CN114670668A - Torque control method and device and electric automobile - Google Patents
Torque control method and device and electric automobile Download PDFInfo
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- CN114670668A CN114670668A CN202111240081.9A CN202111240081A CN114670668A CN 114670668 A CN114670668 A CN 114670668A CN 202111240081 A CN202111240081 A CN 202111240081A CN 114670668 A CN114670668 A CN 114670668A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 218
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- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000006870 function Effects 0.000 claims description 44
- 239000003550 marker Substances 0.000 claims description 9
- 230000003213 activating effect Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 238000012790 confirmation Methods 0.000 description 4
- 230000009849 deactivation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000011084 recovery Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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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
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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
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a torque control method, a torque control device and an electric automobile, wherein the method comprises the following steps: determining the required torques of the motors before and after the demand layer and the required torques of the motors before and after the monitoring layer according to the effective bits of the ESP torque intervention activation flag bits of the motors before and after and the ESP torque intervention activation flag bits of the motors before and after, thereby determining the ESP torque intervention real-time monitoring judgment mechanism flag bits of the motors before and after; determining an ESP torque intervention real-time monitoring enabling condition flag bit of the front and rear motors according to the ESP torque intervention activation flag bit of the front and rear motors, the valid bit of the ESP torque intervention activation flag bit of the front and rear motors and the current vehicle state information; and determining the torque required by the front and rear motors in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit. The scheme of the invention gives consideration to the dynamic property and the stability of the vehicle and ensures the driving safety of the vehicle.
Description
Technical Field
The invention belongs to the technical field of electric vehicle control, and particularly relates to a torque control method and device and an electric vehicle.
Background
With the increasing severity of energy crisis and the continuous worsening of environmental pollution, new energy automobiles are increasingly being valued and accepted by the market. The power battery, the driving motor, the charger and the like are used as main power devices of the new energy automobile, and the novel energy automobile has the advantages of being small in mass, small in size, easy to arrange, free of mechanical transmission devices and the like. And for new energy vehicle types, the four-wheel drive arrangement mode is easier to realize, the four-wheel drive vehicle type has strong power and good control, and the economic performance same as that of the two-wheel drive vehicle type can be achieved after good matching or calibration. In conclusion, the electric four-wheel drive vehicle type is the future development trend of new energy vehicles.
At present, in order to exert the comprehensive performance advantages of the electric four-wheel drive vehicle, such as dynamic property, economical efficiency, controllability and the like, a whole vehicle control system inputs information according to the operation of a driver, for example: steering wheel angle, accelerator pedal opening, brake pedal stroke, or the like, and vehicle state input information such as: the vehicle speed, the longitudinal acceleration, the lateral acceleration and the like are used for distributing the torque of the front motor and the torque of the rear motor to the required torque of the whole vehicle, namely the driving torque and the recovery torque in real time, and the distributed required torque is executed by the front motor and the rear motor.
During the driving process of the electric four-wheel drive vehicle, an Electronic Stability Program (ESP) monitors the slip and instability trend of the front wheel and the rear wheel in real time and carries out front and rear axle torque intervention. In the prior art, in order to ensure the driving stability of the vehicle, when the ESP monitors that the front wheels slip, the ESP performs torque reduction on the front axle motor, that is: the torque (positive value) is reduced under the driving working condition, and the torque (negative value) is increased under the recovery working condition; when the ESP monitors that the rear wheel slips, the ESP reduces the torque of the rear shaft motor; when the ESP monitors that the front wheel and the rear wheel simultaneously slip, the ESP simultaneously reduces the torque of the front shaft motor and the rear shaft motor. However, the above strategies only consider the stability of the vehicle, cannot give consideration to the dynamic property of the vehicle, and also cannot meet the requirement of torque real-time monitoring, and directly affect the comprehensive performance of the vehicle.
Disclosure of Invention
The embodiment of the invention aims to provide a torque control method and device and an electric automobile, so that the problem that in the prior art, the stability of the vehicle is only considered in a torque control strategy when an ESP monitors the instability of the vehicle, and the dynamic property is not considered is solved.
In order to achieve the above object, an embodiment of the present invention provides a torque control method applied to an ESP, including:
Determining the required torques of the motors before and after the required layer and the required torques of the motors before and after the monitoring layer according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after;
determining ESP torque intervention real-time monitoring judgment mechanism zone bits of front and rear motors according to the motor demand torques before and after the demand layer and the motor demand torques before and after the monitoring layer;
determining an ESP torque intervention real-time monitoring enabling condition flag bit of the front and rear motors according to the ESP torque intervention activation flag bit of the front and rear motors, the valid bit of the ESP torque intervention activation flag bit of the front and rear motors and the current vehicle state information;
and determining the required torques of the front motor and the rear motor in the current driving cycle according to the front motor and the rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front motor and the rear motor ESP torque intervention real-time monitoring enabling condition flag bit.
Optionally, determining the motor required torques before and after the demand layer and the motor required torques before and after monitoring according to the before and after motor ESP torque intervention activation flag bit and the valid bit of the before and after motor ESP torque intervention activation flag bit, including:
when the front motor ESP torque intervention activation flag bit is activated and the valid bit of the front motor ESP torque intervention activation flag bit is valid, determining the required torque of the front motor of the required layer and the required torque of the front motor of the monitoring layer according to the original required torque of the front motor and the ESP intervention torque of the front motor;
When the ESP torque intervention activation flag bit of the rear motor is activated and the effective bit of the ESP torque intervention activation flag bit of the rear motor is effective, determining the required torque of the rear motor of a required layer and the required torque of the rear motor of a monitoring layer according to the original required torque of the rear motor and the ESP intervention torque of the rear motor;
and when the front and rear motor ESP torque intervention activation flag bit is activated and the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid, determining the front and rear motor required torques of the required layer and the front and rear motor required torques of the monitoring layer according to the original required torques of the front and rear motors and the front and rear motor ESP intervention torques.
Optionally, when the front motor ESP torque intervention activation flag is active and the valid bit of the front motor ESP torque intervention activation flag is valid, determining the required layer front motor required torque and the monitored layer front motor required torque according to the front motor original required torque and the front motor ESP intervention torque, comprising:
and determining the smaller of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque.
Optionally, determining the required torques of the motors before and after the demand layer and the motor required torques before and after the monitoring according to the effective bits of the ESP torque intervention activation flag bit and the ESP torque intervention activation flag bit of the motors before and after the demand layer, and further comprising:
And when the front motor ESP torque intervention activation flag bit is activated and the valid bit of the front motor ESP torque intervention activation flag bit is valid, determining the required torque of the rear motor of the required layer according to the required torque of the front motor of the required layer, the original required torque of the rear motor and a preset transfer proportionality coefficient.
Optionally, when the front-rear motor ESP torque intervention activation flag is activated and the valid bit of the front-rear motor ESP torque intervention activation flag is valid, determining the front-rear motor required torque of the required layer and the front-rear motor required torque of the monitoring layer according to the front-rear motor original required torque and the front-rear motor ESP intervention torque, including:
determining the smaller value of the absolute value of the original required torque of the front motor and the absolute value of the intervention torque of the front motor ESP as the required torque of the front motor of the required layer and the required torque of the front motor of the monitoring layer;
and determining the smaller value of the absolute value of the original required torque of the rear motor and the absolute value of the ESP intervention torque of the rear motor as the required torque of the rear motor of the required layer and the required torque of the rear motor of the monitoring layer.
Optionally, determining a front-rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit according to the front-rear motor required torque of the required layer and the front-rear motor required torque of the monitoring layer, including:
When the difference value between the absolute value of the required torque of the motor in front of the required layer and the absolute value of the required torque of the motor in front of the monitoring layer is larger than a preset threshold value, determining that an ESP torque intervention real-time monitoring judgment mechanism flag bit of the front motor is a first preset value;
and when the difference value between the absolute value of the motor required torque after the required layer and the absolute value of the motor required torque after the monitoring layer is greater than the preset threshold value, determining that the ESP torque intervention real-time monitoring judgment mechanism flag bit of the rear motor is the first preset value.
Optionally, determining the front-rear motor ESP torque intervention real-time monitoring enabling condition flag according to the front-rear motor ESP torque intervention activating flag, the valid bits of the front-rear motor ESP torque intervention activating flag and the current vehicle state information, including:
when the front and rear motor ESP torque intervention activation flag bit is activated, the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid, and the current vehicle state information meets a first condition, determining that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value;
wherein the first condition comprises:
the vehicle gear information is a forward gear or a reverse gear.
Optionally, determining the torque required by the front and rear motors in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag, includes:
determining a safety fault determination marker bit of an ESP torque intervention function of the front and rear motors according to the marker bit of the ESP torque intervention real-time monitoring and judging mechanism of the front and rear motors and the marker bit of the ESP torque intervention real-time monitoring enabling condition of the front and rear motors;
and when the safety fault determination flag bit of the ESP torque intervention function of the front and rear motors is activated, determining the required torques of the front and rear motors according to the required torques of the front and rear motors of the demand layer, or when the safety fault determination flag bit of the ESP torque intervention function of the front and rear motors is inactivated, determining the required torques of the front and rear motors of the demand layer as the required torques of the front and rear motors.
Optionally, the method for determining the torque required by the front and rear motors in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag further comprises:
when the front and rear motor ESP torque intervention function safety fault determination flag bit is changed from activated to deactivated, the front and rear motor required torques are kept as the front and rear motor required torques corresponding to the front and rear motor ESP torque intervention function safety fault determination flag bit when activated.
Optionally, determining a safety fault determination flag bit of an ESP torque intervention function of the front and rear motors according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit, including:
and under the condition that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value, when the continuous preset time of the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit is a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determination flag bit is activated.
Optionally, when the front-rear motor ESP torque intervention function safety fault determination flag is activated, determining the front-rear motor required torque according to the front-rear motor required torque of the required layer, including:
and carrying out torque limitation or torque prohibition on the required torques of the front and rear motors of the required layer, and determining the required torques of the front and rear motors.
An embodiment of the present invention further provides a torque control device, including:
the device comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining the required torques of the motors before and after the required layer and the required torques of the motors before and after the monitoring layer according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after;
The second determination module is used for determining ESP torque intervention real-time monitoring judgment mechanism flag bits of front and rear motors according to the motor required torques before and after the required layer and the motor required torques before and after the monitoring layer;
the third determination module is used for determining the ESP torque intervention real-time monitoring enabling condition flag bits of the front and rear motors according to the ESP torque intervention activation flag bits of the front and rear motors, the valid bits of the ESP torque intervention activation flag bits of the front and rear motors and the current vehicle state information;
and the fourth determination module is used for determining the torque required by the front motor and the rear motor in the current driving cycle according to the front motor and the rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front motor and the rear motor ESP torque intervention real-time monitoring enabling condition flag bit.
Optionally, the first determining module includes:
the device comprises a first determination unit, a second determination unit and a third determination unit, wherein the first determination unit is used for determining the required torque of the front motor of the required layer and the required torque of the front motor of the monitoring layer according to the original required torque of the front motor and the ESP intervention torque of the front motor when the ESP torque intervention activation flag bit of the front motor is activated and the valid bit of the ESP torque intervention activation flag bit of the front motor is valid;
the second determination unit is used for determining the required torque of the rear motor in the required layer and the required torque of the rear motor in the monitoring layer according to the original required torque of the rear motor and the intervention torque of the ESP of the rear motor when the ESP torque intervention activation flag bit of the rear motor is activated and the valid bit of the ESP torque intervention activation flag bit of the rear motor is valid;
And the third determining unit is used for determining the motor required torque before and after the required layer and the motor required torque before and after the monitoring layer according to the original required torque of the motor before and after the motor and the ESP intervention torque of the motor before and after the required layer when the ESP intervention activation flag bit of the motor before and after the motor is activated and the valid bit of the ESP intervention activation flag bit of the motor before and after the ESP intervention activation flag bit is valid.
Optionally, the first determining unit is specifically configured to:
and determining the smaller of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque.
Optionally, the first determining module further includes:
and the fourth determination unit is used for determining the required torque of the rear motor of the required layer according to the required torque of the front motor of the required layer, the original required torque of the rear motor and the preset transfer proportionality coefficient when the ESP torque intervention activation flag bit of the front motor is activated and the valid bit of the ESP torque intervention activation flag bit of the front motor is valid.
Optionally, the third determining unit is specifically configured to:
determining the smaller value of the absolute value of the original required torque of the front motor and the absolute value of the intervention torque of the front motor ESP as the required torque of the front motor of the required layer and the required torque of the front motor of the monitoring layer;
And determining the smaller value of the absolute value of the original required torque of the rear motor and the absolute value of the ESP intervention torque of the rear motor as the required torque of the rear motor of the required layer and the required torque of the rear motor of the monitoring layer.
Optionally, the second determining module is specifically configured to:
when the difference value between the absolute value of the motor demand torque before the demand layer and the absolute value of the motor demand torque before the monitoring layer is larger than a preset threshold value, determining that an ESP torque intervention real-time monitoring judgment mechanism flag bit of a front motor is a first preset value;
and when the difference value between the absolute value of the motor demand torque behind the demand layer and the absolute value of the motor demand torque behind the monitoring layer is larger than the preset threshold value, determining that the ESP torque intervention real-time monitoring judgment mechanism flag bit of the rear motor is the first preset value.
Optionally, the third determining module is specifically configured to:
when the front and rear motor ESP torque intervention activation flag bit is activated, the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid, and the current vehicle state information meets a first condition, determining that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value;
wherein the first condition comprises:
The vehicle gear information is a forward gear or a reverse gear.
Optionally, the fourth determining module includes:
a fifth determining unit, configured to determine a safety fault determination flag bit of an ESP torque intervention function of the front and rear motors according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit;
and a sixth determining unit, configured to determine the front-rear motor required torques according to the front-rear motor required torques of the required layer when the front-rear motor ESP torque intervention function safety fault determination flag is activated, or determine the front-rear motor required torques of the required layer as the front-rear motor required torques when the front-rear motor ESP torque intervention function safety fault determination flag is deactivated.
Optionally, the fourth determining module further includes:
and when the front and rear motor ESP torque intervention function safety fault determination flag bit is changed from activation to deactivation, keeping the front and rear motor required torque as the front and rear motor required torque corresponding to the front and rear motor ESP torque intervention function safety fault determination flag bit when the front and rear motor ESP torque intervention function safety fault determination flag bit is activated.
Optionally, the fifth determining unit is specifically configured to:
And under the condition that the enabling condition flag bit of the front and rear motor ESP torque intervention real-time monitoring is a second preset value, when the continuous preset time of the front and rear motor ESP torque intervention real-time monitoring and judging mechanism flag bit is a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determination flag bit is activated.
Optionally, the sixth determining unit is specifically configured to:
and carrying out torque limitation or torque prohibition on the required torques of the front and rear motors of the required layer, and determining the required torques of the front and rear motors.
An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory, and a program stored on the memory and executable on the processor, the program when executed by the processor implementing a torque control method as described above.
The technical scheme of the invention at least has the following beneficial effects:
in the scheme, the required torques of the motors before and after the demand layer and the required torques of the motors before and after the monitoring layer are determined according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after; determining ESP torque intervention real-time monitoring judgment mechanism zone bits of front and rear motors according to the motor required torques before and after the required layer and the motor required torques before and after the monitoring layer; determining an ESP torque intervention real-time monitoring enabling condition flag bit of the front and rear motors according to the ESP torque intervention activation flag bit of the front and rear motors, the valid bit of the ESP torque intervention activation flag bit of the front and rear motors and the current vehicle state information; according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit, the front and rear motor required torques in the current driving period are determined, the ESP torque intervention of the front and rear motors is monitored in real time, the dynamic property and the stability of the vehicle are considered, the unexpected yaw of the vehicle caused by the ESP torque intervention fault is prevented, and the driving safety of the vehicle is ensured.
Drawings
FIG. 1 is a schematic flow chart of a torque control method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a front motor ESP torque intervention real-time monitoring system of an embodiment of the present invention;
FIG. 3 is a block diagram of a rear motor ESP torque intervention real-time monitoring system of an embodiment of the present invention;
fig. 4 is a schematic diagram of a torque control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a torque control method and device and an electric automobile, aiming at the problem that in the prior art, the stability of a vehicle is only considered and the dynamic property is not considered in a torque control strategy when an ESP monitors the instability of the vehicle.
As shown in fig. 1, an embodiment of the present invention provides a torque control method applied to an ESP, including:
here, the front and rear motor ESP torque intervention activation flag bits include a front motor ESP torque intervention activation flag bit and a rear motor ESP torque intervention activation flag bit; the required torque of the front and rear motors of the required layer comprises the required torque of the front motor of the required layer and the required torque of the rear motor of the required layer; the motor demand torque before and after the monitoring layer comprises the motor demand torque before the monitoring layer and the motor demand torque after the monitoring layer.
It should be noted that the ESP intervention torque of the demand layer takes into account the dynamics of the vehicle, and the ESP intervention torque of the monitoring layer takes into account the stability of the vehicle. And monitoring the required torques of the front motor and the rear motor in real time to ensure that the ESP intervention torques of the front motor and the rear motor can be correctly executed.
102, determining ESP torque intervention real-time monitoring judgment mechanism flag bits of front and rear motors according to the motor required torques before and after a required layer and the motor required torques before and after a monitoring layer;
the front and rear motor ESP torque intervention real-time detection and judgment mechanism flag bit comprises a front motor ESP torque intervention real-time detection and judgment mechanism flag bit and a rear motor ESP torque intervention real-time detection and judgment mechanism flag bit, so that the driving process of the four-wheel drive vehicle of the electric vehicle is realized, the front and rear motor required torques of a demand layer and a monitoring layer are monitored in real time, whether the ESP intervention torque is correctly executed is judged, and whether the vehicle enters a monitoring safety state is determined.
103, determining an ESP torque intervention real-time monitoring enabling condition flag bit of the front and rear motors according to the ESP torque intervention activation flag bit of the front and rear motors, the valid bit of the ESP torque intervention activation flag bit of the front and rear motors and the current vehicle state information;
Here, the front and rear motor ESP torque intervention real-time monitoring enable condition flag includes a front motor ESP torque intervention real-time monitoring enable condition flag and a rear motor ESP torque intervention real-time monitoring enable condition flag.
And step 104, determining the torque required by the front and rear motors in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit.
Here, the front and rear motor required torques include a front motor required torque and a rear motor required torque; one power up and down cycle is referred to as one driving cycle.
According to the embodiment of the invention, the required torques of the motors before and after the demand layer and the required torques of the motors before and after the monitoring layer are determined according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after; determining ESP torque intervention real-time monitoring judgment mechanism flag bits of front and rear motors according to the motor required torques before and after the demand layer and the motor required torques before and after the monitoring layer; determining an ESP torque intervention real-time monitoring enabling condition flag bit of the front and rear motors according to the ESP torque intervention activation flag bit of the front and rear motors, the valid bit of the ESP torque intervention activation flag bit of the front and rear motors and the current vehicle state information; according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit, the front and rear motor required torques in the current driving period are determined, the ESP torque intervention of the front and rear motors is monitored in real time, the dynamic property and the stability of the vehicle are considered, the unexpected yaw of the vehicle caused by the ESP torque intervention fault is prevented, and the driving safety of the vehicle is ensured.
Optionally, step 101, determining the motor demand torques before and after the demand layer and the motor demand torques before and after monitoring according to the ESP torque intervention activation flag and the valid bit of the ESP torque intervention activation flag of the preceding and following motors, includes:
when the front motor ESP torque intervention activation flag bit is activated and the valid bit of the front motor ESP torque intervention activation flag bit is valid, determining the required torque of the front motor on the required layer and the required torque of the front motor on the monitoring layer according to the original required torque of the front motor and the ESP intervention torque of the front motor;
when the ESP torque intervention activation flag bit of the rear motor is activated and the effective bit of the ESP torque intervention activation flag bit of the rear motor is effective, determining the required torque of the rear motor of a required layer and the required torque of the rear motor of a monitoring layer according to the original required torque of the rear motor and the ESP intervention torque of the rear motor;
when the front and rear motor ESP torque intervention activation flag bit is activated and the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid, the front and rear motor required torques of the required layer and the front and rear motor ESP intervention torques of the monitoring layer are determined according to the original required torques of the front and rear motors and the front and rear motor ESP intervention torques.
It should be noted that step 101 executes one of the three cases, where the front-rear motor original required torque includes a front-motor original required torque and a rear-motor original required torque, where the original required torque is a torque before the ESP intervention torque, and is calculated according to the opening degree of the accelerator pedal pressed by the driver.
Specifically, when the front motor ESP torque intervention activation flag is activated and the valid bit of the front motor ESP torque intervention activation flag is valid, determining the required layer front motor required torque and the monitoring layer front motor required torque according to the front motor original required torque and the front motor ESP intervention torque, and the method comprises the following steps:
and determining the smaller of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required layer front motor required torque and the monitored layer front motor required torque.
Further, when the post-motor ESP torque intervention activation flag is activated and the valid bit of the post-motor ESP torque intervention activation flag is valid, determining the post-motor required torque of the required layer and the post-motor required torque of the monitoring layer according to the post-motor original required torque and the post-motor ESP intervention torque, including:
and determining the smaller value of the absolute value of the original required torque of the rear motor and the absolute value of the intervention torque of the ESP of the rear motor as the required torque of the rear motor at the required layer and the required torque of the rear motor at the monitoring layer.
Optionally, in step 101, determining the required torques of the motors before and after the demand layer and the motor required torques before and after the monitoring according to the effective bits of the ESP torque intervention activation flag bits of the motors before and after and the ESP torque intervention activation flag bits of the motors before and after, and further comprising:
And when the front motor ESP torque intervention activation flag bit is activated and the valid bit of the front motor ESP torque intervention activation flag bit is valid, determining the required torque of the rear motor of the required layer according to the required torque of the front motor of the required layer, the original required torque of the rear motor and a preset transfer proportionality coefficient.
It should be noted that the required torque of the rear motor of the required layer is equal to the sum of the difference between the required torque of the front motor of the required layer and the original required torque of the front motor multiplied by the first preset transfer scaling factor and the original required torque of the rear motor.
Optionally, when the front and rear motor ESP torque intervention activation flag is activated and the valid bit of the front and rear motor ESP torque intervention activation flag is valid, determining the front and rear motor required torques of the demand layer and the front and rear motor required torques of the monitoring layer according to the original front and rear motor required torques and the front and rear motor ESP intervention torques, including:
determining the smaller value of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required torque of the front motor at the required layer and the required torque of the front motor at the monitoring layer;
and determining the smaller value of the absolute value of the original required torque of the rear motor and the absolute value of the intervention torque of the ESP of the rear motor as the required torque of the rear motor at the required layer and the required torque of the rear motor at the monitoring layer.
Optionally, in step 102, determining a front-rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit according to the front-rear motor required torque of the demand layer and the front-rear motor required torque of the monitoring layer, including:
when the difference value between the absolute value of the motor demand torque before the demand layer and the absolute value of the motor demand torque before the monitoring layer is larger than a preset threshold value, determining that an ESP torque intervention real-time monitoring judgment mechanism flag bit of a front motor is a first preset value;
when the difference value between the absolute value of the motor demand torque behind the demand layer and the absolute value of the motor demand torque behind the monitoring layer is larger than a preset threshold value, the ESP torque intervention real-time monitoring judgment mechanism flag bit of the rear motor is determined to be a first preset value.
It should be noted that the preset threshold is obtained according to experience or actual vehicle calibration, and preferably, the preset threshold is 10 Nm. The first preset value can be 'True', and when the difference value between the absolute value of the motor required torque after the required layer and the absolute value of the motor required torque after the monitoring layer is smaller than or equal to a preset threshold value, the ESP torque intervention real-time monitoring judgment mechanism flag bit of the rear motor is determined to be 'False'.
Optionally, in step 103, determining the front-rear motor ESP torque intervention real-time monitoring enabling condition flag bit according to the front-rear motor ESP torque intervention activating flag bit, the valid bits of the front-rear motor ESP torque intervention activating flag bit, and the current vehicle state information, including:
When the front and rear motor ESP torque intervention activation flag bit is activated, the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid and the current vehicle state information meets a first condition, determining that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value;
wherein the first condition comprises:
the vehicle gear information is a forward gear or a reverse gear.
Here, the second preset value may be "Enable", and when at least one of the front and rear motor ESP torque intervention activation flag bits, the valid bit of the front and rear motor ESP torque intervention activation flag bits is valid, and the current vehicle state information does not satisfy the above-mentioned condition, it is determined that the front and rear motor ESP torque intervention real-time monitoring Enable condition flag bit is "Disable".
It should be noted that the first condition further includes:
the vehicle fault information is that no other vehicle system faults exist except ESP torque intervention real-time monitoring faults, such as: the vehicle has no high-voltage power-off fault, no motor over-temperature fault and the like.
Optionally, in step 104, determining the torque required by the front and rear motors in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit, including:
Determining a safety fault determination marker bit of an ESP torque intervention function of front and rear motors according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism marker bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition marker bit;
when the front and rear motor ESP torque intervention function safety fault determination flag bit is activated, the front and rear motor required torques are determined according to the front and rear motor required torques of the required layer, or when the front and rear motor ESP torque intervention function safety fault determination flag bit is deactivated, the front and rear motor required torques of the required layer are determined as the front and rear motor required torques.
Optionally, in step 104, determining the torque required by the front and rear motors in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit, further comprising:
and when the front and rear motor ESP torque intervention function safety fault determination zone bit is changed from activation to deactivation, keeping the front and rear motor required torque as the corresponding front and rear motor required torque when the front and rear motor ESP torque intervention function safety fault determination zone bit is activated.
When the front and rear motor ESP torque intervention function safety fault determination flag is changed from active to inactive, the front and rear motor ESP torque intervention function safety fault determination flag is kept active until the end of the current driving cycle, and the front and rear motor ESP torque intervention function safety fault determination flag is cleared.
Optionally, determining a safety fault determination flag bit of an ESP torque intervention function of the front and rear motors according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit, including:
and under the condition that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value, when the continuous preset time of the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit is a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determination flag bit is activated.
It should be noted that the preset time period is greater than the fault redundancy time (FTTI).
Optionally, when the front and rear motor ESP torque intervention function safety fault determination flag is activated, the front and rear motor required torques are determined according to the front and rear motor required torques of the required layer, including:
and carrying out torque limitation or torque prohibition on the required torques of the front and rear motors of the required layer, and determining the required torques of the front and rear motors.
The torque is limited to be reduced in a manner of reducing the torque required by the motor before and after the required layer. The torque prohibition is to limit the motor required torque to 0Nm before and after the required layer.
It should be further noted that the torque control method provided by the embodiment of the present invention can also be applied to the front motor ESP torque intervention real-time monitoring system shown in fig. 2, and the rear motor ESP torque intervention real-time monitoring system shown in fig. 3.
The method is applied to the front motor ESP torque intervention real-time monitoring system and comprises the following steps:
the required torque of the motor before the required layer and the required torque of the motor before the monitoring layer are input to a front motor ESP torque intervention real-time monitoring and judging mechanism unit, and the front motor ESP torque intervention real-time monitoring and judging mechanism unit outputs a front motor ESP torque intervention real-time monitoring and judging mechanism flag bit;
the front motor ESP torque intervention activation flag bit, the effective bit of the front motor ESP torque intervention activation flag bit and the current vehicle state information are input to a front motor ESP torque intervention real-time monitoring enabling condition unit, and the front motor ESP torque intervention real-time monitoring enabling condition unit outputs the front motor ESP torque intervention real-time monitoring enabling condition flag bit;
the front motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front motor ESP torque intervention real-time monitoring enabling condition flag bit are input to a front motor ESP torque intervention real-time monitoring fault confirmation unit, and the front motor ESP torque intervention real-time monitoring fault confirmation unit outputs a front motor ESP torque intervention function safety fault determination flag bit;
the front motor ESP torque intervention function safety fault determination zone bit is input to the front motor ESP torque intervention real-time monitoring safety state unit, and the front motor ESP torque intervention real-time monitoring safety state unit outputs the front motor required torque.
In addition, the steps of the real-time monitoring system applied to the torque intervention of the ESP of the rear motor are as follows:
the motor demand torque behind the demand layer and the motor demand torque behind the monitoring layer are input to a rear motor ESP torque intervention real-time monitoring and judging mechanism unit, and the rear motor ESP torque intervention real-time monitoring and judging mechanism unit outputs a rear motor ESP torque intervention real-time monitoring and judging mechanism flag bit;
the ESP torque intervention activation flag bit of the rear motor, the effective bit of the ESP torque intervention activation flag bit of the rear motor and the current vehicle state information are input into the ESP torque intervention real-time monitoring enabling condition unit of the front motor, and the ESP torque intervention real-time monitoring enabling condition flag bit of the rear motor is output by the ESP torque intervention real-time monitoring enabling condition unit of the rear motor;
the rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the rear motor ESP torque intervention real-time monitoring enabling condition flag bit are input to a rear motor ESP torque intervention real-time monitoring fault confirmation unit, and the rear motor ESP torque intervention real-time monitoring fault confirmation unit outputs a rear motor ESP torque intervention function safety fault determination flag bit;
and the rear motor ESP torque intervention function safety fault determination zone bit is input to the rear motor ESP torque intervention real-time monitoring safety state unit, and the rear motor ESP torque intervention real-time monitoring safety state unit outputs the rear motor required torque.
As shown in fig. 4, an embodiment of the present invention further provides a torque control apparatus, including:
the first determining module 401 is configured to determine the required torques of the motors before and after the demand layer and the required torques of the motors before and after the monitoring layer according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after;
a second determining module 402, configured to determine an ESP torque intervention real-time monitoring judgment mechanism flag bit of the front and rear motors according to the motor required torques before and after the demand layer and the motor required torques before and after the monitoring layer;
a third determining module 403, configured to determine a front-rear motor ESP torque intervention real-time monitoring enabling condition flag bit according to the front-rear motor ESP torque intervention activation flag bit, the valid bit of the front-rear motor ESP torque intervention activation flag bit, and the current vehicle state information;
and a fourth determining module 404, configured to determine the torque required by the front and rear motors in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag.
According to the embodiment of the invention, the required torques of the motors before and after the demand layer and the required torques of the motors before and after the monitoring layer are determined according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after; determining ESP torque intervention real-time monitoring judgment mechanism flag bits of front and rear motors according to the motor required torques before and after the demand layer and the motor required torques before and after the monitoring layer; determining an ESP torque intervention real-time monitoring enabling condition flag bit of the front and rear motors according to the ESP torque intervention activation flag bit of the front and rear motors, the valid bit of the ESP torque intervention activation flag bit of the front and rear motors and the current vehicle state information; according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit, the front and rear motor required torques in the current driving period are determined, the ESP torque intervention of the front and rear motors is monitored in real time, the dynamic property and the stability of the vehicle are considered, the unexpected yaw of the vehicle caused by the ESP torque intervention fault is prevented, and the driving safety of the vehicle is ensured.
Optionally, the first determining module 401 includes:
the device comprises a first determination unit, a second determination unit and a third determination unit, wherein the first determination unit is used for determining the required torque of the front motor of the required layer and the required torque of the front motor of the monitoring layer according to the original required torque of the front motor and the ESP intervention torque of the front motor when the ESP torque intervention activation flag bit of the front motor is activated and the valid bit of the ESP torque intervention activation flag bit of the front motor is valid;
the second determination unit is used for determining the required torque of the rear motor in the required layer and the required torque of the rear motor in the monitoring layer according to the original required torque of the rear motor and the intervention torque of the ESP of the rear motor when the ESP torque intervention activation flag bit of the rear motor is activated and the valid bit of the ESP torque intervention activation flag bit of the rear motor is valid;
and the third determining unit is used for determining the required torque of the front and rear motors of the required layer and the required torque of the front and rear motors of the monitoring layer according to the original required torque of the front and rear motors and the intervention torque of the front and rear motors when the ESP torque intervention activation flag bit of the front and rear motors is activated and the valid bit of the ESP torque intervention activation flag bit of the front and rear motors is valid.
Optionally, the first determining unit is specifically configured to:
and determining the smaller of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required layer front motor required torque and the monitored layer front motor required torque.
Optionally, the first determining module 401 further includes:
and the fourth determining unit is used for determining the required torque of the rear motor of the required layer according to the required torque of the front motor of the required layer, the original required torque of the rear motor and the preset transfer proportionality coefficient when the ESP torque intervention activation flag of the front motor is activated and the valid bit of the ESP torque intervention activation flag of the front motor is valid.
Optionally, the third determining unit is specifically configured to:
determining the smaller value of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required torque of the front motor at the required layer and the required torque of the front motor at the monitoring layer;
and determining the smaller value of the absolute value of the original required torque of the rear motor and the absolute value of the ESP intervention torque of the rear motor as the required torque of the rear motor of the required layer and the required torque of the rear motor of the monitoring layer.
Optionally, the second determining module 402 is specifically configured to:
when the difference value between the absolute value of the motor demand torque before the demand layer and the absolute value of the motor demand torque before the monitoring layer is larger than a preset threshold value, determining that an ESP torque intervention real-time monitoring judgment mechanism flag bit of a front motor is a first preset value;
and when the difference value between the absolute value of the motor required torque after the required layer and the absolute value of the motor required torque after the monitoring layer is greater than a preset threshold value, determining that the ESP torque intervention real-time monitoring judgment mechanism flag bit of the rear motor is a first preset value.
Optionally, the third determining module 403 is specifically configured to:
when the front and rear motor ESP torque intervention activation flag bit is activated, the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid, and the current vehicle state information meets a first condition, determining that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value;
wherein the first condition comprises:
the vehicle gear information is a forward gear or a reverse gear.
Optionally, the fourth determining module 404 includes:
a fifth determining unit, configured to determine a safety fault determination flag bit of an ESP torque intervention function of the front and rear motors according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit;
and the sixth determining unit is used for determining the front and rear motor required torques according to the front and rear motor required torques of the required layer when the front and rear motor ESP torque intervention function safety fault determining flag bit is activated, or determining the front and rear motor required torques of the required layer as the front and rear motor required torques when the front and rear motor ESP torque intervention function safety fault determining flag bit is inactivated.
Optionally, the fourth determining module 404 further includes:
And when the front and rear motor ESP torque intervention function safety fault determination zone bit is changed from activation to deactivation, keeping the front and rear motor required torque as the corresponding front and rear motor required torque when the front and rear motor ESP torque intervention function safety fault determination zone bit is activated.
Optionally, the fifth determining unit is specifically configured to:
and under the condition that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value, when the continuous preset time of the front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit is a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determination flag bit is activated.
Optionally, the sixth determining unit is specifically configured to:
and carrying out torque limitation or torque prohibition on the required torque of the front and rear motors of the required layer, and determining the required torque of the front and rear motors.
It should be noted that the torque control device provided by the embodiment of the present invention is a device capable of executing the above-mentioned torque control method, and all embodiments of the above-mentioned torque control method are applicable to the device and can achieve the same or similar technical effects.
An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory, and a program stored on the memory and executable on the processor, the program when executed by the processor implementing a torque control method as described above.
It should be noted that, the electric vehicle provided in the embodiment of the present invention, which executes the torque control method as described above, has the same technical effects, and is not described herein again.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (13)
1. A torque control method is applied to an Electronic Stability Program (ESP) and comprises the following steps:
determining the required torques of the motors before and after the required layer and the required torques of the motors before and after the monitoring layer according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after;
determining ESP torque intervention real-time monitoring judgment mechanism zone bits of front and rear motors according to the motor required torques before and after the required layer and the motor required torques before and after the monitoring layer;
determining an ESP torque intervention real-time monitoring enabling condition flag bit of the front and rear motors according to the ESP torque intervention activation flag bit of the front and rear motors, the valid bit of the ESP torque intervention activation flag bit of the front and rear motors and the current vehicle state information;
And determining the torque required by the front motor and the rear motor in the current driving cycle according to the front motor and the rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front motor and the rear motor ESP torque intervention real-time monitoring enabling condition flag bit.
2. The torque control method according to claim 1, wherein the determining of the motor demand torques before and after the demand horizon and the monitoring of the motor demand torques before and after the demand horizon according to the valid bits of the before and after motor ESP torque intervention activation flag and the before and after motor ESP torque intervention activation flag comprises:
when the front motor ESP torque intervention activation flag bit is activated and the valid bit of the front motor ESP torque intervention activation flag bit is valid, determining the required torque of the front motor on the required layer and the required torque of the front motor on the monitoring layer according to the original required torque of the front motor and the ESP intervention torque of the front motor;
when the ESP torque intervention activation flag bit of the rear motor is activated and the valid bit of the ESP torque intervention activation flag bit of the rear motor is valid, determining the required torque of the rear motor of a required layer and the required torque of the rear motor of a monitoring layer according to the original required torque of the rear motor and the ESP intervention torque of the rear motor;
and when the front and rear motor ESP torque intervention activation flag bit is activated and the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid, determining the front and rear motor required torques of the required layer and the front and rear motor required torques of the monitoring layer according to the original required torques of the front and rear motors and the front and rear motor ESP intervention torques.
3. The torque control method of claim 2, wherein determining the demanded pre-horizon motor demanded torque and the monitored pre-horizon motor demanded torque from the pre-motor raw demanded torque and the pre-motor ESP intervention torque when the pre-motor ESP torque intervention activation flag is active and the valid bit of the pre-motor ESP torque intervention activation flag is valid comprises:
and determining the smaller of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque.
4. The torque control method according to claim 2, wherein the determining of the pre-and post-demand layer motor required torque and the monitoring of the pre-and post-demand layer motor required torque is performed based on the valid bits of the pre-and post-motor ESP torque intervention activation flag and the pre-and post-motor ESP torque intervention activation flag, further comprising:
and when the front motor ESP torque intervention activation flag bit is activated and the valid bit of the front motor ESP torque intervention activation flag bit is valid, determining the required torque of the rear motor of the required layer according to the required torque of the front motor of the required layer, the original required torque of the rear motor and a preset transfer proportionality coefficient.
5. The torque control method according to claim 2, wherein when the pre-post motor ESP torque intervention activation flag is active and the valid bit of the pre-post motor ESP torque intervention activation flag is valid, determining the pre-post required layer motor torque and the pre-post motor torque required by the monitoring layer according to the pre-post motor original required torque and the pre-post motor ESP intervention torque comprises:
determining the smaller value of the absolute value of the original required torque of the front motor and the absolute value of the ESP intervention torque of the front motor as the required torque of the front motor at the required layer and the required torque of the front motor at the monitoring layer;
and determining the smaller value of the absolute value of the original required torque of the rear motor and the absolute value of the ESP intervention torque of the rear motor as the required torque of the rear motor of the required layer and the required torque of the rear motor of the monitoring layer.
6. The torque control method according to claim 1, wherein determining a front-rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit according to the motor required torques before and after the required layer and the motor required torques before and after the monitoring layer comprises:
when the difference value between the absolute value of the required torque of the motor in front of the required layer and the absolute value of the required torque of the motor in front of the monitoring layer is larger than a preset threshold value, determining that an ESP torque intervention real-time monitoring judgment mechanism flag bit of the front motor is a first preset value;
And when the difference value between the absolute value of the motor demand torque behind the demand layer and the absolute value of the motor demand torque behind the monitoring layer is larger than the preset threshold value, determining that the ESP torque intervention real-time monitoring judgment mechanism flag bit of the rear motor is the first preset value.
7. The torque control method according to claim 1, wherein the determining of the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit according to the front and rear motor ESP torque intervention activating flag bit, the valid bits of the front and rear motor ESP torque intervention activating flag bit and the current vehicle state information comprises:
when the front and rear motor ESP torque intervention activation flag bit is activated, the valid bit of the front and rear motor ESP torque intervention activation flag bit is valid, and the current vehicle state information meets a first condition, determining that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value;
wherein the first condition comprises:
the vehicle gear information is a forward gear or a reverse gear.
8. The torque control method according to claim 1, wherein the determining of the front and rear motor required torques in the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enable condition flag bit comprises:
Determining a safety fault determination marker bit of an ESP torque intervention function of the front and rear motors according to the marker bit of the ESP torque intervention real-time monitoring and judging mechanism of the front and rear motors and the marker bit of the ESP torque intervention real-time monitoring enabling condition of the front and rear motors;
and when the safety fault determination flag bit of the ESP torque intervention function of the front and rear motors is activated, determining the required torques of the front and rear motors according to the required torques of the front and rear motors of the demand layer, or when the safety fault determination flag bit of the ESP torque intervention function of the front and rear motors is inactivated, determining the required torques of the front and rear motors of the demand layer as the required torques of the front and rear motors.
9. The torque control method according to claim 8, wherein the motor demand torque before and after the current driving cycle is determined according to the motor ESP torque intervention real-time monitoring judgment mechanism flag and the motor ESP torque intervention real-time monitoring enabling condition flag, and further comprising:
when the front and rear motor ESP torque intervention function safety fault determination flag bit is changed from activated to deactivated, the front and rear motor required torques are kept as the front and rear motor required torques corresponding to the front and rear motor ESP torque intervention function safety fault determination flag bit when activated.
10. The torque control method according to claim 8, wherein a front and rear motor ESP torque intervention function safety fault determination flag is determined according to the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag, and the method comprises the following steps:
and under the condition that the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit is a second preset value, when the continuous preset time of the front and rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit is a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determination flag bit is activated.
11. The torque control method according to claim 8, wherein when the pre-post motor ESP torque intervention function safety fault determination flag is active, determining the pre-post motor required torque according to the pre-post motor required torque of the required layer comprises:
and carrying out torque limitation or torque prohibition on the required torques of the front and rear motors of the required layer, and determining the required torques of the front and rear motors.
12. A torque control device, comprising:
the device comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining the required torques of the motors before and after the required layer and the required torques of the motors before and after the monitoring layer according to the ESP torque intervention activation flag bits of the motors before and after and the valid bits of the ESP torque intervention activation flag bits of the motors before and after;
The second determination module is used for determining ESP torque intervention real-time monitoring judgment mechanism flag bits of front and rear motors according to the motor required torques before and after the required layer and the motor required torques before and after the monitoring layer;
the third determination module is used for determining the ESP torque intervention real-time monitoring enabling condition flag bits of the front and rear motors according to the ESP torque intervention activation flag bits of the front and rear motors, the valid bits of the ESP torque intervention activation flag bits of the front and rear motors and the current vehicle state information;
and the fourth determination module is used for determining the torque required by the front motor and the rear motor in the current driving cycle according to the front motor and the rear motor ESP torque intervention real-time monitoring judgment mechanism flag bit and the front motor and the rear motor ESP torque intervention real-time monitoring enabling condition flag bit.
13. An electric vehicle, comprising: a processor, a memory, and a program stored on the memory and executable on the processor, the program when executed by the processor implementing the torque control method of any of claims 1 to 11.
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| CN202111240081.9A CN114670668B (en) | 2021-10-25 | 2021-10-25 | Torque control method and device and electric automobile |
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| CN202111240081.9A CN114670668B (en) | 2021-10-25 | 2021-10-25 | Torque control method and device and electric automobile |
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| CN117968935A (en) * | 2024-03-29 | 2024-05-03 | 长城汽车股份有限公司 | Automatic driving torque verification method, automatic driving monitoring system, vehicle and medium |
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