CN114919569A - Method and device for determining torque, storage medium, electronic equipment and vehicle - Google Patents

Method and device for determining torque, storage medium, electronic equipment and vehicle Download PDF

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Publication number
CN114919569A
CN114919569A CN202110713424.2A CN202110713424A CN114919569A CN 114919569 A CN114919569 A CN 114919569A CN 202110713424 A CN202110713424 A CN 202110713424A CN 114919569 A CN114919569 A CN 114919569A
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torque
output torque
current
historical
determining
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严亮
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • 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)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The disclosure relates to a method, a device, a storage medium, an electronic device and a vehicle for determining torque. The method comprises the following steps: determining whether the absolute value of the torque needs to be increased according to the required torque of the vehicle in the current period and the output torque of the vehicle in the previous period; under the condition that the absolute value of the torque needs to be increased, determining the output torque of the current period according to the preset torque increase, the required torque of the current period and the output torque of the previous period; wherein the preset torque increase amount is used to limit the maximum increase amount of the required torque. Like this, through predetermineeing the moment of torsion increment, the increment of moment of torsion is restricted at acceleration or braking in-process, can avoid the moment of torsion sudden change to can promote and drive the experience, in addition, also can avoid near the moment of torsion sudden change of zero moment of torsion, reduce the loss of gear.

Description

Method and device for determining torque, storage medium, electronic equipment and vehicle
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a method and an apparatus for determining torque, a storage medium, an electronic device, and a vehicle.
Background
The vehicle has great difference in required torque under different driving conditions, for example: the difference of the required torque under the working conditions of starting acceleration, braking deceleration, uphill slope, downhill slope and the like is large. In the related art, if the required torque of the vehicle is greatly changed, for example, during acceleration or deceleration, sudden change of the output torque of the vehicle occurs, so that the vehicle is subjected to sudden acceleration, sudden braking and the like, and driving comfort is reduced.
Disclosure of Invention
In order to solve the above problems, the present disclosure provides a method, an apparatus, a storage medium, an electronic device, and a vehicle for determining torque.
In a first aspect, the present disclosure provides a method of determining torque, the method comprising:
determining whether an absolute value of torque needs to be increased according to a first required torque of the vehicle and a historical output torque, wherein the first required torque is the required torque of the current period; the historical output torque is the output torque of the previous period;
under the condition that the absolute value of the torque needs to be increased, determining the output torque of the current period according to a preset torque increase, the first required torque and the historical output torque; wherein the preset torque increase is for limiting a maximum increase in output torque.
Optionally, the determining the output torque of the current cycle according to the preset torque increase, the first required torque and the historical output torque includes:
filtering the historical torque smooth increment according to the preset torque increment and a first filtering time constant to obtain the current torque smooth increment; the historical torque smooth increment is the torque smooth increment of the previous period, the current torque smooth increment is the torque smooth increment of the current period, and the current torque smooth increment is used for increasing the smooth output torque;
and determining the output torque of the current period according to the smooth increase amount of the current torque, the first required torque and the historical output torque.
Optionally, the determining the output torque of the current cycle according to the current torque smooth increase amount, the first required torque and the historical output torque comprises:
determining a second required torque according to the current torque smooth increase amount, the first required torque and the historical output torque;
and filtering the historical output torque of the previous period according to the second required torque and a second filtering time constant to obtain the output torque of the current period.
Optionally, the method further comprises:
and under the condition that the absolute value of the torque needs to be reduced, filtering the historical output torque of the previous period according to the first required torque and the third filtering time constant to obtain the output torque of the current period.
Optionally, the filtering the historical output torque of the previous cycle according to the first required torque and a third filtering time constant under the condition that the absolute value of the torque needs to be reduced, and obtaining the output torque of the current cycle includes: adjusting the first required torque to a preset minimum torque and determining that a torque absolute value needs to be reduced in the case where either one of the first required torque and the historical output torque is a positive value and the other is a negative value; and under the condition that the absolute value of the torque needs to be reduced, filtering the historical output torque of the previous period according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current period.
Optionally, the filtering the historical output torque of the previous cycle according to the adjusted first required torque and the third filtering time constant under the condition that the absolute value of the torque needs to be reduced, and obtaining the output torque of the current cycle includes: under the condition that the absolute value of the torque needs to be reduced, obtaining the vehicle working condition of the vehicle; and if the vehicle working condition is a preset working condition, filtering the historical output torque of the previous period according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current period.
In a second aspect, the present disclosure provides an apparatus for determining torque, the apparatus comprising:
the torque state determining module is used for determining whether an absolute value of torque needs to be increased or not according to a first required torque of the vehicle and a historical output torque, wherein the first required torque is the required torque of the current period; the historical output torque is the output torque of the previous period;
the output torque determining module is used for determining the output torque of the current period according to a preset torque increment, the first required torque and the historical output torque under the condition that the torque absolute value needs to be increased; wherein the preset torque increase is for limiting a maximum increase in output torque.
In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect of the present disclosure.
In a fourth aspect, the present disclosure provides an electronic device comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of the first aspect of the disclosure.
In a fifth aspect, the present disclosure provides a vehicle comprising: the electronic device of the fourth aspect of the present disclosure.
By adopting the technical scheme, whether the absolute value of the torque needs to be increased or not is determined according to the required torque of the vehicle in the current period and the output torque of the vehicle in the previous period; under the condition that the absolute value of the torque needs to be increased, determining the output torque of the current period according to the preset torque increase, the required torque of the current period and the output torque of the previous period; wherein the preset torque increase amount is used to limit the maximum increase amount of the required torque. Like this, through predetermineeing the moment of torsion increment, the increment of moment of torsion is restricted at acceleration or braking in-process, can avoid the moment of torsion sudden change to can promote and drive the experience, in addition, also can avoid near the moment of torsion sudden change of zero moment of torsion, reduce the loss of gear.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a method of determining torque provided by an embodiment of the present disclosure;
FIG. 2a is a schematic illustration of an output torque determined according to a method of determining torque provided by an embodiment of the present disclosure;
FIG. 2b is a schematic illustration of an output torque determined according to one method of determining torque in the related art;
FIG. 2c is a schematic illustration of an output torque determined according to another method of determining torque provided by an embodiment of the present disclosure;
FIG. 2d is a schematic illustration of an output torque determined according to another method of determining torque provided by an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a logic structure of an apparatus for determining torque provided by an embodiment of the present disclosure;
fig. 4 is a block diagram of an electronic device provided by an embodiment of the present disclosure;
fig. 5 is a block diagram of a vehicle provided by an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
It is noted that, in the present disclosure, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor order; the terms "S101", "S102", "S201", "S202", etc. are used to distinguish the steps and are not necessarily to be construed as performing method steps in a particular order or sequence; when the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated.
First, an application scenario of the present disclosure will be explained. The present disclosure may be applied to a scenario of determining torque in vehicle control. In the related art, if the required torque of the vehicle is changed greatly, for example, during acceleration or deceleration, the driver presses the accelerator pedal or the brake pedal hard, which results in abrupt change of the output torque of the vehicle, so that the vehicle brakes suddenly, accelerates suddenly, and the like, and the driving comfort is reduced. In order to improve driving comfort, the required torque can be filtered in a low-pass filtering mode, and sudden change of the output torque is avoided. However, although the common low-pass filtering method can alleviate the sudden change of the torque, the sudden change of the torque still exists near the zero torque, so that on one hand, the output torque is not smooth enough, and the driving smoothness is influenced; on the other hand, the loss of the gear is also increased.
In order to solve the above problems, the present disclosure provides a method, an apparatus, a storage medium, an electronic device, and a vehicle for determining torque, which can limit a maximum increase amount of output torque by presetting a torque increase amount. Therefore, the maximum increment of the torque is limited in the acceleration or braking process, the sudden change of the torque can be avoided, the driving smoothness can be improved, in addition, the sudden change of the torque near the zero torque can also be avoided by the method, and the loss of the gear is reduced.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings.
Fig. 1 is a method for determining torque according to an embodiment of the present disclosure, as shown in fig. 1, the method includes:
and S101, determining whether the absolute value of the torque needs to be increased according to the first required torque and the historical output torque of the vehicle.
Wherein the first demand torque is the demand torque of the current cycle; the historical output torque is the output torque of the previous cycle.
For example, in the case where the running state of the vehicle is normal running, the first request torque and the historical output torque may both be positive values, and if the first request torque is greater than the historical output torque, it may be determined that an increase in the absolute value of the torque is required; conversely, if the first required torque is smaller than the historical output torque, it may be determined that the absolute value of the torque needs to be reduced; if the two are equal, the torque can be kept constant.
Under the condition that the driving state of the vehicle is braking, the first required torque and the historical output torque can both be negative values, so that if the first required torque is smaller than the historical output torque, the absolute value of the torque which needs to be increased can be determined; conversely, if the first required torque is greater than the historical output torque, it may be determined that the absolute value of the torque needs to be reduced; likewise, if the two are equal, the torque can be kept constant.
When the running state of the vehicle is the start, the historical output torque may be a preset minimum torque, for example, zero torque, and the first required torque may be determined to be a large positive value according to the opening degree of the accelerator pedal, at which time it may be determined that the absolute value of the torque needs to be increased.
It should be noted that the first required torque and the historical output torque of the vehicle may be obtained periodically during the driving of the vehicle. For example, in each period, the first required torque of the vehicle can be determined according to one or more of information such as the opening degree of an accelerator pedal, the opening degree of a brake pedal, the driving speed, the steering angle of the vehicle, the working condition (such as an uphill slope, a downhill slope, sand, snow and the like) of the vehicle, the gear position of the vehicle, the driving mode of the vehicle and the like, so as to achieve the purpose of changing the driving speed of the vehicle according to the driving requirement; then, the output torque of the current cycle may be further determined based on the first required torque, so that, in the current cycle, the output torque determined in the previous cycle may be taken as the historical output torque of the previous cycle. The initial historical output torque after the vehicle is powered up may be set to a preset minimum torque, such as 0 nm or 1 nm.
S102, under the condition that the torque absolute value needs to be increased, determining the output torque of the current period according to a preset torque increase amount, the first required torque and the historical output torque.
Wherein the preset torque increase is for limiting a maximum increase in output torque.
For example, the sum of the historical output torque and the preset torque increment may be calculated first; the sum is compared with the first required torque, and the smaller of the sum and the first required torque is determined as the output torque of the current cycle. In this way, by limiting the maximum increase in output torque by this preset torque increase, it can be ensured that the torque change in each cycle is not too severe.
It should be noted that the period for sampling the first required torque and the historical output torque may be empirically determined, and may be any value between 0.1 ms and 1 second, for example, 1 ms, 5 ms, or 10 ms.
The preset torque increase amount may be any preset value between 5 and 500, and further, the preset torque increase amount may be set according to the period, and the longer the period is, the larger the preset torque increase amount is, and for example, in the case of a period of 1 millisecond, the preset torque increase amount may be set to 5; in the case of a cycle of 10 milliseconds, the preset torque increase amount may be set to 50. Therefore, the smaller the period is, the smaller the preset torque increment is, the smoother the output torque is, and the better driving smoothness can be obtained.
By adopting the method, whether the absolute value of the torque needs to be increased or not is determined according to the required torque of the vehicle in the current period and the output torque of the vehicle in the previous period; under the condition that the absolute value of the torque needs to be increased, determining the output torque of the current period according to the preset torque increase, the required torque of the current period and the output torque of the previous period; wherein the preset torque increase amount is used to limit the maximum increase amount of the required torque. Like this, through predetermineeing the moment of torsion increment, the increment of moment of torsion is restricted at acceleration or braking in-process, can avoid the moment of torsion sudden change to can promote and drive the experience, in addition, also can avoid near the moment of torsion sudden change of zero moment of torsion, reduce the loss of gear.
In another embodiment of the present disclosure, the implementation of determining the output torque of the current cycle according to the preset torque increase amount, the first required torque and the historical output torque in the step S102 may include the following steps:
firstly, according to the preset torque increment and a first filtering time constant, filtering the historical torque smooth increment to obtain the current torque smooth increment.
The historical torque smooth increase amount is the torque smooth increase amount of the previous period, and the current torque smooth increase amount is the torque smooth increase amount of the current period; the current torque smooth increment is used for smoothing the increment of the output torque, and the output torque can be smoothly increased in a mode of filtering the historical torque smooth increment in each period, so that sudden change of the torque is avoided.
For example, the current torque smooth increase amount may be calculated by the following formula.
X1(t)＝X1(t-1)+[X1(t-1)+A]/T1，
Wherein X1(T) represents a current torque smooth increase amount, X1(T-1) represents a history torque smooth increase amount, a represents the preset torque increase amount, and T1 represents the first filter time constant.
The preset torque increment and the first filtering time constant can be calibrated through vehicle tests or simulation, the preset torque increment can be any value between 5 and 500, and the first filtering time constant can be any value between 0.1 and 0.9.
The low-pass filtering algorithm is optimized in the mode, the historical torque smooth increment is filtered by the formula through the preset torque increment and the first filtering time constant, and the current torque smooth increment can be obtained through calculation; compare with the preset torque increment of direct settlement, through filtering, can obtain more reasonable smooth increment of current moment of torsion to can carry out more reasonable restriction to output torque according to this smooth increment of current moment of torsion, further promote the ride comfort.
Then, the output torque of the current cycle is determined according to the current torque smooth increase amount, the first required torque and the historical output torque.
In this step, the manner of determining the output torque may be any one of the following manners:
firstly, calculating to obtain a sum value of the historical output torque and the current torque smooth increment; the sum is compared with the first required torque, and the smaller of the sum and the first required torque is determined as the output torque of the current cycle. In this way, by limiting the maximum increase amount of the output torque by the current torque smooth increase amount, it is possible to ensure that the torque change per cycle is not excessively severe.
A second mode, determining a second required torque according to the current torque smooth increment, the first required torque and the historical output torque; and filtering the historical output torque of the previous period according to the second required torque and a second filtering time constant to obtain the output torque of the current period.
The second required torque may be a required torque in which the smooth increase amount of the current torque is limited according to the first required torque, that is, the smooth increase amount of the current torque is prevented from exceeding the range of the first required torque. For example, the second required torque may be obtained by: acquiring the sum of the current torque smooth increment and the historical output torque; the smaller value of the sum and the first required torque is taken as the second required torque.
For example, the second required torque may be obtained by the following equation:
X2(t)＝min(X1(t)+Y(t-1),X(t))，
where X2(t) represents the second required torque, X (t) represents the first required torque, X1(t) represents the current torque smooth increase amount, and Y (t-1) represents the output torque of the previous cycle.
After determining the second required torque, the output torque of the previous cycle may be filtered through the following formula, so as to obtain the output torque of the current cycle:
Y(t)＝Y(t-1)+[X2(t)–Y(t-1)]/T2，
where Y (T) represents the output torque of the current cycle, Y (T-1) represents the output torque of the previous cycle, X2(T) represents the second required torque, and T2 represents the second filter time constant.
Likewise, the second filter time constant may also be calibrated through the vehicle test or simulation described above, and the second filter time constant may also be any value between 0.1 and 0.9.
Therefore, by adopting the mode, the obtained output torque can be further smoother through twice filtering, sudden change of the output torque is avoided, and the driving smoothness is further improved.
Further, under the condition that the absolute value of the torque needs to be reduced, filtering the historical output torque of the previous period according to the first required torque and a third filtering time constant to obtain the output torque of the current period.
For example, the historical output torque of the previous cycle may be filtered by the following formula to obtain the output torque of the current cycle:
Y(t)＝Y(t-1)+[X(t)–Y(t-1)]/T3，
where Y (T) represents the output torque of the current cycle, Y (T-1) represents the historical output torque of the previous cycle, x (T) represents the first required torque, and T3 represents the third filter time constant.
Likewise, the third filter time constant may also be calibrated through the vehicle test or simulation described above, and the third filter time constant may also be any value between 0.1 and 0.9. The third filtering time constant and the second filtering time constant may be equal or different.
It should be noted that reducing the torque does not cause sudden speed change of the vehicle under most conditions, and therefore, in most cases, the torque can be directly reduced to the required torque without smoothing. However, in some scenes, such as desert and uphill, the vehicle speed is reduced too fast due to the excessive torque reduction, which has a certain influence on the driving smoothness. Therefore, under the condition that the absolute value of the torque needs to be reduced, the filtering mode can be adopted, and sudden change of the torque is avoided, so that the driving smoothness is improved.
Further, in this step, in the case where the absolute value of the torque needs to be reduced, the vehicle condition of the vehicle may be acquired first; and if the working condition of the vehicle is a preset working condition, filtering the historical output torque of the previous period according to the first required torque and the third filtering time constant to obtain the output torque of the current period. The preset working condition may include an uphill working condition and/or a sand working condition.
In another embodiment of the present disclosure, the method for determining whether the absolute value of the torque needs to be increased in the step S101 may include any one of the following manners:
in the first aspect, in the case where either one of the first required torque and the historical output torque is a positive value and the other is a negative value, the first required torque is adjusted to a preset minimum torque, and it is determined that a torque reduction in absolute value is required.
The preset minimum torque may be a minimum value of the preset output torque, and may be, for example, 0 nm or 1 nm. May be determined according to the condition of the engine output power.
It should be noted that, in the case that the first required torque and the historical output torque are positive and negative, the output torque may be changed to zero torque by setting the first required torque to a preset minimum torque, for example, zero torque, and then gradually increasing the absolute value of the torque to reach the first required torque by using the zero torque as a starting point. Therefore, the sudden change of the torque near the zero torque can be avoided, the loss of the gear is reduced, and the driving smoothness can be improved.
In a second mode, when the first required torque and the historical output torque are both positive values, or when the first required torque and the historical output torque are both negative values, if the absolute value of the first required torque is larger than the absolute value of the historical output torque, determining that the torque absolute value needs to be increased; conversely, if the absolute value of the first required torque is smaller than the absolute value of the historical output torque, it is determined that the absolute value of torque needs to be decreased.
Therefore, whether the torque absolute value needs to be increased or not can be determined according to different modes of the first required torque and the historical output torque, or whether the torque absolute value needs to be reduced or not can be determined, so that different filtering modes are adopted, smoother output torque is obtained, and driving smoothness is improved.
In another embodiment of the present disclosure, taking the demanded torque catastrophe as an example, under the value of the preset torque increment, according to the method in the embodiment of the present disclosure, different output torques can be obtained, for example,
fig. 2a is a schematic diagram of an output torque determined by a method for determining a torque according to an embodiment of the present disclosure, as shown in fig. 2a, in an algorithm for determining a torque of the present embodiment, a value of the preset torque increment is 150, a value of the first filter time constant is 0.2, and values of the second filter time constant and the third filter time constant are both 0.15. The abscissa of the graph is time in seconds; the ordinate is the output torque in nm. As can be seen from the figure, at the 2 nd second, the first required torque is suddenly changed from 0 to 4000 nm, the first filtering is performed according to the preset torque increment and the first filtering time constant, and then the second filtering is performed according to the second filtering time constant, so that the output torque can be smoothly adjusted to +4000 nm from 0 within a certain time; then the first demand torque and the output torque are both kept at +4000 torques and are continuously driven for a period of time; in the 5 th second, the first required torque is suddenly changed from +4000 nm to-2000 nm, at this time, the first required torque is firstly adjusted to a preset minimum torque, namely 0 nm, then filtering is performed according to the third filtering time constant, and the output torque is smoothly adjusted from +4000 nm to 0 nm; then, since the input first required torque is still-2000 nm, after primary filtering is performed according to the preset torque increment and the first filtering time constant and secondary filtering is performed according to the second filtering time constant, the output torque can be smoothly adjusted to-2000 nm from 0 within a certain time; further, at the 8 th second, the first required torque is abruptly changed from-2000 nm to 0 nm, and at this time, filtering may be performed according to the third filtering time constant, and the output torque may be smoothly adjusted from-2000 nm to 0 nm.
From the whole graph of fig. 2a, the output torque changes smoothly without abrupt change, and thus the driving smoothness is better.
Fig. 2b is a schematic diagram of an output torque determined according to a method for determining a torque in the related art, as shown in fig. 2b, in which processing is performed by adding a Ramp (Ramp function) to a zero torque after two low-pass filters are connected in series, under the same first scenario of a change in a required torque, the arithmetic efficiency is low due to high algorithm complexity, and due to the Ramp processing, a torque slope in the vicinity of the zero torque has a sudden change, which affects the driving smoothness of the vehicle.
Fig. 2c is a schematic diagram of an output torque determined according to another method for determining a torque provided by the embodiment of the present disclosure, as shown in fig. 2c, in the algorithm for determining a torque of this embodiment, the preset torque increment is 50, the first filter time constant is 0.2, and both the second filter time constant and the third filter time constant are 0.15. Under the same scene of the first required torque change, it can be seen from the figure that the change of the output torque is smoother without abrupt change, and therefore, the driving smoothness is better.
Fig. 2d is a schematic diagram of an output torque determined by another method for determining a torque according to the present disclosure, and as shown in fig. 2d, in the algorithm for determining a torque of this embodiment, the preset torque increment value is 500, the first filter time constant value is 0.2, and both the second filter time constant and the third filter time constant value are 0.15. Under the same scene of the first required torque change, the change of the output torque is also smoother without sudden change phenomenon, so that the driving smoothness is better.
Therefore, the larger the preset torque increase amount is, the larger the increase amount of the absolute value of the torque in unit time is, and under the condition that the absolute value of the torque needs to be increased, the output torque can meet the requirement of the first required torque more quickly, so that the driving experience of the vehicle can be improved.
Fig. 3 is a schematic structural diagram of an apparatus 300 for determining torque according to an embodiment of the present disclosure, as shown in fig. 3, the apparatus including:
the torque state determining module 301 is configured to determine whether an absolute value of torque needs to be increased according to a first required torque of the vehicle in a current cycle and a historical output torque of a previous cycle;
an output torque determining module 302, configured to determine an output torque of a current period according to a preset torque increment, the first required torque, and the historical output torque when an absolute value of torque needs to be increased; wherein the preset torque increase is for limiting a maximum increase in the output torque.
Optionally, the output torque determining module 302 is configured to filter the historical torque smooth increment of the previous period according to the preset torque increment and a first filtering time constant, so as to obtain a current torque smooth increment of the current period; and determining the output torque of the current period according to the current torque smooth increment, the first required torque and the historical output torque.
Optionally, the output torque determining module 302 is configured to determine a second required torque according to the current torque smooth increase amount, the first required torque and the historical output torque; and filtering the historical output torque of the previous period according to the second required torque and a second filtering time constant to obtain the output torque of the current period.
Optionally, the output torque determination module 302 is configured to obtain a sum of the current smooth torque increase and the historical output torque; the smaller value of the sum and the first required torque is taken as the second required torque.
Optionally, the output torque determining module 302 is further configured to, in a case that the absolute value of the torque needs to be reduced, filter the historical output torque of the previous cycle according to the first required torque and a third filter time constant, so as to obtain the output torque of the current cycle.
Optionally, the torque status determining module 301 is configured to adjust the first required torque to a preset minimum torque and determine that the torque absolute value needs to be decreased if either one of the first required torque and the historical output torque is a positive value and the other is a negative value; alternatively, in the case where both the first required torque and the historical output torque are positive values, or both the first required torque and the historical output torque are negative values, if the absolute value of the first required torque is larger than the absolute value of the historical output torque, it is determined that an increase in torque absolute value is required.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 4 is a block diagram illustrating an electronic device 400 in accordance with an example embodiment. As shown in fig. 4, the electronic device 400 may include: a processor 401 and a memory 402. The electronic device 400 may also include one or more of a multimedia component 403, an input/output (I/O) interface 404, and a communications component 405.
The processor 401 is configured to control the overall operation of the electronic device 400, so as to complete all or part of the steps of the method for determining torque. The memory 402 is used to store various types of data to support operations at the electronic device 400, such as instructions for any application or method operating on the electronic device 400 and application-related data. The Memory 402 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk.
In an exemplary embodiment, the electronic Device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method of determining torque.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the method of determining torque described above is also provided. For example, the computer readable storage medium may be the memory 402 including program instructions executable by the processor 401 of the electronic device 400 to perform the method of determining torque described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described method of determining a torque when executed by the programmable apparatus.
Fig. 5 is a block diagram of a vehicle provided in an embodiment of the present disclosure, and as shown in fig. 5, the vehicle may include: the electronic device 400 described above.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the disclosure does not separately describe various possible combinations.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A method of determining torque, the method comprising:
determining whether an absolute value of torque needs to be increased according to a first required torque of the vehicle and a historical output torque, wherein the first required torque is the required torque of the current period; the historical output torque is the output torque of the previous period;
under the condition that the absolute value of the torque needs to be increased, determining the output torque of the current period according to a preset torque increase, the first required torque and the historical output torque; wherein the preset torque increase is for limiting a maximum increase in output torque.
2. The method of claim 1, wherein the determining the output torque for the current cycle based on a preset torque increase, the first requested torque, and the historical output torque comprises:
filtering the historical torque smooth increment according to the preset torque increment and a first filtering time constant to obtain the current torque smooth increment; the historical torque smooth increment is the torque smooth increment of the previous period, the current torque smooth increment is the torque smooth increment of the current period, and the current torque smooth increment is used for increasing the smooth output torque;
and determining the output torque of the current period according to the smooth increase amount of the current torque, the first required torque and the historical output torque.
3. The method of claim 2, wherein the determining the output torque for the current cycle based on the current torque smooth increase, the first requested torque, and the historical output torque comprises:
determining a second required torque according to the current torque smooth increment, the first required torque and the historical output torque;
and filtering the historical output torque of the previous period according to the second required torque and a second filtering time constant to obtain the output torque of the current period.
4. The method of claim 1, further comprising:
and under the condition that the absolute value of the torque needs to be reduced, filtering the historical output torque of the previous period according to the first required torque and the third filtering time constant to obtain the output torque of the current period.
5. The method of claim 4, wherein the filtering the historical output torque of the previous cycle according to the first required torque and a third filtering time constant in the case of the absolute value of the torque needing to be reduced to obtain the output torque of the current cycle comprises:
adjusting the first required torque to a preset minimum torque and determining that a torque absolute value needs to be reduced in the case where either one of the first required torque and the historical output torque is a positive value and the other is a negative value;
and under the condition that the absolute value of the torque needs to be reduced, filtering the historical output torque of the previous period according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current period.
6. The method of claim 5, wherein the filtering the historical output torque of the previous cycle according to the adjusted first required torque and the third filtering time constant in the case of the absolute value of the torque needing to be reduced to obtain the output torque of the current cycle comprises:
under the condition that the absolute value of the torque needs to be reduced, obtaining the vehicle working condition of the vehicle;
and if the vehicle working condition is a preset working condition, filtering the historical output torque of the previous period according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current period.
7. An apparatus for determining torque, the apparatus comprising:
the torque state determination module is used for determining whether a torque absolute value needs to be increased or not according to a first required torque and a historical output torque of the vehicle, wherein the first required torque is the required torque of the current period; the historical output torque is the output torque of the previous period;
the output torque determining module is used for determining the output torque of the current period according to a preset torque increment, the first required torque and the historical output torque under the condition that the torque absolute value needs to be increased; wherein the preset torque increase is for limiting a maximum increase in output torque.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
9. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1 to 6.
10. A vehicle, characterized in that the vehicle comprises:
the electronic device of claim 9.
CN202110713424.2A 2021-06-25 2021-06-25 Method and device for determining torque, storage medium, electronic equipment and vehicle Pending CN114919569A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110713424.2A CN114919569A (en) 2021-06-25 2021-06-25 Method and device for determining torque, storage medium, electronic equipment and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110713424.2A CN114919569A (en) 2021-06-25 2021-06-25 Method and device for determining torque, storage medium, electronic equipment and vehicle

Publications (1)

Publication Number Publication Date
CN114919569A true CN114919569A (en) 2022-08-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110713424.2A Pending CN114919569A (en) 2021-06-25 2021-06-25 Method and device for determining torque, storage medium, electronic equipment and vehicle

Country Status (1)

Country Link
CN (1) CN114919569A (en)

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