CN115973154A - Vehicle torque control method and device, electronic equipment and readable storage medium - Google Patents

Abstract

The invention relates to the technical field of automobile driving, and discloses a vehicle torque control method, a device, electronic equipment and a readable storage medium, wherein the method is used for acquiring the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of a target vehicle; determining the whole vehicle boundary acceleration of the target vehicle according to the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle; acquiring the current gear, the speed and the accelerator depth of a target vehicle; determining the target acceleration of the target vehicle according to the boundary acceleration, the current gear, the current vehicle speed and the current accelerator depth; and determining the whole vehicle demand torque of the target vehicle according to the target acceleration. The invention can solve the problem that the whole vehicle demand torque acquisition process is complex in the existing whole vehicle demand torque control process, thereby improving the response speed of the whole vehicle output torque.

Description

Vehicle torque control method and device, electronic equipment and readable storage medium

Technical Field

The invention relates to the technical field of automobile driving, in particular to a vehicle torque control method, a vehicle torque control device, electronic equipment and a readable storage medium.

Background

In the field of conventional control of automobile driving, the control method of the output torque of the whole automobile of the automobile mainly comprises the steps of calculating the accelerator torque during driving according to an accelerator pedal lookup table, calculating the sliding feedback torque according to an automobile speed table, calculating the braking feedback torque during braking feedback according to the automobile speed and a braking depth lookup table, calculating the creeping torque according to an automobile speed PID (proportion integration differentiation) or calculating the creeping torque according to a fixed automobile speed lookup table, and finally performing working condition judgment, torque arbitration and gradient filtering processing and outputting, so that the automobile is controlled to output the corresponding torque. It can be seen from the above control method that in the calculation process of the output torque, switching calculation of different torque values needs to be performed, and switching between different working conditions needs to be considered and coordinated, so that the workload in the whole vehicle torque control development process is extremely large, and simultaneously, the calibrated test working conditions are difficult to cover all possible working conditions of the client user terminal, and further difficult to meet the driving performance requirements of the client user terminal.

Disclosure of Invention

In view of the above disadvantages of the prior art, the present invention discloses a vehicle torque control method, device, electronic device and readable storage medium, so as to improve the problem that the vehicle required torque acquisition process is complex in the existing vehicle required torque control process, and further improve the response speed of the vehicle output torque.

The invention discloses a vehicle torque control method, which comprises the following steps: acquiring boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of a target vehicle;

determining the whole vehicle boundary acceleration of the target vehicle according to the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle;

determining the upper boundary acceleration and the lower boundary acceleration of the target vehicle according to the whole vehicle boundary acceleration;

acquiring a current gear, a current speed and a current accelerator depth of a target vehicle;

determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed and the current accelerator depth;

and determining the whole vehicle required torque of the target vehicle according to the target acceleration of the target vehicle, and controlling a driving motor or a brake corresponding to the target vehicle to output corresponding torque according to the whole vehicle required torque.

Optionally, the boundary torque comprises a vehicle driving torque, and determining an upper boundary acceleration of the target vehicle according to the boundary acceleration comprises: an upper bound acceleration is determined based on the vehicle drive torque.

Optionally, the boundary torque comprises a vehicle braking torque, and determining a lower boundary acceleration of the target vehicle from the boundary acceleration comprises: a lower boundary acceleration is determined based on the vehicle braking torque.

Optionally, determining the target acceleration of the target vehicle according to the upper bound acceleration, the lower bound acceleration, the current gear, the current vehicle speed, and the current accelerator depth includes: determining a target acceleration from a current gear and/or a current vehicle speed and/or a current throttle depth look-up table, the target acceleration being limited between an upper boundary acceleration and a lower boundary acceleration.

Optionally, controlling the driving motor or the brake corresponding to the target vehicle to output the corresponding torque according to the overall vehicle required torque includes:

judging the required torque of the whole vehicle;

if the required torque of the whole vehicle is smaller than a preset torque value, controlling a brake to output a braking torque according to the required torque of the whole vehicle;

and if the required torque of the whole vehicle is larger than a preset torque value, controlling a driving motor to output driving torque according to the required torque of the whole vehicle.

Optionally, determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed, and the current accelerator depth further includes: and correcting and adjusting the target acceleration according to the actual acceleration of the target vehicle.

Optionally, the method further includes a torque monitoring and processing process after the driving motor or the brake corresponding to the target vehicle is controlled to output the corresponding torque according to the vehicle required torque, wherein the torque monitoring and processing process includes:

reading the current driving torque or the current braking torque of a target vehicle in real time according to the finished vehicle required torque, and determining a torque difference value between the finished vehicle required torque and the current driving torque or the current braking torque;

and calibrating the driving motor or the brake according to the torque difference value to enable the driving torque or the braking torque output correspondingly to be equal to the required torque of the whole vehicle.

The invention discloses a vehicle torque control device, comprising: the system comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is used for obtaining boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of a target vehicle; the first data processing module is used for determining the whole vehicle boundary acceleration of the target vehicle according to the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle; the second data processing module is used for determining the upper boundary acceleration and the lower boundary acceleration of the target vehicle according to the boundary acceleration; the second acquisition module is used for acquiring the current gear, the current speed and the current accelerator depth of the target vehicle; the third data processing module is used for determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed and the current accelerator depth; the fourth data processing module is used for determining the whole vehicle required torque of the target vehicle according to the target acceleration of the target vehicle; and the control module is used for controlling a driving motor or a brake corresponding to the target vehicle to output corresponding torque according to the required torque of the whole vehicle.

The invention discloses an electronic device, comprising: one or more processors; a storage device to store one or more programs that, when executed by the one or more processors, cause the electronic device to implement any of the vehicle torque control methods described above.

A computer-readable storage medium has stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute any of the above-described vehicle torque control methods.

The invention has the beneficial effects that: according to the method, the boundary acceleration of the target vehicle is directly determined by acquiring the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle, and the acceleration capacity of the target vehicle can be determined by determining the upper boundary acceleration and the lower boundary acceleration; then, by combining the obtained current gear, the speed and the accelerator depth of the target vehicle, the target acceleration of the target vehicle can be determined, and further the required torque of the whole vehicle is determined; in the process, the steps and the process for acquiring the required torque of the whole vehicle are simplified, and the acquiring speed of the required torque of the whole vehicle is further improved; because the driving motor or the brake corresponding to the vehicle demand torque control target vehicle outputs the corresponding torque, when the vehicle demand torque acquisition speed is increased, the control speed of the driving motor and the brake can be correspondingly increased, and the response speed of the vehicle output torque is increased.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic diagram illustrating an application scenario of a vehicle torque control method according to an exemplary embodiment of the present application;

FIG. 2 is a flow chart illustrating a vehicle torque control method according to an exemplary embodiment of the present application;

FIG. 3 is a schematic illustration of step S3 obtaining an upper boundary acceleration based on a boundary drive torque in an exemplary embodiment;

FIG. 4 is a data relationship diagram of the step S3 in one embodiment to obtain the upper boundary acceleration;

FIG. 5 is a schematic illustration of step S3 obtaining a lower boundary acceleration based on a boundary braking torque in an exemplary embodiment;

FIG. 6 is a data relationship diagram of step S3 for obtaining lower boundary acceleration in one embodiment;

FIG. 7 is a graph of data relationships for upper and lower boundary accelerations obtained in accordance with an embodiment of the present invention;

FIG. 8 is a logic diagram of step S51 in the embodiment of FIG. 2 in an exemplary embodiment;

FIG. 9 is a data relationship diagram of step S5 in the embodiment depicted in FIG. 2 in an exemplary embodiment;

FIG. 10 is a flowchart of step S7 in an exemplary embodiment;

FIG. 11 is a logic flow diagram in one embodiment of the present invention;

FIG. 12 is a schematic structural diagram of a vehicular torque control apparatus shown in an exemplary embodiment of the present application;

FIG. 13 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that, in the following embodiments and examples, subsamples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, amount and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.

In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.

The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

The term "plurality" means two or more unless otherwise specified.

In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. E.g., a and/or B, represents: a or B, or A and B.

Firstly, it should be noted that, in a conventional automobile electric control system, when calculating the accelerator torque, a calibration engineer can achieve different driving styles by matching different calibration parameters in different project development processes, and the torque requirements under working conditions of vehicle starting, uniform-speed driving, acceleration, overtaking and the like are realized by calibrating the torque of each vehicle speed and the opening degree of an accelerator pedal. When the sliding feedback torque is calculated, whether the working condition is entered or not needs to be judged according to the states of a brake pedal and an accelerator pedal, the vehicle speed and other parameters, and the requirements of different energy recovery strengths are met while the drivability requirements are met by calibrating the sliding feedback torque at each vehicle speed. When the braking feedback torque is calculated, whether the vehicle enters the working condition or not needs to be judged according to the states of a brake pedal and an accelerator pedal, the vehicle speed and other parameters, the braking requirement of a driver is met while the drivability requirement is met by calibrating the sliding feedback torque under each vehicle speed and braking depth, and energy is recovered as far as possible. When calculating the crawling torque, whether the vehicle enters the working condition or not needs to be judged according to the states of a brake pedal and an accelerator pedal, the vehicle speed and other parameters, the crawling torque is calculated according to the vehicle speed PID or the crawling torque is calculated by a fixed vehicle speed lookup table, and the idling crawling requirement is met while the driving requirement is met. And finally, working condition judgment, torque arbitration and gradient filtering processing links are required to be carried out, so that the vehicle is controlled to output corresponding torque. In the torque calculation process, different torque calculation values are in switching transition, and switching of different working conditions needs to be considered and coordinated. Therefore, the acquiring process of the required torque of the whole vehicle is relatively complex, and the number of calculation steps is relatively large; in addition, the calibrated test condition may not cover all possible conditions of the customer's user end.

In view of this, the embodiment of the application provides a vehicle torque control method, a vehicle torque control device, an electronic device and a readable storage medium. The method can be applied to an electric control system of a target vehicle, wherein the target vehicle in the embodiment of the application is an electric automobile with a motor driving system; determining the target acceleration of the current vehicle according to the acquired current gear, the acquired speed and the acquired accelerator depth of the target vehicle, and further determining the required torque of the whole vehicle; in the process, the steps and the process for acquiring the required torque of the whole vehicle are simplified, and the acquiring speed of the required torque of the whole vehicle is further improved; because the corresponding torque output of the driving motor or the brake of the target vehicle is controlled through the whole vehicle required torque, when the speed of obtaining the whole vehicle required torque is increased, the control speed of the driving motor and the brake can be correspondingly increased, and the response speed of the whole vehicle output torque is further increased.

Referring to fig. 1, fig. 1 is a schematic view illustrating an application scenario of a vehicle torque control method according to an exemplary embodiment of the present application. The vehicle torque control method provided by the embodiment of the disclosure is applied to the vehicle-mounted device 1, the vehicle-mounted device 1 can be arranged on a target vehicle, and the vehicle-mounted device 1 comprises, but is not limited to, a controller 11, a power system 12, an accelerator pedal 13, a brake pedal 14 and the like.

The controller 11 may include a memory 111, a processor 112, and a required torque calculation device 113. And the memory 111 and the processor 112 are electrically connected directly or indirectly to enable data transmission or interaction. For example, they may be electrically connected to each other via one or more communication buses or signal lines. The required torque calculating means 113 includes at least one software functional module in the form of software or firmware stored in the memory 111. The processor 112 is configured to execute executable computer programs stored in the memory 111, for example, software functional modules and computer programs included in the required torque calculating device 113, so as to implement a vehicle required torque calculating method.

Alternatively, the memory 111 may be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable read only memory, an electrically erasable read only memory, and the like, wherein the memory 111 is used for storing programs, and the processor 112 executes the programs after receiving the execution instructions.

The processor 112 may be an integrated circuit chip having signal processing capabilities. The processor 112 may be a general-purpose processor including a central processing unit, a network processor, a system on a chip, etc.; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The power system 12 comprises a driving system 121 and a braking system 122, wherein the driving system 121 is used for controlling the driving force of the target vehicle, and the braking system 122 is used for controlling the braking force of the target vehicle; the driving system 121 and the braking system 122 are electrically connected to the controller 11.

It is understood that the controller 11 shown in fig. 1 may also include more or fewer components or have a different configuration than that shown in fig. 1, and that the components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

Referring to fig. 2 and fig. 11, fig. 2 is a flowchart of a vehicle torque control method according to an embodiment of the present disclosure. FIG. 11 is a logic flow diagram in one embodiment of the present invention.

The vehicle torque control method is applied to an in-vehicle apparatus (e.g., the in-vehicle apparatus 1 of fig. 1). The vehicle torque control method includes:

s1, obtaining boundary torque, vehicle resistance, vehicle mass and vehicle rotary inertia of a target vehicle.

In this embodiment, current parameters of the target vehicle, which may include, for example, a vehicle speed, a pedal opening, a vehicle mass, etc., may be obtained first, and then, each preset rule is installed to perform calculation based on the obtained parameters, so as to obtain a current boundary torque, a current vehicle resistance, and a current vehicle rotational inertia of the target vehicle.

In an embodiment of the vehicle torque control method of the present invention, the obtaining the boundary torque of the target vehicle includes:

and S11, acquiring vehicle boundary driving torque.

In this step, the driving torque refers to a torque output from the crankshaft end by the driving motor; in the case of power stabilization, it is inversely proportional to the rotational speed of the drive motor. The faster the speed, the smaller the drive torque of the drive motor and vice versa, the greater the load carrying capacity of the vehicle in the respective range. The boundary driving torque is the maximum output torque of the driving motor and is a performance parameter of the driving motor; generally, the maximum torque value that can be achieved when the engine speed is relatively low is indicated, and the larger the boundary driving torque is, the better the driving performance of the driving motor is represented.

And S12, obtaining the braking torque of the vehicle boundary.

In this step, the braking torque is a torque generated by the brake, and the braking torque has the function of reducing the rotation speed of the wheels, and finally, the automobile is decelerated until the automobile stops; when the automobile runs on a downhill, the automobile keeps a proper stable speed; in addition, the vehicle can be reliably parked on the spot or on a slope. The braking torque in the embodiment is the torque generated by the automobile chassis brake; the stronger the braking capability of the chassis brake, the greater the generated braking torque; the boundary braking torque refers to the maximum braking torque generated by the chassis brake.

And S2, determining the whole vehicle boundary acceleration of the target vehicle according to the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle.

In this step, a boundary acceleration determination formula, boundary acceleration = (boundary torque-vehicle resistance)/(vehicle mass + vehicle inertia) may be stored in advance in the memory of the controller. And (3) substituting the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia acquired in the step (S1) into a boundary acceleration determining formula stored in a memory in advance, so as to obtain the boundary acceleration of the whole vehicle.

And S3, determining the upper boundary acceleration and the lower boundary acceleration of the target vehicle according to the whole vehicle boundary acceleration. This process includes steps S31 to S32:

s31, determining the upper boundary acceleration of the target vehicle according to the whole vehicle boundary acceleration comprises the following steps: an upper bound acceleration is determined based on the vehicle drive torque.

Referring to fig. 3 to 4, fig. 3 is a schematic diagram of step S3 for obtaining the upper boundary acceleration according to the boundary driving torque in an exemplary embodiment. FIG. 4 is a data relationship diagram of step S3 in one embodiment to obtain upper boundary acceleration. In this step, the boundary driving torque, the vehicle resistance, the vehicle mass, and the vehicle rotational inertia obtained in step S11 are substituted into a boundary acceleration determination formula stored in a memory in advance, resulting in: upper boundary acceleration = (boundary driving torque-vehicle resistance)/(vehicle mass + vehicle inertia), thereby determining the upper boundary acceleration.

S32, determining the lower boundary acceleration of the target vehicle according to the boundary acceleration comprises the following steps: a lower boundary acceleration is determined based on the vehicle braking torque.

Referring to fig. 5-6, fig. 5 is a schematic diagram of step S3 obtaining a lower boundary acceleration based on a boundary braking torque in an exemplary embodiment. FIG. 6 is a data relationship diagram of step S3 for obtaining lower boundary acceleration in one embodiment. In this step, the boundary braking torque, the vehicle resistance, the vehicle mass, and the vehicle rotational inertia obtained in step S12 are substituted into a boundary acceleration determination formula stored in advance in the memory, resulting in: lower boundary acceleration = (boundary brake torque-vehicle resistance)/(vehicle mass + vehicle rotational inertia), thereby determining the lower boundary acceleration.

Referring to fig. 7, fig. 7 is a data relationship diagram of the upper boundary acceleration and the lower boundary acceleration obtained in the embodiment of the present invention. The upper boundary acceleration curve and the lower boundary acceleration curve are finally obtained through step S31 and step S32.

And S4, acquiring the current gear, the speed and the accelerator depth of the target vehicle.

In the embodiment, the current gear, the speed and the accelerator depth of the target vehicle can be directly read by the vehicle running state monitoring system, and can also be obtained by other sensors.

And S5, determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed and the current accelerator depth.

Referring to fig. 8 and 9, fig. 8 is a logic diagram of step S51 in the embodiment shown in fig. 2 in an exemplary embodiment. FIG. 9 is a data relationship diagram of step S5 in the embodiment described in FIG. 2 in an exemplary embodiment. In this embodiment, after the current boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of the target vehicle are obtained through steps S11 and S4, and the upper boundary acceleration and the lower boundary acceleration of the target vehicle are obtained through steps S31 and S32, the target acceleration of the target vehicle may be calculated according to the current operating condition of the automobile.

S51, determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed and the current accelerator depth comprises the following steps: determining a target acceleration from a look-up table based on a current gear and/or a current vehicle speed and/or a current throttle depth, the target acceleration being limited between an upper boundary acceleration and a lower boundary acceleration. Further, when the opening degree of the accelerator is lower than a first preset proportion, determining a target acceleration according to the lower boundary acceleration; and when the opening degree of the accelerator is higher than a second preset proportion, determining a target acceleration according to the upper boundary acceleration.

In this embodiment, the first preset proportion and the second preset proportion may be any values in the range from 0 to 100%, in order to make the target acceleration of the target vehicle be selected more optimally, in this embodiment, the first preset proportion is selected to be 8%, and in other embodiments, any values such as 7%, 9%, or 10% may also be used; the second preset proportion is 10%, and in other embodiments, may be any value such as 9%, 11%, or 12%.

In step S5, determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed, and the current accelerator depth further includes step S52: and checking and adjusting the target acceleration according to the actual acceleration of the target vehicle. The process of calibrating the adjustment target acceleration includes steps S521 to S523:

and S521, reading the current actual acceleration of the target vehicle in real time.

In this embodiment, the actual acceleration of the target vehicle is obtained in an unlimited manner, and may be selected according to actual application requirements. The vehicle speed can be directly calculated, and can also be directly measured through an acceleration sensor.

S522, carrying out real-time difference operation on the actual acceleration and the target acceleration of the target vehicle, and judging whether the target acceleration is accurate or not;

in the present embodiment, an acceleration difference range is preset in the torque calculation device 113, a difference between the actual acceleration and the target acceleration is calculated by the torque calculation device 113, and it is determined whether the difference falls within the acceleration difference range.

And S523, determining whether the vehicle dynamics model is required to calibrate the calculation parameter of the target acceleration according to the judgment result.

When the difference between the actual acceleration and the target acceleration in step S522 falls within the set acceleration difference range, the vehicle dynamics model does not perform correction updating on the calculation parameter of the target acceleration at this time; when the difference between the actual acceleration and the target acceleration in step 522 falls outside the acceleration difference range, the vehicle dynamics model performs calibration and update on the calculation parameter of the target acceleration, so that the target acceleration is closer to the actual acceleration.

And S6, determining the whole vehicle required torque of the target vehicle according to the target acceleration of the target vehicle.

In the present embodiment, after the target acceleration of the target vehicle is obtained through steps S51 and S52, the total vehicle demand torque of the target vehicle may be calculated according to a rule algorithm stored in the torque calculation device 113 in advance. In this step, a driving characteristic curve is generated from the relationship between the boundary acceleration and the driving torque, and a braking torque characteristic curve is generated from the relationship between the boundary acceleration and the braking torque.

And S7, controlling a driving motor or a brake corresponding to the target vehicle to output corresponding torque according to the required torque of the whole vehicle. Referring to fig. 10, fig. 10 is a flowchart of step S7 in an exemplary embodiment. Wherein step S7 includes steps S71 to S74:

and S71, judging the required torque of the whole vehicle.

In the present embodiment, the torque calculation device 113 determines the vehicle required torque obtained in step S6 according to a preset rule.

And S72, if the required torque of the whole vehicle is smaller than the preset torque value, controlling the brake to output the brake torque according to the required torque of the whole vehicle.

In the step, the preset torque value can be automatically set according to the use habit of a user; for the convenience of judgment, in the present embodiment, the preset torque value is set to 0. And (4) carrying out numerical value judgment on the required torque obtained in the step (6) and the preset torque value in the torque calculation device 113, if the required torque of the whole vehicle is less than 0, controlling a brake in a power system to operate by a controller, and outputting the braking torque according to the required torque. The output driving torque is distributed through the braking torque, monitored and processed through the torque, and finally transmitted to a brake torque control system, and finally output control over the braking torque is achieved.

And S73, if the required torque of the whole vehicle is larger than the preset torque value, controlling the driving motor to output the driving torque according to the required torque of the whole vehicle.

In this step, the value of the required torque obtained in step 6 is determined in the torque calculation device 113 according to the preset torque value, and if the required torque of the entire vehicle is greater than 0, the controller controls the driving motor in the power system to operate, and outputs the driving torque according to the required torque. The output driving torque is subjected to driving torque distribution calculation, torque monitoring and processing, and finally transmitted to a driving motor torque control system, and finally output control of the driving torque is realized.

After the corresponding torque is output by the driving motor or the brake corresponding to the vehicle demand torque control target vehicle in the step S7, the method further includes a step S74 of torque monitoring and processing, wherein the torque monitoring and processing includes a step S741 or a step S742:

s741, reading the current driving torque or the current braking torque of a target vehicle in real time according to the finished vehicle required torque, and determining a torque difference value between the finished vehicle required torque and the current driving torque or the current braking torque;

in this embodiment, the manner of obtaining the driving torque of the target vehicle is not limited, and may be selected according to the actual application requirement. The torque sensor can be directly obtained from a controller of the driving motor or can be obtained through an external torque sensor. In this step, when the value of the required torque obtained in step 6 is judged in the torque calculation device 113 and the preset torque value, and the required torque of the whole vehicle is larger than the preset torque value 0, the driving motor operates at this time, and the driving torque is output according to the required torque; at this time, the torque calculating device 113 calculates a difference between the driving torque and the vehicle required torque to obtain a first torque difference.

In this embodiment, the manner of obtaining the braking torque of the target vehicle is not limited, and may be selected according to the actual application requirement. The torque sensor can be directly obtained from a controller of the brake or can be obtained through an external torque sensor. In this step, when the value of the required torque obtained in step 6 is judged in the torque calculation device 113 and the preset torque value, and the required torque of the whole vehicle is smaller than the preset torque value 0, the brake operates at this time, and the braking torque is output according to the required torque; at this time, the torque calculation device 113 calculates a difference between the braking torque and the vehicle-mounted required torque to obtain a second torque difference.

And S742, calibrating the driving motor or the brake according to the torque difference value to enable the driving torque or the braking torque output by the driving motor or the brake to be equal to the torque required by the whole vehicle.

In an exemplary embodiment of the step, when the value of the required torque obtained in the step 6 is judged in the torque calculation device 113 and the preset torque value, and it is known that the required torque of the entire vehicle is greater than the preset torque value 0, the driving motor operates at this time, and the driving torque is output according to the required torque; at the moment, the torque calculation device 113 calculates the difference between the driving torque and the required torque of the whole vehicle to obtain a first torque difference; at this time, the first torque difference is transmitted to a dynamic model preset in the torque calculation device 113, which calibrates the driving torque by the first torque difference and controls the driving motor by a calibration result so that the output torque of the driving motor is equal to the required torque.

In another exemplary embodiment of this step, when the value of the required torque obtained in step 6 is judged in the torque calculation device 113 and the preset torque value, and it is known that the required torque of the entire vehicle is smaller than the preset torque value 0, the brake operates at this time, and the braking torque is output according to the required torque; at the moment, the torque calculation device 113 calculates the difference between the braking torque and the vehicle required torque to obtain a second torque difference; at this time, the second torque difference is transmitted to a dynamic model preset in the torque calculation device 113, which calibrates the braking torque by the second torque difference and controls the brake by the calibration result so that the output torque of the brake is equal to the required torque.

Referring to fig. 12, fig. 12 is a schematic structural diagram of a vehicle torque control device according to an exemplary embodiment of the present application. The invention also provides a finished automobile required torque control device, which comprises a first acquisition module 100, a first data processing module 200, a second data processing module 300, a second acquisition module 400, a third data processing module 500, a fourth data processing module 600 and a control module 700; the first obtaining module 100 is used for obtaining boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of a target vehicle; the first data processing module 200 is used for determining the whole vehicle boundary acceleration of the target vehicle according to the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle; the second data processing module 300 is used for determining the upper boundary acceleration and the lower boundary acceleration of the target vehicle according to the boundary acceleration; the second obtaining module 400 is used for obtaining the current gear, the speed and the accelerator depth of the target vehicle; the third data processing module 500 is configured to determine a target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed, and the current accelerator depth; the fourth data processing module 600 is configured to determine a required torque of the target vehicle according to the target acceleration of the target vehicle; the control module 700 is configured to control a driving motor or a brake corresponding to a target vehicle to output a corresponding torque according to the requested torque.

It should be noted that the vehicle torque control method and apparatus provided in the foregoing embodiments belong to the same concept, and the specific manner in which each module performs operations has been described in detail in the method embodiments, and is not described again here. In practical applications, the entire vehicle required torque control device provided in the above embodiment may distribute the functions to different functional modules according to needs, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, which is not limited herein.

An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the electronic device to implement the model testing method provided in the above-described embodiments.

FIG. 13 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 1000 of the electronic device shown in fig. 13 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 13, the computer system 1000 includes a Central Processing Unit (CPU) 1001, which can perform various appropriate actions and processes, such as executing the method described in the above embodiment, according to a program stored in a Read-Only Memory (ROM) 1002 or a program loaded from a storage portion 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for system operation are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An Input/Output (I/O) interface 1005 is also connected to the bus 1004.

The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 1008 including a hard disk and the like; and a communication section 1009 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the internet. The driver 1010 is also connected to the I/O interface 1005 as necessary. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1010 as necessary, so that a computer program read out therefrom is mounted into the storage section 1008 as necessary.

In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication part 1009 and/or installed from the removable medium 1011. When the computer program is executed by a Central Processing Unit (CPU) 1001, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software or hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Yet another aspect of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the model testing method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.

According to the vehicle torque control method, the target acceleration of the current vehicle is determined through the acquired current gear, the vehicle speed and the accelerator depth of the target vehicle, the target acceleration is directly used as the target value, the torque output of a driving motor or a brake of the target vehicle is adjusted and controlled, so that the input and output connection is directly established between the moving end and the driving end of the vehicle, the required torque of the moving end of the vehicle is directly fed back to the driving end of the vehicle, the transmission efficiency between the required torque of the vehicle and the control end of the vehicle is improved, the speed response performance in the vehicle driving process can be better improved, and the driving experience of a user is improved.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. A vehicle torque control method, characterized by comprising:

acquiring boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of a target vehicle;

determining the whole vehicle boundary acceleration of the target vehicle according to the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle;

determining the upper boundary acceleration and the lower boundary acceleration of the target vehicle according to the whole vehicle boundary acceleration;

acquiring a current gear, a current speed and a current accelerator depth of a target vehicle;

determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed and the current accelerator depth;

and determining the whole vehicle required torque of the target vehicle according to the target acceleration of the target vehicle, and controlling a driving motor or a brake corresponding to the target vehicle to output corresponding torque according to the whole vehicle required torque.

2. The vehicle torque control method according to claim 1, wherein the boundary torque includes a vehicle driving torque, and determining an upper boundary acceleration of the target vehicle from the boundary acceleration includes: an upper bound acceleration is determined based on the vehicle drive torque.

3. The vehicle torque control method according to claim 1, wherein the boundary torque includes a vehicle braking torque, and determining a lower boundary acceleration of the target vehicle from the boundary acceleration includes: a lower boundary acceleration is determined based on the vehicle braking torque.

4. The vehicle torque control method of claim 1, wherein determining the target acceleration of the target vehicle based on the upper bound acceleration, the lower bound acceleration, the current gear, the current vehicle speed, and the current throttle depth comprises: determining a target acceleration from a current gear and/or a current vehicle speed and/or a current throttle depth look-up table, the target acceleration being limited between an upper boundary acceleration and a lower boundary acceleration.

5. The vehicle torque control method according to claim 1, wherein controlling the drive motor or the brake corresponding to the target vehicle to output the corresponding torque according to the entire vehicle required torque includes:

judging the required torque of the whole vehicle;

if the required torque of the whole vehicle is smaller than a preset torque value, controlling a brake to output a braking torque according to the required torque of the whole vehicle;

and if the required torque of the whole vehicle is larger than a preset torque value, controlling a driving motor to output driving torque according to the required torque of the whole vehicle.

6. The vehicle torque control method of claim 5, wherein determining the target acceleration of the target vehicle based on the upper bound acceleration, the lower bound acceleration, the current gear, the current vehicle speed, and the current throttle depth further comprises: and correcting and adjusting the target acceleration according to the actual acceleration of the target vehicle.

7. The vehicle torque control method according to claim 5 or 6, further comprising a torque monitoring and processing process after the corresponding torque is output by the driving motor or the brake corresponding to the target vehicle according to the vehicle required torque control, wherein the torque monitoring and processing process includes:

according to the finished automobile required torque, reading the current driving torque or the current braking torque of a target automobile in real time, and determining a torque difference value between the finished automobile required torque and the current driving torque or the current braking torque;

and calibrating the driving motor or the brake according to the torque difference value to enable the driving torque or the braking torque output correspondingly to be equal to the required torque of the whole vehicle.

8. A vehicular torque control apparatus, characterized by comprising:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of a target vehicle;

the first data processing module is used for determining the whole vehicle boundary acceleration of the target vehicle according to the boundary torque, the vehicle resistance, the vehicle mass and the vehicle rotational inertia of the target vehicle;

the second data processing module is used for determining the upper boundary acceleration and the lower boundary acceleration of the target vehicle according to the boundary acceleration;

the second acquisition module is used for acquiring the current gear, the current speed and the current accelerator depth of the target vehicle;

the third data processing module is used for determining the target acceleration of the target vehicle according to the upper boundary acceleration, the lower boundary acceleration, the current gear, the current vehicle speed and the current accelerator depth;

the fourth data processing module is used for determining the whole vehicle required torque of the target vehicle according to the target acceleration of the target vehicle;

and the control module is used for controlling a driving motor or a brake corresponding to the target vehicle to output corresponding torque according to the required torque of the whole vehicle.

9. An electronic device, characterized in that the electronic device comprises:

one or more processors;

storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to carry out the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when executed by a processor of a computer, causes the computer to execute the vehicle torque control method according to any one of claims 1 to 7.

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