rate may be made the maximum value, and in a stage where the current torque is reversely increased, the fourth change rate may be made the maximum value.
In this embodiment, the torque of the vehicle is controlled to change in the direction, so that the target torque and the current torque are changed in a positive correlation manner, and the current torque is zero.
Of course, in a specific implementation, the above-mentioned equidirectional increase filtering mode, the above-mentioned equidirectional decrease filtering mode, and the above-mentioned zero-cross torque filtering mode may also be combined, and in this embodiment:
under the condition that the current torque is equal to 0, the value of the fifth change rate is a preset lowest change rate;
if the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely reduced relative to the target required torque, the value of the third change rate is equal to the value of the second change rate;
and under the condition that the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely increased relative to the target required torque, the value of the fourth change rate is equal to the value of the first change rate.
In a specific implementation, the preset minimum rate of change may be a rate of change associated with at least one of a current driving mode and a current energy recovery level of the vehicle, such as: in a case where the current torque is equal to 0, if the current driving mode is a sport mode, the preset minimum rate of change may be equal to 80 Nm/s; in the case where the current torque is equal to 0, the preset minimum rate of change may be equal to 50Nm/s if the current driving mode is the economy mode.
As an alternative embodiment, the step of determining the target required torque includes:
determining a required torque set according to the current driving condition of the vehicle;
determining a target required torque from the set of required torques in accordance with at least one of a current driving mode and a current energy recovery level of the vehicle.
In a specific implementation, the current driving condition may include: the control intention of the driver can be determined according to the current driving working condition, and the torque required for realizing the control intention is calculated to be the target required torque.
It should be noted that, when at least one of the current driving mode and the current energy recovery level of the vehicle is changed, the target required torque is also changed, for example: during the braking process of the vehicle, the absolute value of the corresponding braking torque when the energy recovery level is high is smaller than the absolute value of the corresponding braking torque when the energy recovery level is low.
In the embodiment, the target required torque is determined according to different current driving modes and/or current energy recovery levels, so that the determined target required torque is more matched with the current driving modes and/or the current energy recovery levels, and the accuracy of vehicle control is improved.
It should be noted that, in practical application, the torque filtering method may be implemented through software programming, where the braking torque is a negative number smaller than zero, and the driving torque is a positive number larger than zero, and the target filtering mode may be obtained according to a sign of the current torque and a sign of the target required torque.
For example: as shown by the solid line in fig. 2, when the current torque and the target required torque are both drive torques, that is, both the current torque and the target required torque are positive numbers, the filter mode of the current torque is defined by a first variable: syncopy _ Up _ Down. Under the condition that the target required torque is larger than the current torque by a first preset value (for example: 0.2Nm) and above, determining Syncopy _ Up _ Down to be 1; in the case where the target required torque is smaller than the current torque by a first preset value (e.g., 0.2Nm) and above, Syncopy _ Up _ Down is determined to be 0.
Thus, it can be determined that the target filtering mode is the equidirectional increase filtering mode or the equidirectional decrease filtering mode according to the fact that the value of the first variable is 1 or 0.
In addition, as shown by a solid line in fig. 3, it indicates a zero-cross filtering mode when the current torque is the driving torque before filtering and the target required torque is the braking torque, the current torque is a positive number before filtering, and the target required torque is a negative number. The zero-crossing filtering mode may use a second variable: reverse _ Up and third variable: reverse _ Down. When the current torque is smaller than 0 and the product of the current torque and the target required torque is smaller than zero, determining that Reverse _ Up is 0 and Reverse _ Down is 1, and controlling the motor control driving torque of the vehicle to be reduced according to the values of the second variable and the third variable; when the current torque is greater than or equal to 0 and the product of the current torque and the target required torque is greater than or equal to zero, it is determined that Reverse _ Up is 1 and Reverse _ Down is 0, and at this time, the motor control braking torque of the vehicle may be controlled to increase according to values of the second variable and the third variable.
Similarly, as shown by a dotted line in fig. 3, a zero-cross filtering mode in which the current torque is the braking torque before filtering and the target required torque is the driving torque is indicated, the current torque is a negative number before filtering, and the target required torque is a positive number. The filtering process is similar to that when the current torque is the driving torque and the target required torque is the braking torque, and is not repeated herein.
Referring to fig. 4, it is a second flowchart of a torque filtering method according to an embodiment of the present invention, as shown in fig. 4, the method includes the following steps:
step 401, current vehicle information is acquired.
In this step, the vehicle information may include: accelerator pedal opening, brake pedal opening, current vehicle speed, current vehicle gear, and the like.
Step 402, determining a current driving state of the vehicle and calculating a corresponding set of requested torques.
In this step, the driving state of the vehicle may include normal driving, energy recovery braking, crawling and the like, which is not exhaustive. It should be noted that the demand torque set matches the current vehicle information and the current driving state of the vehicle, and may include a plurality of selectable demand torques.
Step 403, selecting a target required torque from the set of required torques according to a current driving mode and a current energy recovery level of the vehicle.
Step 404, comparing the numerical relationship between the target torque demand and the last filtered torque, and determining the target torque change rate.
Wherein the last filtered torque is the current torque of the vehicle, i.e. the current output torque of the vehicle motor. In addition, the numerical relationship between the target required torque and the last filtered torque may include: the target required torque and the last filtered torque are braking torque or driving torque, and the numerical magnitude relation between the target required torque and the last filtered torque.
And step 405, performing filtering processing on the torque according to the target torque change rate.
In specific implementation, the filtering process can also be called as a smoothing process, so that the change of the processed torque is smoother, the output torque of the motor is prevented from suddenly changing, and the driving comfort of the vehicle is improved.
Step 406, the filtered torque is used as the requested torque for the electric machine.
The requested torque for the electric machine may indicate that the electric machine is about to perform torque output according to the requested torque, and therefore, the requested torque for the electric machine may also be referred to as a target output torque of the electric machine.
In the embodiment of the invention, the torque filtering method can avoid sudden change of the torque of the vehicle, thereby improving the driving comfort of the vehicle.
Referring to fig. 5, which is a structural diagram of a first torque filter device according to an embodiment of the present invention, applied to a vehicle, as shown in fig. 5, a torque filter device 500 includes:
a first determination module 501 for determining a target demand torque;
a second determination module 502 for determining a target torque change rate based on at least one of a current driving mode and a current energy recovery level of the vehicle and a difference between the target demand torque and a current torque of the vehicle;
and a filtering module 503, configured to perform filtering processing on the target required torque according to the target torque change rate, and use the filtered output torque as the target torque of the vehicle.
Optionally, as shown in fig. 6, the second determining module 502 includes:
a first determining unit 5021, configured to determine a target filtering mode according to a difference between the target required torque and the current torque, where the target filtering mode includes at least two alternative torque change rates;
a second determining unit 5022, configured to determine a torque change rate of the target filtering mode as a target torque change rate according to at least one of the current driving mode and the current energy recovery level, wherein the at least two candidate torque change rates include the target torque change rate.
Optionally, when the target filtering mode is the same-direction-increasing filtering mode, the second determining unit 5022 is specifically configured to:
and determining a target torque change rate of the increase-in-the-same-direction filtering mode as a first change rate, wherein the target filtering mode is determined as the increase-in-the-same-direction filtering mode when the target required torque and the current torque are both driving torques or braking torques, the target required torque is greater than the current torque, and a difference value between the target required torque and the current torque is greater than or equal to a first preset value.
Optionally, when the target filtering mode is the same-direction reduction filtering mode, the second determining unit 5022 is specifically configured to:
and determining that the target torque change rate of the same-direction reduction filtering mode is a second change rate, wherein the target filtering mode is determined to be the same-direction reduction filtering mode under the condition that the target required torque and the current torque are both driving torques or braking torques, the target required torque is smaller than the current torque, and the difference value between the target required torque and the current torque is larger than or equal to the first preset value.
Optionally, when the target filtering mode is the zero-crossing torque filtering mode, the second determining unit 5022 is specifically configured to:
if the current torque is reversely reduced relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a third change rate, wherein the reverse reduction indicates that the current torque and the target required torque are respectively driving torque and braking torque, and the difference between the absolute value of the current torque and zero is greater than or equal to a first preset value;
if the current torque is reversely increased relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a fourth change rate, wherein the reverse increase indicates that the current torque and the target required torque are both driving torques or braking torques, and the difference between the absolute value of the current torque and zero is greater than or equal to the first preset value;
if the current torque crosses zero, determining that the target torque change rate of the zero-crossing torque filtering mode is a fifth change rate, wherein the absolute value of the fifth change rate is in positive correlation with the absolute value of the current torque, and the zero crossing indicates that the difference value between the absolute value of the current torque and zero is smaller than a first preset value;
wherein the target filtering mode is determined to be the zero-cross torque filtering mode when the target required torque is a driving torque and the current torque is a braking torque, or when the target required torque is a braking torque and the current torque is a driving torque.
Optionally, when the current torque is equal to 0, the value of the fifth change rate is a preset minimum change rate;
if the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely reduced relative to the target required torque, the value of the third change rate is equal to the value of the second change rate;
and under the condition that the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely increased relative to the target required torque, the value of the fourth change rate is equal to the value of the first change rate.
Optionally, as shown in fig. 7, the first determining module 501 includes:
a third determining unit 5011 for determining a set of required torques according to a current driving condition of the vehicle;
a fourth determining unit 5012 for determining a target required torque from the set of required torques according to at least one of a current driving mode and a current energy recovery level of the vehicle.
Optionally, the driving mode of the vehicle includes: the method comprises an economy driving mode and a sport driving mode, wherein the absolute value of the target torque change rate related to the sport driving mode in the same filtering mode is larger than the absolute value of the target torque change rate related to the economy driving mode.
The first torque filtering device provided in the embodiment of the present invention can implement each process in the torque filtering method provided in the previous embodiment of the present invention, and can obtain the same beneficial effects, and is not described herein again to avoid repetition.
An embodiment of the present invention further provides a vehicle, including the torque filter device as shown in any one of fig. 5 to 7, where the vehicle can improve comfort of the vehicle through the torque filter device, and can obtain the same beneficial effects as the torque filter method provided in the embodiment of the present invention, and details are not repeated herein.
Referring to fig. 8, a second torque filter device 800 is provided, which includes a memory 801, a processor 802, and a computer program 8011 stored in the memory 801 and executable on the processor 802.
Wherein the processor 802 is configured to perform the following steps:
determining a target required torque;
determining a target torque change rate according to at least one of a current driving mode and a current energy recovery level of the vehicle, and a difference between the target demand torque and a current torque of the vehicle;
and filtering the target required torque according to the target torque change rate, and taking the output torque after filtering as the target torque of the vehicle.
Optionally, the step of determining a target torque change rate according to at least one of the current driving mode and the current energy recovery level of the vehicle and the difference between the target required torque and the current torque of the vehicle, which is performed by the processor 802, includes:
determining a target filtering mode according to a difference value between the target required torque and the current torque, wherein the target filtering mode comprises at least two alternative torque change rates;
determining a torque change rate of the target filtering mode as a target torque change rate according to at least one of the current driving mode and the current energy recovery level, wherein the at least two candidate torque change rates include the target torque change rate.
Optionally, in a case that the target filtering mode is the same-direction-increasing filtering mode, the step executed by the processor 802 for determining that the torque change rate of the target filtering mode is the target torque change rate includes:
and determining a target torque change rate of the same-direction increase filtering mode as a first change rate, wherein the target filtering mode is determined as the same-direction increase filtering mode under the conditions that the target required torque and the current torque are both driving torques or braking torques, the target required torque is greater than the current torque, and the difference value between the target required torque and the current torque is greater than or equal to a first preset value.
Optionally, in a case that the target filtering mode is the same-direction reduction filtering mode, the step performed by the processor 802 to determine that the torque change rate of the target filtering mode is the target torque change rate includes:
and determining that the target torque change rate of the same-direction reduction filtering mode is a second change rate, wherein the target filtering mode is determined to be the same-direction reduction filtering mode under the condition that the target required torque and the current torque are both driving torques or braking torques, the target required torque is smaller than the current torque, and the difference value between the target required torque and the current torque is larger than or equal to the first preset value.
Optionally, in a case that the target filtering mode is the zero-crossing torque filtering mode, the step performed by the processor 802 of determining that the torque change rate of the target filtering mode is the target torque change rate includes:
if the current torque is reversely reduced relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a third change rate, wherein the reverse reduction indicates that the current torque and the target required torque are respectively driving torque and braking torque, and the difference between the absolute value of the current torque and zero is greater than or equal to a first preset value;
if the current torque is reversely increased relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a fourth change rate, wherein the reverse increase indicates that the current torque and the target required torque are both driving torques or braking torques, and the difference between the absolute value of the current torque and zero is greater than or equal to the first preset value;
if the current torque crosses zero, determining that the target torque change rate of the zero-crossing torque filtering mode is a fifth change rate, wherein the absolute value of the fifth change rate is in positive correlation with the absolute value of the current torque, and the zero crossing indicates that the difference value between the absolute value of the current torque and zero is smaller than a first preset value;
wherein the target filtering mode is determined to be the zero-cross torque filtering mode when the target required torque is a driving torque and the current torque is a braking torque, or when the target required torque is a braking torque and the current torque is a driving torque.
Optionally, when the current torque is equal to 0, the value of the fifth change rate is a preset minimum change rate;
if the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely reduced relative to the target required torque, the value of the third change rate is equal to the value of the second change rate;
and under the condition that the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely increased relative to the target required torque, the value of the fourth change rate is equal to the value of the first change rate.
Optionally, the step of determining the target required torque executed by the processor 802 includes:
determining a demand torque set according to the current driving condition of the vehicle;
determining a target required torque from the set of required torques in accordance with at least one of a current driving mode and a current energy recovery level of the vehicle.
Optionally, the driving mode of the vehicle includes: the method comprises an economy driving mode and a sport driving mode, wherein the absolute value of the target torque change rate related to the sport driving mode in the same filtering mode is larger than the absolute value of the target torque change rate related to the economy driving mode.
The second torque filtering device provided in the embodiment of the present invention may be any one of devices or apparatuses such as a vehicle-mounted terminal, such as a computer and a network apparatus, and may implement the steps in the torque filtering method provided in the method embodiment shown in fig. 1, so as to improve the comfort level of vehicle driving.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the torque filtering method provided in the embodiment of the method shown in fig. 1 are implemented, and the same beneficial effects can be obtained, and are not described herein again to avoid repetition.
The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a vehicle-mounted terminal (which may be a computer, a server, a controller, or a network device) to execute the methods according to the embodiments of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (15)

1. A torque filtering method for use in a vehicle, the method comprising:
determining a target required torque;
determining a target torque change rate according to at least one of a current driving mode and a current energy recovery level of the vehicle, and a difference between the target demand torque and a current torque of the vehicle;
filtering the target required torque according to the target torque change rate, and taking the output torque after filtering as the target torque of the vehicle;
the step of determining a target torque change rate according to at least one of a current driving mode and a current energy recovery level of the vehicle, and a difference between the target required torque and a current torque of the vehicle, includes:
determining a target filtering mode according to a difference value between the target required torque and the current torque, wherein the target filtering mode comprises at least two alternative torque change rates;
determining a torque change rate of the target filtering mode as a target torque change rate according to at least one of the current driving mode and the current energy recovery level, wherein the at least two candidate torque change rates include the target torque change rate;
in the case where the target filtering mode is a zero-crossing torque filtering mode, the determining that the torque change rate of the target filtering mode is a target torque change rate includes:
if the current torque is reversely reduced relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a third change rate, wherein the reverse reduction indicates that the current torque and the target required torque are respectively driving torque and braking torque, and the difference between the absolute value of the current torque and zero is greater than or equal to a first preset value;
if the current torque is reversely increased relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a fourth change rate, wherein the reverse increase indicates that the current torque and the target required torque are both driving torques or braking torques, and the difference between the absolute value of the current torque and zero is greater than or equal to the first preset value;
if the current torque crosses zero, determining that the target torque change rate of the zero-crossing torque filtering mode is a fifth change rate, wherein the absolute value of the fifth change rate is in positive correlation with the absolute value of the current torque, and the zero crossing indicates that the difference value between the absolute value of the current torque and zero is smaller than a first preset value;
wherein the target filtering mode is determined to be the zero-cross torque filtering mode when the target required torque is a driving torque and the current torque is a braking torque, or when the target required torque is a braking torque and the current torque is a driving torque.
2. The torque filtering method according to claim 1, wherein the step of determining that the torque change rate of the target filtering mode is a target torque change rate in case that the target filtering mode is a same-direction-increasing filtering mode comprises:
and determining a target torque change rate of the increase-in-the-same-direction filtering mode as a first change rate, wherein the target filtering mode is determined as the increase-in-the-same-direction filtering mode when the target required torque and the current torque are both driving torques or braking torques, the target required torque is greater than the current torque, and a difference value between the target required torque and the current torque is greater than or equal to a first preset value.
3. The torque filtering method according to claim 1, wherein the step of determining that the torque change rate of the target filtering mode is a target torque change rate in case that the target filtering mode is a same-direction reduction filtering mode comprises:
and determining that the target torque change rate of the same-direction reduction filtering mode is a second change rate, wherein the target filtering mode is determined to be the same-direction reduction filtering mode under the condition that the target required torque and the current torque are both driving torques or braking torques, the target required torque is smaller than the current torque, and the difference value between the target required torque and the current torque is larger than or equal to the first preset value.
4. The torque filtering method according to claim 1, characterized in that;
under the condition that the current torque is equal to 0, the value of the fifth change rate is a preset lowest change rate;
under the condition that the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely reduced relative to the target required torque, the value of the third change rate is equal to the value of the second change rate;
and under the condition that the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely increased relative to the target required torque, the value of the fourth change rate is equal to the value of the first change rate.
5. The torque filtering method according to claim 1, wherein the step of determining the target required torque includes:
determining a demand torque set according to the current driving condition of the vehicle;
determining a target required torque from the set of required torques in accordance with at least one of a current driving mode and a current energy recovery level of the vehicle.
6. The torque filtering method according to any one of claims 1 to 5, wherein the driving mode of the vehicle includes: the method comprises an economy driving mode and a sport driving mode, wherein the absolute value of the target torque change rate related to the sport driving mode in the same filtering mode is larger than the absolute value of the target torque change rate related to the economy driving mode.
7. A torque filter device for a vehicle, the torque filter device comprising:
a first determination module for determining a target required torque;
a second determination module for determining a target torque change rate based on at least one of a current driving mode and a current energy recovery level of the vehicle, and a difference between the target demand torque and a current torque of the vehicle;
the filtering module is used for filtering the target required torque according to the target torque change rate and taking the output torque after filtering as the target torque of the vehicle;
the second determining module includes:
a first determining unit, configured to determine a target filtering mode according to a difference between the target required torque and the current torque, where the target filtering mode includes at least two candidate torque change rates;
a second determining unit, configured to determine a torque change rate of the target filtering mode as a target torque change rate according to at least one of the current driving mode and the current energy recovery level, where the at least two candidate torque change rates include the target torque change rate;
in a case that the target filtering mode is a zero-crossing torque filtering mode, the second determining unit is specifically configured to:
if the current torque is reversely reduced relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a third change rate, wherein the reverse reduction indicates that the current torque and the target required torque are respectively driving torque and braking torque, and the difference between the absolute value of the current torque and zero is greater than or equal to a first preset value;
if the current torque is reversely increased relative to the target required torque, determining that the target torque change rate of the zero-crossing torque filtering mode is a fourth change rate, wherein the reverse increase indicates that the current torque and the target required torque are both driving torques or braking torques, and the difference between the absolute value of the current torque and zero is greater than or equal to the first preset value;
if the current torque crosses zero, determining that the target torque change rate of the zero-crossing torque filtering mode is a fifth change rate, wherein the absolute value of the fifth change rate is in positive correlation with the absolute value of the current torque, and the zero crossing indicates that the difference value between the absolute value of the current torque and zero is smaller than a first preset value;
wherein the target filtering mode is determined to be the zero-cross torque filtering mode when the target required torque is a driving torque and the current torque is a braking torque, or when the target required torque is a braking torque and the current torque is a driving torque.
8. The torque filter device according to claim 7, wherein, in case the target filter mode is a co-directional increase filter mode, the second determination unit is specifically configured to:
and determining a target torque change rate of the increase-in-the-same-direction filtering mode as a first change rate, wherein the target filtering mode is determined as the increase-in-the-same-direction filtering mode when the target required torque and the current torque are both driving torques or braking torques, the target required torque is greater than the current torque, and a difference value between the target required torque and the current torque is greater than or equal to a first preset value.
9. The torque filter device according to claim 7, wherein, in case the target filter mode is a homodromous reduction filter mode, the second determination unit is specifically configured to:
and determining that the target torque change rate of the same-direction reduction filtering mode is a second change rate, wherein the target filtering mode is determined to be the same-direction reduction filtering mode under the condition that the target required torque and the current torque are both driving torques or braking torques, the target required torque is smaller than the current torque, and the difference value between the target required torque and the current torque is larger than or equal to the first preset value.
10. The torque filtering device according to claim 7, wherein;
under the condition that the current torque is equal to 0, the value of the fifth change rate is a preset lowest change rate;
under the condition that the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely reduced relative to the target required torque, the value of the third change rate is equal to the value of the second change rate;
and under the condition that the absolute value of the current torque is greater than or equal to the first preset value, if the current torque is reversely increased relative to the target required torque, the value of the fourth change rate is equal to the value of the first change rate.
11. The torque filtering device according to claim 7, wherein the first determining module comprises:
the third determining unit is used for determining a required torque set according to the current driving working condition of the vehicle;
a fourth determination unit configured to determine a target required torque from the required torque set according to at least one of a current driving mode and a current energy recovery level of the vehicle.
12. The torque filter arrangement according to any one of claims 7 to 11, wherein the driving mode of the vehicle comprises: the method comprises an economy driving mode and a sport driving mode, wherein the absolute value of the target torque change rate related to the sport driving mode in the same filtering mode is larger than the absolute value of the target torque change rate related to the economy driving mode.
13. A torque filter arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the torque filter method as claimed in any one of claims 1 to 6 when executing the computer program.
14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the torque filtering method according to any one of claims 1 to 6.
15. A vehicle characterized by comprising a torque filter arrangement according to any one of claims 7 to 11.
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