CN114670668B - Torque control method and device and electric automobile - Google Patents

Torque control method and device and electric automobile Download PDF

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Publication number
CN114670668B
CN114670668B CN202111240081.9A CN202111240081A CN114670668B CN 114670668 B CN114670668 B CN 114670668B CN 202111240081 A CN202111240081 A CN 202111240081A CN 114670668 B CN114670668 B CN 114670668B
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Prior art keywords
torque
motor
esp
intervention
rear motor
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CN114670668A (en
Inventor
谢明维
王金龙
储琦
梁海强
代康伟
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The invention provides a torque control method and device and an electric automobile, wherein the method comprises the following steps: according to the front and rear motor ESP torque intervention activation zone bit and the valid bit of the front and rear motor ESP torque intervention activation zone bit, determining the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer, thereby determining the front and rear motor ESP torque intervention real-time monitoring judgment mechanism zone bit; determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information; and determining the front and rear motor required torque of the current driving period according to the front and rear motor ESP torque intervention real-time monitoring judging 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 stability of the vehicle and ensures the running safety of the vehicle.

Description

Torque control method and device and electric automobile
Technical Field
The invention belongs to the technical field of electric automobile control, and particularly relates to a torque control method and device and an electric automobile.
Background
With the increasing severity of energy crisis and the continuous worsening of environmental pollution, new energy automobiles are increasingly 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 have the advantages of small mass, small volume, easy arrangement, no mechanical transmission device and the like. For new energy vehicle types, the four-wheel drive arrangement form is easier to realize, the four-wheel drive type has strong power and good control, and the same economic performance as that of the two-wheel drive type can be achieved after good matching or calibration. In conclusion, the electric four-wheel drive vehicle type is a future development trend of new energy automobiles.
At present, in order to exert comprehensive performance advantages such as dynamic performance, economy, operability and the like of an electric four-wheel drive vehicle type, a whole vehicle control system inputs information according to driver operation, for example: steering wheel angle, accelerator pedal opening, brake pedal travel, etc. and vehicle state input information, such as: the vehicle speed, the longitudinal acceleration, the transverse acceleration and the like, and the torque distribution of the front motor and the rear motor, namely the driving torque and the recovery torque, is carried out on the whole vehicle required torque in real time, and the front motor and the rear motor execute the distributed required torque.
During the running of the electric four-wheel drive vehicle, an ESP (Electronic Stability Program, electronic stability system) monitors the slip and instability trend of the front and rear wheels in real time and performs front and rear axle torque intervention. In the prior art, in order to ensure the driving stability of the vehicle, when the ESP monitors the front wheel slip, the ESP reduces the torque of the front axle motor, namely: torque (positive value) is reduced under driving working conditions, and torque (negative value) is increased under recovery working conditions; when the ESP monitors the slip of the rear wheel, 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 strategy only considers the stability of the vehicle, but cannot consider the dynamic performance of the vehicle, and also does not meet the requirement of real-time torque monitoring, and the comprehensive performance of the vehicle is directly affected.
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, only the stability of the automobile is considered in a torque control strategy when an ESP (electronic stability program) monitors the instability of the automobile, and the dynamic performance 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:
according to the front and rear motor ESP torque intervention activation zone bit and the valid bit of the front and rear motor ESP torque intervention activation zone bit, determining the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer;
determining a marker bit of a real-time monitoring and judging mechanism for the intervention of the ESP torque of the front and rear motors according to 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;
Determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information;
and determining the front and rear motor required torque of the current driving period according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit.
Optionally, determining the motor demand torque before and after the demand layer and monitoring the motor demand torque before and after according to the front and back motor ESP torque intervention activation flag and the valid bit of the front and back motor ESP torque intervention activation flag 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 a front motor demand torque of a demand layer and a front motor demand torque of a monitoring layer according to the front motor original demand torque and the front motor ESP intervention torque;
When the post-motor ESP torque intervention activation flag bit is activated and the valid bit of the post-motor ESP torque intervention activation flag bit is valid, determining a post-motor demand torque of a demand layer and a post-motor demand torque of a monitoring layer according to the post-motor original demand torque and the post-motor ESP intervention torque;
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 demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer according to the front and rear motor original demand torque and the front and rear motor ESP intervention torque.
Optionally, when the front motor ESP torque intervention activation flag bit is active and the valid bit of the front motor ESP torque intervention activation flag bit is valid, determining the demand layer front motor demand torque and the monitor layer front motor demand torque according to the front motor original demand torque and the front motor ESP intervention torque includes:
And 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 ESP of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque.
Optionally, determining the motor demand torque before and after the demand layer and monitoring the motor demand torque before and after according to the front and back motor ESP torque intervention activation flag bit and the valid bit of the front and back motor ESP torque intervention activation flag bit further comprises:
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 the preset transfer proportionality coefficient.
Optionally, when the front-to-rear motor ESP torque intervention activation flag bit is activated and the valid bit of the front-to-rear motor ESP torque intervention activation flag bit is valid, determining the required layer front-to-rear motor required torque and the monitoring layer front-to-rear motor required torque according to the front-to-rear motor original required torque and the front-to-rear motor ESP intervention torque, includes:
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 ESP of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque;
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 layer rear motor required torque and the monitoring layer rear motor required torque.
Optionally, determining the marker bit of the real-time monitoring and judging mechanism for the intervention of the ESP torque of the front and rear motors according to 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, including:
When the difference value between the absolute value of the motor required torque before the required layer and the absolute value of the motor required torque before the monitoring layer is larger than a preset threshold value, determining that the marker bit of the real-time monitoring and judging mechanism for the intervention of the ESP torque 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 larger than the preset threshold value, determining that the real-time monitoring and judging mechanism flag bit of the ESP torque intervention of the rear motor is the first preset value.
Optionally, determining the front-to-rear motor ESP torque intervention real-time monitoring enabling condition flag bit according to the front-to-rear motor ESP torque intervention enabling flag bit, the valid bit of the front-to-rear motor ESP torque intervention enabling flag bit, and the current vehicle state information includes:
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 includes:
the vehicle gear information is forward gear or reverse gear.
Optionally, determining the front and rear motor required torque of the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit includes:
Determining a front and rear motor ESP torque intervention functional safety fault determination zone bit according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit;
And when the front and rear motor ESP torque intervention function safety fault determination zone bit is activated, determining the front and rear motor required torque according to the front and rear motor required torque of the required layer, or when the front and rear motor ESP torque intervention function safety fault determination zone bit is not activated, determining the front and rear motor required torque of the required layer as the front and rear motor required torque.
Optionally, determining the front and rear motor required torque of the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit, and further includes:
And when the front and rear motor ESP torque intervention functional safety fault determination flag bit is changed from activated to deactivated, maintaining the front and rear motor required torque as the front and rear motor ESP torque intervention functional safety fault determination flag bit as the corresponding front and rear motor required torque when activated.
Optionally, determining the front and rear motor ESP torque intervention function safety fault determination flag according to the front and rear motor ESP torque intervention real-time monitoring determination mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enable condition flag includes:
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 front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit is continuously preset for a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determining flag bit is activated.
Optionally, when the front-to-rear motor ESP torque intervention function safety fault determination flag bit is activated, determining the front-to-rear motor required torque according to the required layer front-to-rear motor required torque, including:
And carrying out torque limitation or torque inhibition on the motor required torque before and after the required layer, and determining the motor required torque before and after the required layer.
The embodiment of the invention also provides a torque control device, which comprises:
The first determining module 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 front and rear motor ESP torque intervention activation flag bit and the valid bit of the front and rear motor ESP torque intervention activation flag bit;
The second determining module is used for determining a real-time monitoring and judging mechanism zone bit for the intervention of the ESP torque of the front and rear motors according to 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;
The third determining module is used for determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information;
and the fourth determining module is used for determining the front and rear motor required torque of the current driving period according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit.
Optionally, the first determining module includes:
The first determining 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 intervention torque of the front motor ESP when the intervention activation flag bit of the torque of the front motor ESP is activated and the valid bit of the intervention activation flag bit of the torque of the front motor ESP is valid;
The second determining unit is used for determining the post-motor demand torque of the demand layer and the post-motor demand torque of the monitoring layer according to the post-motor original demand torque and the post-motor ESP intervention torque when the post-motor ESP torque intervention activation flag bit is activated and the valid bit of the post-motor ESP torque intervention activation flag bit is valid;
And the third determining unit is used for determining the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer according to the front and rear motor original demand torque and the front and rear motor ESP intervention torque 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.
Optionally, the first determining unit is specifically configured to:
And 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 ESP 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 determining unit is used for determining the motor demand torque after the demand layer according to the motor demand torque before the demand layer, the original demand torque after the motor and a preset transfer proportion coefficient 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.
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 ESP of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque;
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 layer rear motor required torque and the monitoring layer rear motor required torque.
Optionally, the second determining module is specifically configured to:
When the difference value between the absolute value of the motor required torque before the required layer and the absolute value of the motor required torque before the monitoring layer is larger than a preset threshold value, determining that the marker bit of the real-time monitoring and judging mechanism for the intervention of the ESP torque 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 larger than the preset threshold value, determining that the real-time monitoring and judging mechanism flag bit of the ESP torque intervention 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 includes:
the vehicle gear information is forward gear or reverse gear.
Optionally, the fourth determining module includes:
The fifth determining unit is used for determining a front and rear motor ESP torque intervention function safety fault determining flag bit according to the front and rear motor ESP torque intervention real-time monitoring judging 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 configured to determine, according to the required motor required torque before and after the required layer when the front and rear motor ESP torque intervention function safety fault determining flag bit is activated, the required motor required torque before and after the required layer, or determine, when the front and rear motor ESP torque intervention function safety fault determining flag bit is not activated, that the required motor required torque before and after the required layer is the required motor required torque before and after the required layer.
Optionally, the fourth determining module further includes:
And when the front and rear motor ESP torque intervention functional safety fault determination flag bit is changed from activated to deactivated, maintaining the front and rear motor required torque as the front and rear motor ESP torque intervention functional safety fault determination flag bit as the corresponding front and rear motor required torque when 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 front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit is continuously preset for a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determining flag bit is activated.
Optionally, the sixth determining unit is specifically configured to:
And carrying out torque limitation or torque inhibition on the motor required torque before and after the required layer, and determining the motor required torque before and after the required layer.
The embodiment of the invention also provides an electric automobile, which comprises: the torque control device comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the program is executed by the processor to realize the torque control method.
The technical scheme of the invention has at least the following beneficial effects:
in the scheme, the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer are determined according to the front and rear motor ESP torque intervention activation flag bit and the valid bit of the front and rear motor ESP torque intervention activation flag bit; determining a marker bit of a real-time monitoring and judging mechanism for the intervention of the ESP torque of the front and rear motors according to 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; determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information; and determining the front and rear motor required torque of the current driving period according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit, realizing real-time monitoring on the front and rear motor ESP torque intervention, considering the dynamic property and stability of the vehicle, preventing unexpected yaw and the like of the vehicle caused by the ESP torque intervention fault, and ensuring the driving safety of the vehicle.
Drawings
FIG. 1 is a flow chart of a torque control method according to an embodiment of the invention;
FIG. 2 is a block diagram of a pre-motor ESP torque intervention real-time monitoring system of an embodiment of the present invention;
FIG. 3 is a block diagram of a post-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 invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be 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 only the stability of the vehicle is considered and the dynamic performance is not considered in a torque control strategy for monitoring the instability of the vehicle by an ESP in the prior art.
As shown in fig. 1, an embodiment of the present invention provides a torque control method applied to an ESP, including:
step 101, determining the motor demand torque before and after the demand layer and the motor demand torque before and after the monitoring layer according to the front and rear motor ESP torque intervention activation zone bit and the valid bit of the front and rear motor ESP torque intervention activation zone bit;
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 motor required torque before and after the required layer comprises the motor required torque before the required layer and the motor required torque after 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.
The ESP intervention torque of the demand layer gives consideration to the dynamics of the vehicle, and the ESP intervention torque of the monitoring layer gives consideration to the stability of the vehicle. The required torque of the front motor and the rear motor is monitored in real time to ensure that the ESP intervention torque of the front motor and the rear motor can be correctly executed.
Step 102, determining a real-time monitoring and judging mechanism zone bit for the intervention of ESP torque of the front and rear motors according to 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;
Here, the front and rear motor ESP torque intervention real-time detection judging mechanism flag bit comprises a front motor ESP torque intervention real-time detection judging mechanism flag bit and a rear motor ESP torque intervention real-time detection judging mechanism flag bit, so that the running process of the electric automobile four-wheel drive vehicle is realized, the front and rear motor required torque of the required layer and the monitoring layer is 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.
Step 103, determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and the current vehicle state information;
here, the front and rear motor ESP torque intervention real-time monitoring enable condition flag bits include a front motor ESP torque intervention real-time monitoring enable condition flag bit and a rear motor ESP torque intervention real-time monitoring enable condition flag bit.
And 104, determining the front and rear motor required torque of the current driving period according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit.
Here, the front and rear motor required torques include a front motor required torque and a rear motor required torque; one up-down and power-down cycle is referred to as one driving cycle.
According to the embodiment of the invention, the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer are determined according to the front and rear motor ESP torque intervention activation zone bit and the valid bit of the front and rear motor ESP torque intervention activation zone bit; determining a real-time monitoring and judging mechanism zone bit for the intervention of the ESP torque of the front and rear motors according to 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; determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information; and according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit, the front and rear motor demand torque in the current driving period is determined, the front and rear motor ESP torque intervention is monitored in real time, the dynamic property and the stability of the vehicle are considered, unexpected yaw and the like of the vehicle caused by the ESP torque intervention fault are prevented, and the running safety of the vehicle is ensured.
Optionally, in step 101, determining the motor demand torque before and after the demand layer and monitoring the motor demand torque before and after according to the front and after motor ESP torque intervention activation flag and the valid bit of the front and after motor ESP torque intervention activation flag 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 a front motor demand torque of a demand layer and a front motor demand torque of a monitoring layer according to the front motor original demand torque and the front motor ESP intervention torque;
When the post-motor ESP torque intervention activation flag bit is activated and the valid bit of the post-motor ESP torque intervention activation flag bit is valid, determining a post-motor demand torque of a demand layer and a post-motor demand torque of a monitoring layer according to the post-motor original demand torque and the post-motor ESP intervention torque;
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 demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer according to the front and rear motor original demand torque and the front and rear motor ESP intervention torque.
It should be noted that, step 101 performs one of the above three cases, in which the front and rear motor original required torques include 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, calculated according to the opening degree of the driver's depression of the accelerator pedal.
Specifically, 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 demand layer front motor demand torque and the monitoring layer front motor demand torque according to the front motor original demand torque and the front motor ESP intervention torque, includes:
And 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 ESP of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque.
Further, when the post-motor ESP torque intervention activation flag bit is active and the valid bit of the post-motor ESP torque intervention activation flag bit is valid, determining the post-demand motor torque at the demand level and the post-motor demand torque at the monitoring level according to the post-motor original demand torque and the post-motor ESP intervention torque, comprising:
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 layer rear motor required torque and the monitoring layer rear motor required torque.
Optionally, in step 101, determining the required torque of the motor before and after the required layer and monitoring the required torque of the motor before and after according to the active bit of the front and back motor ESP torque intervention activation flag and the front and back motor ESP torque intervention activation flag, and further includes:
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 the preset transfer proportionality coefficient.
It should be noted that, the motor required torque after the required layer is equal to the sum of the product of the difference value between the motor required torque before the required layer and the original required torque of the front motor and the first preset transfer proportionality coefficient and the original required torque of the rear motor.
Optionally, 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 demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer according to the front and rear motor original demand torque and the front and rear motor ESP intervention torque, includes:
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 ESP of the front motor 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 intervention torque of the ESP of the rear motor as the required layer rear motor required torque and the monitoring layer rear motor required torque.
Optionally, step 102, determining a flag bit of a real-time monitoring and judging mechanism for the intervention of the ESP torque of the front and rear motors according to the motor required torque before and after the required layer and the motor required torque before and after the monitoring layer, including:
When the difference value between the absolute value of the motor required torque before the required layer and the absolute value of the motor required torque before the monitoring layer is larger than a preset threshold value, determining that the marker bit of the real-time monitoring and judging mechanism for the intervention of the ESP torque 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 larger than a preset threshold value, determining that the real-time monitoring and judging mechanism flag bit of the ESP torque intervention of the rear motor is a first preset value.
It should be noted that the preset threshold is obtained according to experience or real vehicle calibration, and preferably, the preset threshold is 10Nm. The first preset value may be "True", and when the difference 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 flag bit of the real-time monitoring and judging mechanism for the intervention of the ESP torque of the rear motor is determined to be "False".
Optionally, in step 103, determining the front-to-rear motor ESP torque intervention real-time monitoring enabling condition flag bit according to the front-to-rear motor ESP torque intervention enabling flag bit, the valid bit of the front-to-rear motor ESP torque intervention enabling 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 forward gear or reverse gear.
Here, the second preset value may be "Enable", and the front-rear motor ESP torque intervention real-time monitoring Enable condition flag is determined to be "Disable" when at least one of the front-rear motor ESP torque intervention activation flag, the front-rear motor ESP torque intervention activation flag is valid, and the current vehicle state information does not satisfy the above.
The first condition further includes:
vehicle fault information is that there are no other vehicle system faults other than ESP torque intervention real-time monitoring faults, such as: the vehicle has no high-voltage down fault, the motor has no over-temperature fault, etc.
Optionally, step 104, determining the front and rear motor required torque of the current driving cycle according to the front and rear motor ESP torque intervention real-time monitoring determination mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enable condition flag includes:
according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit, determining a front and rear motor ESP torque intervention functional safety fault determination zone bit;
And when the front and rear motor ESP torque intervention function safety fault determination zone bit is activated, determining the front and rear motor required torque according to the front and rear motor required torque of the required layer, or when the front and rear motor ESP torque intervention function safety fault determination zone bit is not activated, determining the front and rear motor required torque of the required layer as the front and rear motor required torque.
Optionally, in step 104, the front and rear motor demand torque of the current driving cycle is determined according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit, and further including:
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 demand torque is kept as the front and rear motor ESP torque intervention function safety fault determination flag bit is corresponding to the front and rear motor demand torque when 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 the front and rear motor ESP torque intervention functional safety fault determination flag according to the front and rear motor ESP torque intervention real-time monitoring determination mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enable condition flag includes:
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 front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit continuously preset time length is a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determining flag bit is activated.
It should be noted that the preset time period is longer than the fault redundancy time (FTTI).
Optionally, when the front-to-rear motor ESP torque intervention function safety fault determination flag bit is activated, determining the front-to-rear motor demand torque according to the demand layer front-to-rear motor demand torque, including:
And performing torque limitation or torque inhibition on motor required torques before and after the required layer, and determining the motor required torques before and after the required layer.
The torque is limited to reduce the required torque of the motor before and after the required layer. Torque inhibit is to limit motor demand torque to 0Nm before and after the demand layer.
It should be further noted that the torque control method provided by the embodiment of the present invention may also be applied to a real-time monitoring system for torque intervention of the front motor ESP shown in fig. 2, and a real-time monitoring system for torque intervention of the rear motor ESP shown in fig. 3.
The method is applied to a pre-motor ESP torque intervention real-time monitoring system and comprises the following steps of:
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 valid bit of the front motor ESP torque intervention activation flag bit and the current vehicle state information are input into 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 judging mechanism flag bit and the front motor ESP torque intervention real-time monitoring enabling condition flag bit are input to the 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 flag 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 front motor demand torque.
In addition, the steps applied to the post-motor ESP torque intervention real-time monitoring system are as follows:
The back motor ESP torque intervention real-time monitoring and judging mechanism unit outputs back motor ESP torque intervention real-time monitoring and judging mechanism zone bits;
The rear motor ESP torque intervention activation flag bit, the valid bit of the rear motor ESP torque intervention activation flag bit and the current vehicle state information are input into the front motor ESP torque intervention real-time monitoring enabling condition unit, and the rear motor ESP torque intervention real-time monitoring enabling condition unit outputs the rear motor ESP torque intervention real-time monitoring enabling condition flag bit.
The rear motor ESP torque intervention real-time monitoring judging mechanism flag bit and the rear motor ESP torque intervention real-time monitoring enabling condition flag bit are input to the 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.
The post-motor ESP torque intervention function safety fault determination flag bit is input to the post-motor ESP torque intervention real-time monitoring safety state unit, and the post-motor ESP torque intervention real-time monitoring safety state unit outputs post-motor demand torque.
As shown in fig. 4, an embodiment of the present invention further provides a torque control apparatus, including:
A first determining module 401, configured to determine a required torque of the motor before and after the required layer and a required torque of the motor before and after the monitoring layer according to the front and rear motor ESP torque intervention activation flag and a valid bit of the front and rear motor ESP torque intervention activation flag;
A second determining module 402, configured to determine a real-time monitoring and judging mechanism flag bit for intervention of ESP torque of the front and rear motors according to 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;
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 activating flag bit, the valid bit of the front-rear motor ESP torque intervention activating flag bit, and the current vehicle state information;
And a fourth determining module 404, configured to determine the front and rear motor required torque in the current driving period according to the front and rear motor ESP torque intervention real-time monitoring and judging mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enable condition flag.
According to the embodiment of the invention, the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer are determined according to the front and rear motor ESP torque intervention activation zone bit and the valid bit of the front and rear motor ESP torque intervention activation zone bit; determining a real-time monitoring and judging mechanism zone bit for the intervention of the ESP torque of the front and rear motors according to 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; determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information; and according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit, the front and rear motor demand torque in the current driving period is determined, the front and rear motor ESP torque intervention is monitored in real time, the dynamic property and the stability of the vehicle are considered, unexpected yaw and the like of the vehicle caused by the ESP torque intervention fault are prevented, and the running safety of the vehicle is ensured.
Optionally, the first determining module 401 includes:
The first determining 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 intervention torque of the front motor ESP when the intervention activation flag bit of the torque of the front motor ESP is activated and the valid bit of the intervention activation flag bit of the torque of the front motor ESP is valid;
The second determining unit is used for determining the post-motor demand torque of the demand layer and the post-motor demand torque of the monitoring layer according to the post-motor original demand torque and the post-motor ESP intervention torque when the post-motor ESP torque intervention activation flag bit is activated and the valid bit of the post-motor ESP torque intervention activation flag bit is valid;
and the third determining unit is used for determining the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer according to the front and rear motor original demand torque and the front and rear motor ESP intervention torque 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.
Optionally, the first determining unit is specifically configured to:
and 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 ESP 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 401 further includes:
and the fourth determining unit is used for determining the motor demand torque after the demand layer according to the motor demand torque before the demand layer, the original demand torque after the motor and a preset transfer proportion coefficient 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.
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 ESP of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque;
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 layer rear motor required torque and the monitoring layer rear motor required torque.
Optionally, the second determining module 402 is specifically configured to:
When the difference value between the absolute value of the motor required torque before the required layer and the absolute value of the motor required torque before the monitoring layer is larger than a preset threshold value, determining that the marker bit of the real-time monitoring and judging mechanism for the intervention of the ESP torque 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 larger than a preset threshold value, determining that the real-time monitoring and judging mechanism flag bit of the ESP torque intervention 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 forward gear or reverse gear.
Optionally, the fourth determining module 404 includes:
The fifth determining unit is used for determining a safety fault determining flag bit of the front and rear motor ESP torque intervention function according to the front and rear motor ESP torque intervention real-time monitoring judging 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 torque according to the front and rear motor required torque 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 torque of the required layer as the front and rear motor required torque when the front and rear motor ESP torque intervention function safety fault determining flag bit is not activated.
Optionally, the fourth determining module 404 further includes:
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 demand torque is kept as the front and rear motor ESP torque intervention function safety fault determination flag bit is corresponding to the front and rear motor demand torque when 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 front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit is continuously preset for a first preset value, determining that the front and rear motor ESP torque intervention functional safety fault determination flag bit is activated.
Optionally, the sixth determining unit is specifically configured to:
And performing torque limitation or torque inhibition on motor required torques before and after the required layer, and determining the motor required torques before and after the required layer.
It should be noted that, the torque control device provided in 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 the same or similar technical effects can be achieved.
The embodiment of the invention also provides an electric automobile, which comprises: the torque control device comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the program is executed by the processor to realize the torque control method.
It should be noted that, the electric vehicle provided in the embodiment of the present invention, which executes the torque control method described above, has the same technical effects, and will not be described herein again.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims (12)

1. A torque control method for an electronic stability system ESP, comprising:
According to the front and rear motor ESP torque intervention activation zone bit and the valid bit of the front and rear motor ESP torque intervention activation zone bit, determining the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer; the demand layer identifies a dynamic layer, and the monitoring layer identifies a stability layer;
determining a marker bit of a real-time monitoring and judging mechanism for the intervention of the ESP torque of the front and rear motors according to 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;
Determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information;
Determining front and rear motor required torque in a current driving period according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit;
Determining the motor demand torque and monitoring the motor demand torque before and after the demand layer according to the front and back motor ESP torque intervention activation flag bit and the valid bit of the front and back motor ESP torque intervention activation flag bit, comprising:
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 a front motor demand torque of a demand layer and a front motor demand torque of a monitoring layer according to the front motor original demand torque and the front motor ESP intervention torque;
When the post-motor ESP torque intervention activation flag bit is activated and the valid bit of the post-motor ESP torque intervention activation flag bit is valid, determining a post-motor demand torque of a demand layer and a post-motor demand torque of a monitoring layer according to the post-motor original demand torque and the post-motor ESP intervention torque;
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 demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer according to the front and rear motor original demand torque and the front and rear motor ESP intervention torque.
2. The torque control method of claim 1, wherein determining the demand layer pre-motor demand torque and the monitoring layer pre-motor demand torque from the pre-motor raw demand 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 value of the absolute value of the original required torque of the front motor and the absolute value of the intervention torque of the ESP of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque.
3. The torque control method of claim 1, wherein determining the demand layer front-to-rear motor demand torque and monitoring the front-to-rear motor demand torque based on the front-to-rear motor ESP torque intervention activation flag and the valid bit of the front-to-rear motor ESP torque intervention activation flag, further comprises:
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 the preset transfer proportionality coefficient.
4. The torque control method of claim 1, wherein determining the demand layer front-to-rear motor demand torque and the monitoring layer front-to-rear motor demand torque from a front-to-rear motor original demand torque and a front-to-rear motor ESP intervention torque when the front-to-rear motor ESP torque intervention activation flag is active and the validity bit of the front-to-rear motor ESP torque intervention activation flag is valid comprises:
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 ESP of the front motor as the required layer front motor required torque and the monitoring layer front motor required torque;
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 layer rear motor required torque and the monitoring layer rear motor required torque.
5. The torque control method of claim 1, wherein determining a front-to-rear motor ESP torque intervention real-time monitoring and judging mechanism flag according to the motor demand torque before and after the demand layer and the motor demand torque before and after the monitoring layer comprises:
When the difference value between the absolute value of the motor required torque before the required layer and the absolute value of the motor required torque before the monitoring layer is larger than a preset threshold value, determining that the marker bit of the real-time monitoring and judging mechanism for the intervention of the ESP torque 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 larger than the preset threshold value, determining that the real-time monitoring and judging mechanism flag bit of the ESP torque intervention of the rear motor is the first preset value.
6. The torque control method according to claim 1, characterized in that determining a front-to-rear motor ESP torque intervention real-time monitoring enable condition flag according to the front-to-rear motor ESP torque intervention activation flag and the valid bit of the front-to-rear motor ESP torque intervention activation flag and 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 includes:
the vehicle gear information is forward gear or reverse gear.
7. The torque control method according to claim 1, wherein determining the front and rear motor demand torque for the current driving cycle based on the front and rear motor ESP torque intervention real-time monitoring determination mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enable condition flag comprises:
Determining a front and rear motor ESP torque intervention functional safety fault determination zone bit according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism zone bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition zone bit;
And when the front and rear motor ESP torque intervention function safety fault determination zone bit is activated, determining the front and rear motor required torque according to the front and rear motor required torque of the required layer, or when the front and rear motor ESP torque intervention function safety fault determination zone bit is not activated, determining the front and rear motor required torque of the required layer as the front and rear motor required torque.
8. The torque control method of claim 7, wherein determining the front and rear motor demand torque for the current drive cycle based on the front and rear motor ESP torque intervention real-time monitoring determination mechanism flag and the front and rear motor ESP torque intervention real-time monitoring enable condition flag further comprises:
And when the front and rear motor ESP torque intervention functional safety fault determination flag bit is changed from activated to deactivated, maintaining the front and rear motor required torque as the front and rear motor ESP torque intervention functional safety fault determination flag bit as the corresponding front and rear motor required torque when activated.
9. The torque control method according to claim 7, wherein determining a front-to-rear motor ESP torque intervention functional safety fault determination flag according to the front-to-rear motor ESP torque intervention real-time monitoring determination mechanism flag and the front-to-rear motor ESP torque intervention real-time monitoring enable condition flag comprises:
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 front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit is continuously preset for a first preset value, determining that the front and rear motor ESP torque intervention function safety fault determining flag bit is activated.
10. The torque control method of claim 7, wherein determining the front and rear motor demand torque from the demand layer front and rear motor demand torque when the front and rear motor ESP torque intervention function safety fault determination flag is active comprises:
And carrying out torque limitation or torque inhibition on the motor required torque before and after the required layer, and determining the motor required torque before and after the required layer.
11. A torque control apparatus, comprising:
the first determining module 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 front and rear motor ESP torque intervention activation flag bit and the valid bit of the front and rear motor ESP torque intervention activation flag bit; the demand layer identifies a dynamic layer, and the monitoring layer identifies a stability layer;
The second determining module is used for determining a real-time monitoring and judging mechanism zone bit for the intervention of the ESP torque of the front and rear motors according to 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;
The third determining module is used for determining a 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 bit of the front and rear motor ESP torque intervention activating flag bit and current vehicle state information;
The fourth determining module is used for determining the front and rear motor required torque of the current driving period according to the front and rear motor ESP torque intervention real-time monitoring judging mechanism flag bit and the front and rear motor ESP torque intervention real-time monitoring enabling condition flag bit;
the first determination module includes:
The first determining 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 intervention torque of the front motor ESP when the intervention activation flag bit of the torque of the front motor ESP is activated and the valid bit of the intervention activation flag bit of the torque of the front motor ESP is valid;
The second determining unit is used for determining the post-motor demand torque of the demand layer and the post-motor demand torque of the monitoring layer according to the post-motor original demand torque and the post-motor ESP intervention torque when the post-motor ESP torque intervention activation flag bit is activated and the valid bit of the post-motor ESP torque intervention activation flag bit is valid;
and the third determining unit is used for determining the front and rear motor demand torque of the demand layer and the front and rear motor demand torque of the monitoring layer according to the front and rear motor original demand torque and the front and rear motor ESP intervention torque 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.
12. An electric automobile, characterized by comprising: a processor, a memory, and a program stored on the memory and executable on the processor, which when executed by the processor, implements the torque control method as claimed in any one of claims 1 to 10.
CN202111240081.9A 2021-10-25 2021-10-25 Torque control method and device and electric automobile Active CN114670668B (en)

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