CN113022328A - Vehicle torque control method and device and vehicle - Google Patents
Vehicle torque control method and device and vehicle Download PDFInfo
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- CN113022328A CN113022328A CN202110208222.2A CN202110208222A CN113022328A CN 113022328 A CN113022328 A CN 113022328A CN 202110208222 A CN202110208222 A CN 202110208222A CN 113022328 A CN113022328 A CN 113022328A
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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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
- 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
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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Abstract
The application discloses a torque control method and device of a vehicle and the vehicle, wherein the method comprises the following steps: when a vehicle trigger torque compensation condition is detected, calculating a third torque limit value of a rear axle driving motor according to a first torque limit value of an engine and a second torque limit value of a front axle driving motor, and calculating torque compensation values of the front axle driving motor and the rear axle driving motor respectively according to the second torque limit value and the third torque limit value; and generating target torques of the front axle driving motor and the rear axle driving motor by combining the torque compensation values of the front axle driving motor and the rear axle driving motor respectively with the initial torques of the front axle driving motor and the rear axle driving motor obtained by the actual required torque and the axle distribution proportion of the vehicle so as to finish torque compensation. Therefore, the technical problems that once the two-wheel drive function is reserved when the automobile is converted into the four-wheel drive automobile, the accuracy of torque distribution cannot be guaranteed, the controllability of the automobile is reduced, the driving experience is reduced and the like are solved.
Description
Technical Field
The application relates to the technical field of automobile four-wheel drive control, in particular to a torque control method and device of a vehicle and the vehicle.
Background
At present, two-wheel drive automobiles are mainly used as new energy automobiles in the market, but the driving performance, the dynamic performance and the difficulty removing capacity of the two-wheel drive automobiles are far weaker than those of four-wheel drive automobiles. However, the control technology of the four-wheel drive automobile is complex, and the expansion of the two-wheel drive technology into the four-wheel drive technology has great technical difficulty, which seriously hinders the popularization of the new energy four-wheel drive automobile.
In the related art, as shown in fig. 1, a general configuration of control software of a two-drive vehicle such as a hybrid vehicle, a pure electric vehicle, a fuel cell electric vehicle, a hydrogen engine vehicle and another new energy vehicle is shown in the figure, and the control software is composed of modules such as torque analysis, torque distribution, dynamic coordination, torque limitation, power on and power off, thermal management and the like.
Content of application
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a torque control method for a vehicle, which can accurately compensate the front and rear axle torques of a four-wheel drive vehicle, and complete the calculation of the final torque of the four-wheel drive vehicle.
A second object of the present invention is to provide a torque control device for a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a torque control method for a vehicle, including:
detecting whether a vehicle triggers a torque compensation condition;
when the vehicle trigger torque compensation condition is detected, calculating a third torque limit value of a rear axle driving motor according to a first torque limit value of an engine and a second torque limit value of a front axle driving motor, and calculating torque compensation values of the front axle driving motor and the rear axle driving motor respectively according to the second torque limit value and the third torque limit value; and
and generating target torques of the front axle driving motor and the rear axle driving motor by combining the torque compensation values of the front axle driving motor and the rear axle driving motor respectively with the initial torques of the front axle driving motor and the rear axle driving motor obtained by the actual required torque and the inter-axle distribution proportion of the vehicle so as to finish torque compensation.
Optionally, the generating the target torques of the front axle drive motor and the rear axle drive motor by combining the torque compensation values of the front axle drive motor and the rear axle drive motor with the initial torques of the front axle drive motor and the rear axle drive motor obtained by the actual required torque and the inter-axle distribution ratio of the vehicle includes:
calculating a fourth torque limit value of the power assembly according to the current remaining battery power of the vehicle and the capacity parameter of the vehicle power assembly;
comparing the actual accelerator opening degree and the actual vehicle speed of the vehicle to calculate the actual required torque of the vehicle according to the smaller value of the actual accelerator opening degree and the actual vehicle speed;
and calculating an inter-shaft torque distribution proportion according to a preset actual value of a torque distribution influence factor, and respectively calculating initial torques of the front axle driving motor and the rear axle driving motor according to the actual required torque and the inter-shaft torque distribution proportion.
Optionally, said calculating torque compensation values for said front axle drive motor and said rear axle drive motor from said second torque limit and said third torque limit, respectively, comprises:
obtaining wheel end torque according to equivalence of the first torque limit value, the second torque limit value and the third torque limit value;
determining the requested torques of the front axle driving motor and the rear axle driving motor according to the comparison result of the sum of the first torque limit and the second torque limit and the initial torque of the front axle driving motor, the comparison result of the third torque limit and the initial torque of the rear axle driving motor and the wheel end torque so as to calculate the torque compensation value of the front axle driving motor and the rear axle driving motor.
Optionally, the generating the target torques of the front axle drive motor and the rear axle drive motor by combining the torque compensation values of the front axle drive motor and the rear axle drive motor with the initial torques of the front axle drive motor and the rear axle drive motor obtained by the actual required torque and the inter-axle distribution ratio of the vehicle includes:
detecting a current process of the vehicle power assembly;
when the current process is detected to be a steady-state process, taking the requested torque of the engine and the requested torques of the front axle driving motor and the rear axle driving motor as the target torques of the vehicle power assembly so as to send the requested torques to the engine, the front axle driving motor and/or the rear axle driving motor of the vehicle power assembly;
when the current process is detected to be a dynamic process and the front axle driving motor shifts gears, the target torque of the front axle driving motor is obtained by the sum of the request torque of the engine and the request torque of the front axle driving motor and the difference between the sum and the gear shifting loss power value of the front axle driving motor, and the target torque of the rear axle driving motor is obtained by the product of the request torque of the rear axle driving motor, the gear shifting loss power value of the front axle driving motor and a first compensation coefficient;
when the current process is detected to be the dynamic process and the rear axle driving motor shifts gears, the target torque of the rear axle driving motor is obtained by the difference between the requested torque of the rear axle driving motor and the gear shifting loss power value of the rear axle driving motor, and the target torque of the front axle driving motor is obtained by the product of the requested torque of the engine, the requested torque of the front axle driving motor, the gear shifting loss power value of the front axle driving motor and the second compensation coefficient.
Optionally, the generating the target torques of the front axle drive motor and the rear axle drive motor by combining the torque compensation values of the front axle drive motor and the rear axle drive motor with the initial torques of the front axle drive motor and the rear axle drive motor obtained by the actual required torque and the inter-axle distribution ratio of the vehicle further comprises:
detecting whether the engine enters a starting working condition or not;
and if the engine enters the starting working condition, generating a target torque of the front axle driving motor by using the requested torque of the front axle driving motor, and generating the target torque of the rear axle driving motor by using the sum of the requested torque of the rear axle driving motor and the product of the requested torque of the engine and a third coefficient.
In order to achieve the above object, an embodiment of a second aspect of the present application provides a torque control device for a vehicle, including:
the detection module is used for detecting whether the vehicle triggers a torque compensation condition;
the calculation module is used for calculating a third torque limit value of a rear axle driving motor according to a first torque limit value of an engine and a second torque limit value of a front axle driving motor when the vehicle triggering torque compensation condition is detected, and calculating torque compensation values of the front axle driving motor and the rear axle driving motor respectively according to the second torque limit value and the third torque limit value; and
and the generating module is used for generating target torques of the front axle driving motor and the rear axle driving motor by combining the torque compensation values of the front axle driving motor and the rear axle driving motor with initial torques of the front axle driving motor and the rear axle driving motor obtained by the actual required torque and the inter-axle distribution proportion of the vehicle so as to finish torque compensation.
Optionally, the generating module includes:
the first calculation unit is used for calculating a fourth torque limit value of the power assembly according to the current residual battery capacity of the vehicle and the capacity parameter of the vehicle power assembly;
the second calculation unit is used for comparing the actual accelerator opening degree and the actual vehicle speed of the vehicle so as to calculate the actual required torque of the vehicle according to the smaller value of the actual accelerator opening degree and the actual vehicle speed;
and the third calculating unit is used for calculating the torque distribution proportion between the shafts according to the actual value of the preset torque distribution influence factor so as to respectively calculate the initial torques of the front axle driving motor and the rear axle driving motor according to the actual required torque and the torque distribution proportion between the shafts.
Optionally, the calculation module includes:
the first acquisition unit is used for obtaining wheel end torque according to the equivalence of the first torque limit value, the second torque limit value and the third torque limit value;
a fourth calculating unit, configured to determine the requested torques of the front axle driving motor and the rear axle driving motor according to a comparison result of a sum of the first torque limit and the second torque limit and an initial torque of the front axle driving motor, a comparison result of the third torque limit and an initial torque of the rear axle driving motor, and the wheel end torque, so as to calculate torque compensation values of the front axle driving motor and the rear axle driving motor.
Optionally, the generating module includes:
a detection unit for detecting a current process of the vehicle power component;
the sending unit is used for sending the requested torque of the engine and the requested torques of the front axle driving motor and the rear axle driving motor as the target torques of the vehicle power assembly to the engine, the front axle driving motor and/or the rear axle driving motor of the vehicle power assembly when the current process is detected to be a steady-state process;
a second obtaining unit, configured to, when it is detected that the current process is a dynamic process and the front axle drive motor shifts gears, obtain a target torque of the front axle drive motor from a difference between a sum of a requested torque of the engine and a requested torque of the front axle drive motor and a gear shift loss power value of the front axle drive motor, and obtain a target torque of the rear axle drive motor from a product of the requested torque of the rear axle drive motor and the gear shift loss power value of the front axle drive motor and a first compensation coefficient;
and a third obtaining unit, configured to, when it is detected that the current process is the dynamic process and the rear axle drive motor shifts gears, obtain a target torque of the rear axle drive motor from a difference between a requested torque of the rear axle drive motor and a gear shift loss power value of the rear axle drive motor, and obtain a target torque of the front axle drive motor from a product of the requested torque of the engine, the requested torque of the front axle drive motor, the gear shift loss power value of the front axle drive motor, and the second compensation coefficient.
Optionally, the generating module further includes:
the judging unit is used for detecting whether the engine enters a starting working condition or not;
and the generating unit is used for generating a target torque of the front axle driving motor from the requested torque of the front axle driving motor and generating the target torque of the rear axle driving motor from the sum of the requested torque of the rear axle driving motor and the product of the requested torque of the engine and a third coefficient if the engine enters the starting working condition.
According to the torque control device of the vehicle, firstly, the torque limit value of the rear axle is calculated, secondly, the torque compensation values of the front axle and the rear axle are calculated according to the torque limit value of the rear axle, and the final torques of the front axle and the rear axle are obtained, so that the torque distribution of the vehicle is adjusted on the basis of keeping the two-wheel drive function, the final torques are obtained through compensation, the accuracy of the torque distribution is effectively guaranteed, the controllability of the vehicle is improved, and the driving experience is improved. Therefore, the technical problems that once the two-wheel drive function is reserved when the automobile is converted into the four-wheel drive automobile, the accuracy of torque distribution cannot be guaranteed, the controllability of the automobile is reduced, the driving experience is reduced and the like are solved.
In order to achieve the above object, an embodiment of a third aspect of the present application provides a vehicle including a torque control device of the vehicle as described in the above embodiment.
According to the vehicle of this application embodiment, at first calculate the moment of torsion limit value of rear axle, secondly calculate the moment of torsion compensation value of front axle and rear axle according to the moment of torsion limit value of rear axle, obtain the final moment of torsion of front axle and rear axle to on keeping two functions of driving, adjusting vehicle torque distribution, obtain final moment of torsion through the compensation, effectively guarantee the accuracy of moment of torsion distribution, improve the controllability of vehicle, promote to drive and take experience. Therefore, the technical problems that once the two-wheel drive function is reserved when the automobile is converted into the four-wheel drive automobile, the accuracy of torque distribution cannot be guaranteed, the controllability of the automobile is reduced, the driving experience is reduced and the like are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of software modules of a two-wheel drive vehicle according to the related art;
FIG. 2 is a flow chart of a method of torque control of a vehicle according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a torque control method of a vehicle according to one embodiment of the present application;
FIG. 4 is a schematic illustration of a front and rear axle torque distribution for a four-wheel drive vehicle according to an embodiment of the present application;
FIG. 5 is a schematic illustration of a torque distribution for a four-wheel drive vehicle according to an embodiment of the present application;
fig. 6 is an example diagram of a torque control apparatus of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a torque control method and device for a vehicle and the vehicle according to an embodiment of the present application with reference to the drawings. In order to solve the problems that once a two-drive function is reserved when a four-drive vehicle is remanufactured, the accuracy of torque distribution cannot be guaranteed, the controllability of the vehicle is reduced, and the driving experience is reduced in the background art, the torque control method of the vehicle is provided. Therefore, the technical problems that once the two-wheel drive function is reserved when the automobile is converted into the four-wheel drive automobile, the accuracy of torque distribution cannot be guaranteed, the controllability of the automobile is reduced, the driving experience is reduced and the like are solved.
Specifically, fig. 2 is a schematic flowchart of a torque control method of a vehicle according to an embodiment of the present disclosure.
As shown in fig. 2, the torque control method of the vehicle includes the steps of:
in step S201, it is detected whether the vehicle triggers a torque compensation condition.
In step S202, when the vehicle trigger torque compensation condition is detected, a third torque limit of the rear axle drive motor is calculated according to the first torque limit of the engine and the second torque limit of the front axle drive motor, and torque compensation values of the front axle drive motor and the rear axle drive motor are calculated respectively according to the second torque limit and the third torque limit.
It can be understood that, in order to solve the problem of modifying a new energy two-drive vehicle to a new energy four-drive vehicle and the problem of controlling the new energy four-drive vehicle, the embodiment of the application can realize the calculation of the torque distribution proportion of the front axle and the rear axle and the torque compensation of the front axle and the rear axle on the basis of the software configuration of the two-drive vehicle, so as to complete the calculation of the initial value of the torque of the parts such as the engine, the front axle driving motor, the rear axle driving motor and the like and the calculation of the final torque after the torque compensation of the front axle and the rear axle.
Specifically, as shown in fig. 3, the embodiment of the present application may determine the torque compensation of the front axle drive motor and the rear axle drive motor according to the first torque limit value of the engine fed back in the above steps and the distribution compensation of the front axle drive motor and the rear axle drive motor, so as to calculate the torque compensation value of the front axle drive motor and the rear axle drive motor. Specifically, as one possible implementation, shown in fig. 3-5: according to the embodiment of the application, the corresponding power modes (an engine direct drive mode, a pure electric mode, a series drive mode, a timely four-wheel drive mode, an energy recovery mode and the like) can be activated according to the current torque request, the SOC (State of Charge), the vehicle speed, the accelerator opening and the driving mode, and after the corresponding power modes are activated, the first torque limit value (trial error value) Trq _ Src1_ Lim of the engine and the second torque limit value (trial error value) Trq _ Src2_ Lim of the front axle driving motor are calculated on the basis of the torque limit values of the original two-wheel drive function; the third torque limit (trial and error) Trq _ Src3_ Lim for the rear axle drive motor is synchronously calculated.
Further, in some embodiments, calculating the torque compensation values for the front axle drive motor and the rear axle drive motor from the second torque limit and the third torque limit, respectively, comprises: obtaining wheel end torque according to equivalence of the first torque limit value, the second torque limit value and the third torque limit value; and determining the request torques of the front axle driving motor and the rear axle driving motor according to the comparison result of the sum of the first torque limit value and the second torque limit value and the initial torque of the front axle driving motor, the comparison result of the third torque limit value and the initial torque of the rear axle driving motor and the wheel end torque so as to calculate the torque compensation values of the front axle driving motor and the rear axle driving motor.
Specifically, with reference to fig. 3-5, embodiments of the present application may equivalently process the first torque limit Trq _ Src1_ Lim, the second torque limit Trq _ Src2_ Lim, and the third torque limit Trq _ Src3_ Lim to generate a wheel end torque; and calculates a requested torque Frnt _ Trq _ Req1 of the front axle drive motor and a requested torque real _ Trq _ Req1 of the Rear axle drive motor by comparing the result of the sum of the first torque limit Trq _ Src1_ Lim and the second torque limit Trq _ Src2_ Lim with the initial torque Frnt _ Trq _ Req0 of the front axle drive motor and the result of the comparison of the result of the third torque limit Trq _ Src3_ Lim with the initial torque real _ Trq _ Req0 of the Rear axle drive motor and integrating the wheel end torques.
In step S203, target torques of the front axle drive motor and the rear axle drive motor are generated by combining the torque compensation values of the front axle drive motor and the rear axle drive motor, respectively, with the initial torques of the front axle drive motor and the rear axle drive motor obtained from the actual required torque and the inter-axle distribution ratio of the vehicle to complete the torque compensation.
It will be appreciated that in order to convert a two-drive vehicle to a four-drive vehicle, while reducing the development effort, as shown in FIG. 3, the embodiment of the application adds a trial-and-error torque to compensate and correct the front and rear axle torques based on the software configuration of the two-wheel drive vehicle, the device is responsible for the calculation of the torque distribution proportion of the front axle and the rear axle and the torque compensation of the front axle and the rear axle, and considers the requirement of software platform, on the basis of keeping the two-drive function, the torque distribution function is adjusted, for example, under the series mode and the timely four-wheel drive mode of the vehicle, the calculation of the initial values of the torques of the parts such as the engine, the front axle driving motor, the rear axle driving motor and the like is completed, and the calculated torque is fed back by utilizing the torque distribution function of the two driving plates to distribute the torque of the front and rear shafts, and the torque is used as the basis of the torque compensation of the front and rear shafts, so that the calculation of the final torque after the torque compensation of the front and rear shafts is completed.
Alternatively, in some embodiments, generating the target torques of the front axle drive motor and the rear axle drive motor from the torque compensation values of the front axle drive motor and the rear axle drive motor, respectively, in combination with the initial torques of the front axle drive motor and the rear axle drive motor derived from the actual required torque and the inter-axle distribution ratio of the vehicle, comprises: calculating a fourth torque limit value of the vehicle power assembly according to the current remaining battery power of the vehicle and the capability parameter of the vehicle power assembly; comparing the actual accelerator opening degree and the actual speed of the vehicle to calculate the actual required torque of the vehicle according to the smaller value of the actual accelerator opening degree and the actual speed; and calculating the torque distribution proportion between the shafts according to the actual values of the preset torque distribution influence factors, and respectively calculating the initial torques of the front axle driving motor and the rear axle driving motor according to the actual required torque and the torque distribution proportion between the shafts.
Specifically, as one possible implementation, shown in fig. 3-5: according to the embodiment of the application, the calculation of the torque limit value of the vehicle power assembly is completed according to the residual capacity of the current vehicle battery and the capability parameters of parts and components of the vehicle power assembly such as an engine, a front motor, a rear motor and the like, so that the calculation of torque analysis, front and rear axle torque distribution, dynamic coordination and the like is performed according to the torque limit value; checking MAP according to the accelerator opening and the vehicle speed of a driver, and calculating the actual required torque Tot _ Trq _ Req of the vehicle after the MAP and the torque limit absolute value are reduced; and calculating an inter-axle torque distribution ratio according to factors such as the steering wheel angle rate, the steering wheel angle, the gradient, the vehicle speed, the electric quantity and the driving mode, and calculating an initial torque Frnt _ Trq _ Req0 of the front axle driving motor and an initial torque Rear _ Trq _ Req0 of the Rear axle driving motor according to the actual required torque Tot _ Trq _ Req of the vehicle and the calculated inter-axle torque distribution ratio.
Alternatively, in some embodiments, generating the target torques of the front axle drive motor and the rear axle drive motor from the torque compensation values of the front axle drive motor and the rear axle drive motor, respectively, in combination with the initial torques of the front axle drive motor and the rear axle drive motor derived from the actual required torque and the inter-axle distribution ratio of the vehicle, comprises: detecting a current process of the vehicle power component; when the current process is detected to be a steady-state process, the request torque of the engine and the request torques of the front axle driving motor and the rear axle driving motor are used as target torques of the vehicle power assembly to be sent to the engine, the front axle driving motor and/or the rear axle driving motor of the vehicle power assembly; when the current process is detected to be a dynamic process and the front axle driving motor shifts gears, the target torque of the front axle driving motor is obtained by the sum of the request torque of the engine and the request torque of the front axle driving motor and the difference between the sum and the gear shifting loss power value of the front axle driving motor, and the target torque of the rear axle driving motor is obtained by the product of the request torque of the rear axle driving motor and the gear shifting loss power value of the front axle driving motor and a first compensation coefficient; when the current process is detected to be a dynamic process and the rear axle driving motor shifts gears, the target torque of the rear axle driving motor is obtained by the difference between the requested torque of the rear axle driving motor and the gear shifting loss power value of the rear axle driving motor, and the target torque of the front axle driving motor is obtained by the product of the requested torque of the engine, the requested torque of the front axle driving motor, the gear shifting loss power value of the front axle driving motor and the second compensation coefficient.
It can be understood that the embodiment of the application can calculate the requested torque Trq _ Src1 of the engine and the requested torque Trq _ Src2 of the front axle driving motor based on the torque requests of the original two-wheel drive function; the requested torque Trq _ Src3 of the rear axle drive motor is synchronously calculated.
Specifically, as shown in fig. 3 to fig. 5, it can be understood from the description of other related embodiments that the embodiment of the present application may determine whether the entire vehicle needs to enter a dynamic process (e.g., engine start-stop and shift operation) according to the actual state of the components and the current power mode request, and if the entire vehicle is in a steady state process, directly use the calculated requested torque Trq _ Src1 of the engine, the requested torque Trq _ Src2 of the front axle drive motor, and the requested torque Trq _ Src3 of the rear axle drive motor as the target torques of the vehicle power components, and send the target torques to the corresponding components (e.g., the engine, the front axle drive motor, the rear axle drive motor, etc.) after filtering;
if the current process is a dynamic process, the torque compensation problem of front and Rear axle shifting is involved in the process, the Rear axle is prohibited from shifting when the front axle is shifted, the target torque of the front axle driving motor is (Trq _ Src1+ Trq _ Src2-Trq _ Loss _ Frnt), the power Trq _ Loss _ Frnt lost along with the front axle shifting process needs to be multiplied by a certain coefficient k to be superposed on the Rear axle, the target torque of the Rear axle driving motor is equal to (Trq _ Src3+ k _ Trq _ Loss _ Frnt), similarly, the front axle is prohibited from shifting when the Rear axle is shifted, the target torque of the Rear axle driving motor is (Trq _ Src3-Trq _ Loss _ Rear), the power Trq _ Loss _ Rear lost along with the Rear axle shifting process needs to be multiplied by a certain coefficient k to be superposed on the front axle, and the target torque of the front axle driving motor is equal to (Trq _ Src 1-Trq _ Loss _ Rear + Trq _ Rear) when the Rear axle shifting process is equal to (Trq _ Src2+ Trq _ Loss _ Frnt).
Optionally, in some embodiments, the generating the target torques of the front axle drive motor and the rear axle drive motor from the torque compensation values of the front axle drive motor and the rear axle drive motor respectively in combination with the initial torques of the front axle drive motor and the rear axle drive motor obtained from the actual required torque and the inter-axle distribution ratio of the vehicle further comprises: detecting whether the engine enters a starting working condition or not; and if the engine enters a starting working condition, generating a target torque of the front axle driving motor by using the requested torque of the front axle driving motor, and generating the target torque of the rear axle driving motor by using the sum of the requested torque of the rear axle driving motor and the product of the requested torque of the engine and a third coefficient.
Specifically, as can be understood from the description of other related embodiments in conjunction with fig. 3-5, if the engine start is involved, the target torque of the front axle driving motor is equal to Trq _ Src2, and the missing partial torque is multiplied by a coefficient i and added to the rear axle, because the engine cannot provide torque during the engine start, and the target torque of the rear axle driving motor is equal to (Trq _ Src3+ i × Trq _ Src 1).
In summary, the vehicle power components (such as the engine, the front axle driving motor, the rear axle driving motor, etc.) complete corresponding actions after receiving the information such as the target torque and the like sent by the vehicle control unit, and send the information such as the torque, the rotating speed, the temperature, the state and the like of the vehicle power components to the vehicle control unit, so as to complete the closed-loop control of the four-wheel drive vehicle.
The setting value such as the compensation coefficient may be set by a person skilled in the art according to actual circumstances, and is not particularly limited herein.
In order to enable those skilled in the art to further understand the torque control method of the vehicle according to the embodiment of the present application, the torque control of the vehicle according to the embodiment of the present application is schematically described below with reference to the embodiment.
As will be understood by those skilled in the art in conjunction with fig. 3 to 5, the torque control method of the vehicular vehicle according to the embodiment of the present invention includes:
step S1: and respectively reducing the absolute values of the maximum and minimum torques of each vehicle power assembly to obtain the maximum and minimum available torques of parts such as the engine, the front axle driving motor, the rear axle driving motor and the like for calculating torque analysis, front and rear axle torque distribution, dynamic coordination and the like.
Step S2: and checking the MAP according to the driving mode selected by the driver and in combination with the accelerator opening and the vehicle speed to find out the corresponding driver required torque, selecting the response intervention torque or the driver required torque according to the current torque intervention condition, reducing the absolute value of the torque limit value in the step S1, filtering the absolute value, and taking the result as the actual required torque Tot _ Trq _ Req of the vehicle.
Step S3: the method comprises the steps that corresponding front axle and rear axle proportion MAP is selected according to different driving modes and different vehicle speeds, and correction of the axle torque distribution proportion is completed through factors such as steering wheel turning rate, steering wheel turning angle, gradient and vehicle speed, wherein in order to avoid electric quantity shortage, the front axle and rear axle proportion need to be additionally adjusted when the electric quantity is low, and the risk that the electric quantity shortage is increased due to the fact that a rear motor works at the moment is avoided as much as possible.
Step S4: the initial torque of the Rear axle drive motor, real _ Trq _ Req0, is obtained from the product of the actual required torque of the vehicle, Tot _ Trq _ Req, and the inter-axle distribution ratio calculated in step 3, and the initial torque of the front axle drive motor, Frnt _ Trq _ Req0, is obtained from the difference between the total required torque and the Rear axle drive motor torque (Tot _ Trq _ Req-real _ Trq _ Req 0).
Step S5: activating corresponding power modes (such as an engine direct-drive mode, a pure electric mode, a series-connection drive mode, a timely four-wheel-drive mode, an energy recovery mode and the like) according to a current torque request, SOC, a vehicle speed, an accelerator opening and a driving mode, preferentially using the pure electric mode when the vehicle speed does not exceed the maximum allowable vehicle speed in the pure electric mode and the electric quantity is high or a driver presses an EV mode button, preferentially using the engine direct-drive mode when the vehicle speed is high and the required torque after front axle compensation is not greater than the maximum available torque of the engine, preferentially using the series-connection power generation mode when the vehicle speed is low and the electric quantity is low, entering the energy recovery mode when the driver releases the accelerator to decelerate or steps on the brake, and entering the timely four-wheel-drive mode under other conditions, and dynamically controlling the combination of a plurality of power components (such as the engine, the front motor, the front axle, the vehicle speed and the, The combination of an engine + a rear motor, a front motor + a rear motor, an engine + a front motor + a rear motor and the like); after the corresponding power mode is activated, calculating a first torque limit value (trial error value) Trq _ Src1_ Lim of the engine and a second torque limit value (trial error value) Trq _ Src2_ Lim of the front axle driving motor based on the torque limit of the original two-wheel drive function; synchronously according to the calculated third torque limit value (trial error value) Trq _ Src3_ Lim of the rear axle driving motor; in the calculation, it is necessary to consider the torque limits of the respective power components, and therefore Trq _ Src1_ Lim, Trq _ Src2_ Lim, and Trq _ Src3_ Lim are the results obtained when the absolute values of the calculated torques and the engine maximum minimum available torque, the front motor maximum minimum available torque, and the rear motor maximum minimum available torque are reduced, and at the same time, the equivalent limit torque in which the difference between the battery maximum allowable discharge power and the high-voltage accessory discharge power is reduced is also taken as the limit value of the sum of the front and rear axle drive motor drive torques, and the equivalent limit torque in which the absolute value of the battery maximum allowable charge power and the sum of the high-voltage accessory discharge power is also taken as the limit value of the sum of the front and rear axle drive motor charge torques, and the absolute values of these limits are reduced.
Step S6: trq _ Src1_ Lim, Trq _ Src2_ Lim, Trq _ Src3_ Lim are processed into wheel-end torque by multiplying the speed ratio of the corresponding component, and in addition, the maximum minimum available torque and the rotation speed of the engine, the maximum minimum available torque and the rotation speed of the front motor, the maximum minimum available torque and the rotation speed of the rear axle drive motor, the power of the high-voltage accessories DCDC/PTC/EAS/DCAC and the like, and the maximum allowable charge-discharge power of the high-voltage battery also need to be converted into wheel-end equivalent torque in the module, so as to facilitate the operation of the whole inter-axle torque distribution module.
Step S7: setting a parameter t, the maximum torque error allowed by the front axle can be e _ Frnt, the maximum torque error allowed by the Rear axle can be e _ reader,
if Frnt _ Trq _ Req0-Trq _ Src1_ Lim-Trq _ Src2_ Lim < e _ Frnt, and
Rear_Trq_Req0-Trq_Src3_Lim<e_Rear，
t is 0, which represents that the front and rear axle initial torque calculated in step S4 can be output as the requested torque of the front and rear axle driving motors after being processed;
if Frnt _ Trq _ Req0-Trq _ Src1_ Lim-Trq _ Src2_ Lim < e _ Frnt, and
Rear_Trq_Req0-Trq_Src3_Lim>e_Rear，
if t is 1, it represents that the front axle initial torque calculated in step 4 has no problem, and the rear axle initial torque is limited, in order to ensure consistency of the accelerator pedal and the power demand, the embodiment of the present application may superimpose a part of the torque limited by the rear axle to the front axle output, at this time, the requested torque of the front axle driving motor is equal to the sum of the processed front axle initial torque and the torque of the limited part of the rear axle, and the requested torque of the rear axle driving motor is equal to the processed rear axle trial-and-error torque;
if Frnt _ Trq _ Req0-Trq _ Src1_ Lim-Trq _ Src2_ Lim > e _ F, and
Rear_Trq_Req0-Trq_Src3_Lim<e_Rear，
when t is 2, it represents that there is no problem in the rear axle initial torque calculated in step S4, the front axle initial torque is limited, and in order to ensure consistency between the accelerator pedal and the power demand, the embodiment of the present application may superimpose the front axle limited partial torque on the rear axle output, where the request torque of the front axle drive motor is equal to the processed front axle trial-and-error torque, and the request torque of the rear axle drive motor is equal to the sum of the processed rear axle initial torque and the front axle limited partial torque;
if Frnt _ Trq _ Req0-Trq _ Src1_ Lim-Trq _ Src2_ Lim > e _ Frnt, and
Rear_Trq_Req0-Trq_Src3_Lim>e_Rear，
if t is 3, it represents that the initial torques of the front axle and the rear axle calculated in step S4 are both limited, and in order to ensure the consistency and safety of the accelerator pedal and the power demand, the embodiment of the present application may use the limited torque as the requested torque, so that the requested torque of the front axle driving motor is equal to the processed front axle trial-and-error torque, and the requested torque of the rear axle driving motor is equal to the processed rear axle trial-and-error torque; the requested torque of the front axle driving motor is Frnt _ Trq _ Req1, the requested torque of the front axle driving motor is real _ Trq _ Req1, and the two torques are values after front and Rear axle torque compensation;
it should be noted that the term "torque after processing" in the above-mentioned embodiment means that the absolute values of the calculated torque and the equivalent wheel end torque of the maximum minimum available torque of the engine, the equivalent wheel end torque of the maximum minimum available torque of the front axle driving motor, and the equivalent wheel end torque of the maximum minimum available torque of the rear axle driving motor are respectively set to be small, and the limit torque of the equivalent wheel end, which requires to consider the difference between the maximum allowable discharge power of the high-voltage battery and the discharge power of the high-voltage accessory, is also taken as the limit value of the sum of the driving torques of the front and rear axle driving motors, and the limit torque of the equivalent wheel end, which is obtained by adding the absolute value of the maximum allowable charge power of the battery and the discharge power of the high-voltage accessory, is also taken as the limit value of the sum of the charging torques of the front and rear axle driving motors.
Step S8: calculating a requested torque Trq _ Src1 of the engine and a requested torque Trq _ Src2 of the front axle driving motor based on the torque requests of the original two-wheel drive function; synchronously calculating the requested torque Trq _ Src3 of the rear axle driving motor; in the calculation process, the torque limits of each part need to be considered, so that Trq _ Src1, Trq _ Src2 and Trq _ Src3 are the results obtained after the absolute values of the calculated torques and the maximum and minimum available torques of the engine, the maximum and minimum available torques of the front motor and the rear motor are respectively reduced, and the equivalent limit torque of the difference between the maximum allowable discharge power of the battery and the discharge power of the high-voltage accessories needs to be considered is also taken as the limit value of the sum of the driving torques of the front and rear axle driving motors, and the equivalent limit torque of the sum of the absolute value of the maximum allowable charge power of the battery and the discharge power of the high-voltage accessories is also taken as the limit value of the sum of the charging torques of the front and rear axle driving motors, and the absolute values of the limits are reduced; in addition, the four-quadrant problem of the motor torque when the vehicle moves forwards and backwards in the D gear and the R gear needs to be considered when the indicated torque is calculated.
Step S9: judging whether the whole vehicle needs to enter a dynamic process (starting and stopping of an engine and gear shifting operation) according to the actual state of a vehicle power assembly and the current power mode request, and if the whole vehicle is in a steady state process, directly taking the indication torques Trq _ Src1, Trq _ Src2 and Trq _ Src3 calculated in the step S8 as target torques of parts, filtering the target torques and sending the target torques to corresponding parts (the engine, a front axle driving motor, a rear axle driving motor and the like); if the process is dynamic, the torque compensation problem of front and Rear axle shifting is involved in the process, the Rear axle is prohibited from shifting when the front axle is shifted, the front axle target torque is (Trq _ Src1+ Trq _ Src2-Trq _ Loss _ Frnt), the power Trq _ Loss _ Frnt lost along with the front axle shifting process needs to be multiplied by a certain coefficient k to be superposed on the Rear axle, the Rear axle target torque is (Trq _ Src3+ k Trq _ Loss _ Frnt), similarly, the front axle is prohibited from shifting when the Rear axle is shifted, the Rear axle target torque is (Trq _ Src3-Trq _ Loss _ Rear), the power Trq _ Loss _ Rear lost along with the Rear axle shifting process needs to be multiplied by a certain coefficient k to be superposed on the front axle, the front axle target torque is equal to (Trq _ Src1+ Trq _ Src2+ Trq _ Loss _ Rear), the engine torque cannot be provided due to the engine starting process, therefore, the front axle target torque is equal to Trq _ Src2, the missing part of torque is multiplied by a coefficient i and is superposed on the rear axle, the rear axle driving motor target torque is equal to (Trq _ Src3+ i Trq _ Src1), in conclusion, the engine start-stop and the gear shift process are prohibited to occur simultaneously, so that the engine start-stop and the gear shift process are not required to be considered simultaneously, the filtering effect of the target torque in the dynamic process is weakened, and the obvious power interruption is avoided; it should be noted that, because an accelerator pedal is needed in a shift portion of the dynamic coordination module (a current vehicle speed and an accelerator opening are needed as input in a shift MAP), a virtual accelerator pedal algorithm needs to be developed in a targeted manner (taking a front axle as an example, the sum of an initial torque Frnt _ Trq _ Req0 of the front axle and an initial torque real _ Trq _ Req0 of a Rear axle is calculated first, then the sum of the initial torques of the front axle and the Rear axle (Frnt _ Trq _ Req0+ real _ Trq _ Req0) is compared with a torque of the accelerator sequence (0-100%) corresponding to the current vehicle speed, and an accelerator opening corresponding to the minimum torque difference is selected, namely, the virtual accelerator opening of the front axle, and the virtual accelerator opening algorithm of the Rear axle is the same as the front axle)
Step S10: the vehicle power components (such as an engine, a front axle driving motor, a rear axle driving motor and the like) complete corresponding actions after receiving information such as target torque and the like sent by the main controller, and send information such as torque, rotating speed, temperature, state and the like of the vehicle power components to the main controller, so that closed-loop control of the four-wheel drive vehicle is completed.
According to the torque control method of the vehicle, firstly, the torque limit value of the rear axle is calculated, secondly, the torque compensation values of the front axle and the rear axle are calculated according to the torque limit value of the rear axle, and the final torques of the front axle and the rear axle are obtained, so that the torque distribution of the vehicle is adjusted on the basis of keeping the two-wheel drive function, the final torque is obtained through compensation, the accuracy of the torque distribution is effectively guaranteed, the controllability of the vehicle is improved, and the driving experience is improved. Therefore, the technical problems that once the two-wheel drive function is reserved when the automobile is converted into the four-wheel drive automobile, the accuracy of torque distribution cannot be guaranteed, the controllability of the automobile is reduced, the driving experience is reduced and the like are solved.
Next, a torque control device of a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 6 is a block diagram schematically illustrating a torque control apparatus of a vehicle according to an embodiment of the present application.
As shown in fig. 6, the torque control device 10 of the vehicle includes: a detection module 100, a calculation module 200 and a generation module 300.
The detection module 100 is configured to detect whether a vehicle triggers a torque compensation condition;
the calculation module 200 is configured to, when a vehicle trigger torque compensation condition is detected, calculate a third torque limit value of the rear axle drive motor according to the first torque limit value of the engine and the second torque limit value of the front axle drive motor, and calculate torque compensation values of the front axle drive motor and the rear axle drive motor respectively according to the second torque limit value and the third torque limit value; and
the generating module 300 is configured to generate target torques of the front axle driving motor and the rear axle driving motor from torque compensation values of the front axle driving motor and the rear axle driving motor respectively in combination with initial torques of the front axle driving motor and the rear axle driving motor obtained from an actual required torque and an inter-axle distribution ratio of the vehicle, so as to complete torque compensation.
Optionally, in some embodiments, the generating module 300 comprises:
the first calculation unit is used for calculating a fourth torque limit value of the power assembly according to the current residual battery capacity of the vehicle and the capacity parameter of the vehicle power assembly;
the second calculating unit is used for comparing the actual accelerator opening degree and the actual vehicle speed of the vehicle to calculate the actual required torque of the vehicle according to the smaller value of the actual accelerator opening degree and the actual vehicle speed;
and the third calculating unit is used for calculating the torque distribution proportion between the shafts according to the actual values of the preset torque distribution influence factors so as to respectively calculate the initial torques of the front axle driving motor and the rear axle driving motor according to the actual required torque and the torque distribution proportion between the shafts.
Optionally, in some embodiments, the calculation module 200 comprises:
the first acquisition unit is used for obtaining wheel end torque according to equivalence of the first torque limit value, the second torque limit value and the third torque limit value;
and the fourth calculation unit is used for determining the request torques of the front axle driving motor and the rear axle driving motor according to the comparison result of the sum of the first torque limit value and the second torque limit value and the initial torque of the front axle driving motor, the comparison result of the third torque limit value and the initial torque of the rear axle driving motor and the wheel end torque so as to calculate the torque compensation values of the front axle driving motor and the rear axle driving motor.
Optionally, in some embodiments, the generating module 300 comprises:
a detection unit for detecting a current process of the vehicle power component;
the transmission unit is used for taking the requested torque of the engine and the requested torques of the front axle driving motor and the rear axle driving motor as the target torque of the vehicle power assembly when the current process is detected to be a steady-state process, so as to transmit the requested torques to the engine, the front axle driving motor and/or the rear axle driving motor of the vehicle power assembly;
the second obtaining unit is used for obtaining a target torque of the front axle driving motor from the sum of the request torque of the engine and the request torque of the front axle driving motor and the difference between the sum and the gear-shifting loss power value of the front axle driving motor when the current process is detected to be a dynamic process and the front axle driving motor is used for gear shifting, and obtaining the target torque of the rear axle driving motor from the product of the request torque of the rear axle driving motor and the gear-shifting loss power value of the front axle driving motor and the first compensation coefficient;
and the third obtaining unit is used for obtaining the target torque of the rear axle driving motor from the difference between the requested torque of the rear axle driving motor and the gear-shifting loss power value of the rear axle driving motor when the current process is detected to be a dynamic process and the rear axle driving motor is used for gear shifting, and obtaining the target torque of the front axle driving motor from the product of the requested torque of the engine, the requested torque of the front axle driving motor, the gear-shifting loss power value of the front axle driving motor and the second compensation coefficient.
Optionally, in some embodiments, the generating module 300 further comprises:
the judging unit is used for detecting whether the engine enters a starting working condition or not;
and the generating unit is used for generating the target torque of the front axle driving motor by the requested torque of the front axle driving motor and generating the target torque of the rear axle driving motor by the sum of the requested torque of the rear axle driving motor and the product of the requested torque of the engine and the third coefficient if the engine enters the starting working condition.
According to the torque control device of the vehicle provided by the embodiment of the application, the torque limit value of the rear axle is firstly calculated, the torque compensation values of the front axle and the rear axle are secondly calculated according to the torque limit value of the rear axle, and the final torques of the front axle and the rear axle are obtained, so that the torque distribution of the vehicle is adjusted on the basis of keeping the two-wheel drive function, the final torque is obtained through compensation, the accuracy of the torque distribution is effectively guaranteed, the controllability of the vehicle is improved, and the driving experience is improved. Therefore, the technical problems that once the two-wheel drive function is reserved when the automobile is converted into the four-wheel drive automobile, the accuracy of torque distribution cannot be guaranteed, the controllability of the automobile is reduced, the driving experience is reduced and the like are solved.
In addition, the embodiment of the application also provides a vehicle, which comprises the torque control device of the vehicle in the embodiment. This vehicle can firstly calculate the moment of torsion limit value of rear axle, secondly calculates the moment of torsion compensation value of front axle and rear axle according to the moment of torsion limit value of rear axle, obtains the final moment of torsion of front axle and rear axle to on keeping two functions of driving, adjusting vehicle torque distribution, obtain final moment of torsion through the compensation, effectively guarantee the accuracy of moment of torsion distribution, improve the controllability of vehicle, promote to ride and experience. Therefore, the technical problems that once the two-wheel drive function is reserved when the automobile is converted into the four-wheel drive automobile, the accuracy of torque distribution cannot be guaranteed, the controllability of the automobile is reduced, the driving experience is reduced and the like are solved.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
Claims (10)
1. A torque control method of a vehicle, characterized by comprising the steps of:
detecting whether a vehicle triggers a torque compensation condition;
when the vehicle trigger torque compensation condition is detected, calculating a third torque limit value of a rear axle driving motor according to a first torque limit value of an engine and a second torque limit value of a front axle driving motor, and calculating torque compensation values of the front axle driving motor and the rear axle driving motor respectively according to the second torque limit value and the third torque limit value; and
and generating target torques of the front axle driving motor and the rear axle driving motor by combining the torque compensation values of the front axle driving motor and the rear axle driving motor respectively with the initial torques of the front axle driving motor and the rear axle driving motor obtained by the actual required torque and the inter-axle distribution proportion of the vehicle so as to finish torque compensation.
2. The method according to claim 1, wherein the generating of the target torques for the front axle drive motor and the rear axle drive motor from the torque compensation values for the front axle drive motor and the rear axle drive motor, respectively, in combination with the initial torques for the front axle drive motor and the rear axle drive motor derived from the actual required torque and the inter-axle distribution ratio of the vehicle comprises:
calculating a fourth torque limit value of the power assembly according to the current remaining battery power of the vehicle and the capacity parameter of the vehicle power assembly;
comparing the actual accelerator opening degree and the actual vehicle speed of the vehicle to calculate the actual required torque of the vehicle according to the smaller value of the actual accelerator opening degree and the actual vehicle speed;
and calculating an inter-shaft torque distribution proportion according to a preset actual value of a torque distribution influence factor, and respectively calculating initial torques of the front axle driving motor and the rear axle driving motor according to the actual required torque and the inter-shaft torque distribution proportion.
3. The method of claim 2, wherein calculating the torque compensation values for the front and rear axle drive motors from the second and third torque limits, respectively, comprises:
obtaining wheel end torque according to equivalence of the first torque limit value, the second torque limit value and the third torque limit value;
determining the requested torques of the front axle driving motor and the rear axle driving motor according to the comparison result of the sum of the first torque limit and the second torque limit and the initial torque of the front axle driving motor, the comparison result of the third torque limit and the initial torque of the rear axle driving motor and the wheel end torque so as to calculate the torque compensation value of the front axle driving motor and the rear axle driving motor.
4. The method according to claim 3, wherein the generating of the target torques for the front axle drive motor and the rear axle drive motor from the torque compensation values for the front axle drive motor and the rear axle drive motor, respectively, in combination with the initial torques for the front axle drive motor and the rear axle drive motor derived from the actual required torque and the inter-axle distribution ratio of the vehicle comprises:
detecting a current process of the vehicle power assembly;
when the current process is detected to be a steady-state process, taking the requested torque of the engine and the requested torques of the front axle driving motor and the rear axle driving motor as the target torques of the vehicle power assembly so as to send the requested torques to the engine, the front axle driving motor and/or the rear axle driving motor of the vehicle power assembly;
when the current process is detected to be a dynamic process and the front axle driving motor shifts gears, the target torque of the front axle driving motor is obtained by the sum of the request torque of the engine and the request torque of the front axle driving motor and the difference between the sum and the gear shifting loss power value of the front axle driving motor, and the target torque of the rear axle driving motor is obtained by the product of the request torque of the rear axle driving motor, the gear shifting loss power value of the front axle driving motor and a first compensation coefficient;
when the current process is detected to be the dynamic process and the rear axle driving motor shifts gears, the target torque of the rear axle driving motor is obtained by the difference between the requested torque of the rear axle driving motor and the gear shifting loss power value of the rear axle driving motor, and the target torque of the front axle driving motor is obtained by the product of the requested torque of the engine, the requested torque of the front axle driving motor, the gear shifting loss power value of the front axle driving motor and the second compensation coefficient.
5. The method according to claim 4, wherein the generating of the target torques for the front axle drive motor and the rear axle drive motor from the torque compensation values for the front axle drive motor and the rear axle drive motor, respectively, in combination with the initial torques for the front axle drive motor and the rear axle drive motor derived from the actual required torque and the inter-axle distribution ratio of the vehicle, further comprises:
detecting whether the engine enters a starting working condition or not;
and if the engine enters the starting working condition, generating a target torque of the front axle driving motor by using the requested torque of the front axle driving motor, and generating the target torque of the rear axle driving motor by using the sum of the requested torque of the rear axle driving motor and the product of the requested torque of the engine and a third coefficient.
6. A torque control apparatus of a vehicle, characterized by comprising:
the detection module is used for detecting whether the vehicle triggers a torque compensation condition;
the calculation module is used for calculating a third torque limit value of a rear axle driving motor according to a first torque limit value of an engine and a second torque limit value of a front axle driving motor when the vehicle triggering torque compensation condition is detected, and calculating torque compensation values of the front axle driving motor and the rear axle driving motor respectively according to the second torque limit value and the third torque limit value; and
and the generating module is used for generating target torques of the front axle driving motor and the rear axle driving motor by combining the torque compensation values of the front axle driving motor and the rear axle driving motor with initial torques of the front axle driving motor and the rear axle driving motor obtained by the actual required torque and the inter-axle distribution proportion of the vehicle so as to finish torque compensation.
7. The apparatus of claim 6, wherein the generating module comprises:
the first calculation unit is used for calculating a fourth torque limit value of the power assembly according to the current residual battery capacity of the vehicle and the capacity parameter of the vehicle power assembly;
the second calculation unit is used for comparing the actual accelerator opening degree and the actual vehicle speed of the vehicle so as to calculate the actual required torque of the vehicle according to the smaller value of the actual accelerator opening degree and the actual vehicle speed;
and the third calculating unit is used for calculating the torque distribution proportion between the shafts according to the actual value of the preset torque distribution influence factor so as to respectively calculate the initial torques of the front axle driving motor and the rear axle driving motor according to the actual required torque and the torque distribution proportion between the shafts.
8. The apparatus of claim 7, wherein the computing module comprises:
the first acquisition unit is used for obtaining wheel end torque according to the equivalence of the first torque limit value, the second torque limit value and the third torque limit value;
a fourth calculating unit, configured to determine the requested torques of the front axle driving motor and the rear axle driving motor according to a comparison result of a sum of the first torque limit and the second torque limit and an initial torque of the front axle driving motor, a comparison result of the third torque limit and an initial torque of the rear axle driving motor, and the wheel end torque, so as to calculate torque compensation values of the front axle driving motor and the rear axle driving motor.
9. The apparatus of claim 8, wherein the generating module comprises:
a detection unit for detecting a current process of the vehicle power component;
the sending unit is used for sending the requested torque of the engine and the requested torques of the front axle driving motor and the rear axle driving motor as the target torques of the vehicle power assembly to the engine, the front axle driving motor and/or the rear axle driving motor of the vehicle power assembly when the current process is detected to be a steady-state process;
a second obtaining unit, configured to, when it is detected that the current process is a dynamic process and the front axle drive motor shifts gears, obtain a target torque of the front axle drive motor from a difference between a sum of a requested torque of the engine and a requested torque of the front axle drive motor and a gear shift loss power value of the front axle drive motor, and obtain a target torque of the rear axle drive motor from a product of the requested torque of the rear axle drive motor and the gear shift loss power value of the front axle drive motor and a first compensation coefficient;
and a third obtaining unit, configured to, when it is detected that the current process is the dynamic process and the rear axle drive motor shifts gears, obtain a target torque of the rear axle drive motor from a difference between a requested torque of the rear axle drive motor and a gear shift loss power value of the rear axle drive motor, and obtain a target torque of the front axle drive motor from a product of the requested torque of the engine, the requested torque of the front axle drive motor, the gear shift loss power value of the front axle drive motor, and the second compensation coefficient.
10. A vehicle, characterized by comprising: a torque control apparatus of a vehicle according to any one of claims 7 to 9.
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Cited By (4)
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