CN116461349A - Vehicle torque control method and device, storage medium and electronic device - Google Patents
Vehicle torque control method and device, storage medium and electronic device Download PDFInfo
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- CN116461349A CN116461349A CN202310505457.7A CN202310505457A CN116461349A CN 116461349 A CN116461349 A CN 116461349A CN 202310505457 A CN202310505457 A CN 202310505457A CN 116461349 A CN116461349 A CN 116461349A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a vehicle torque control method, a vehicle torque control device, a storage medium and an electronic device. Wherein the method comprises the following steps: acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value; responding to the first state information to meet a first preset condition, and performing sliding energy recovery processing to obtain a sliding energy recovery torque value; responding to the first state information meeting a first preset condition, and the second state information meeting a second preset condition, and performing braking energy recovery processing based on the braking energy recovery torque demand value to obtain a braking energy recovery torque value; determining a target torque value based on the coasting energy recovery torque demand, the braking energy recovery torque demand, the coasting energy recovery torque value, and the braking energy recovery torque value; the vehicle is controlled to perform torque output based on the target torque value. The invention solves the technical problem of poor vehicle stability of the torque control method in the related art.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular, to a vehicle torque control method, device, storage medium, and electronic device.
Background
With the increasing awareness of people for environmental protection and energy conservation, energy recovery for vehicles is one of the current concerns of vehicle factories. The energy recovery of the vehicle can be divided into braking energy recovery and sliding energy recovery, when the road surface adhesion coefficient is low, the recovery strength is high, or under the working conditions of butt joint road surfaces from high adhesion coefficient to low adhesion coefficient and the like, the wheels are easy to lock, at the moment, the vehicle is easy to have the problem of failure of steering functions, and great safety risks exist.
In the related art, under the condition of braking energy recovery and coasting energy recovery, when the vehicle is locked, the engine resistance moment control system (Motor control Slide Retainer, MSR) controls the total torque, and the whole vehicle controller (Vehicle Control Unit, HCU) does not need to exit from the coasting recovery and the braking recovery and only needs to respond to the total torque of the MSR, so that the wheel locking phenomenon is controlled. However, when the MSR is withdrawn, the brake recovery torque value is not zero, torque jump occurs, so that a jerk feeling is easily generated, and the stability of the vehicle is affected.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a vehicle torque control method, a device, a storage medium and an electronic device, which are used for at least solving the technical problem of poor vehicle stability of a torque control method in the related art.
According to one embodiment of the present invention, there is provided a vehicle torque control method including: acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether the vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not; responding to the first state information to meet a first preset condition, and performing sliding energy recovery processing to obtain a sliding energy recovery torque value; responding to the first state information to meet a first preset condition, and the second state information to meet a second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is converted according to the braking torque demand value; determining a target torque value based on the coasting energy recovery torque demand, the braking energy recovery torque demand, the coasting energy recovery torque value, and the braking energy recovery torque value; the vehicle is controlled to perform torque output based on the target torque value.
Optionally, the vehicle torque control method further includes: acquiring a wheel slip rate, a front axle real-time torque value, a rear axle real-time torque value, a front axle friction torque and a rear axle friction torque, wherein the front axle friction torque and the rear axle friction torque are determined according to third state information; activating a resistive torque control function in response to the wheel slip ratio being greater than a preset threshold; determining a front axle torque up request value and a rear axle torque up request value based on the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque and the rear axle friction torque when the resistance torque control function is in an activated state; the vehicle is controlled to perform torque output based on the front axle torque up request value and the rear axle torque up request value.
Optionally, the second state information includes a front axle recovery parameter and a rear axle recovery parameter, the braking energy recovery processing based on the braking energy recovery torque demand value, the obtaining the braking energy recovery torque value includes: distributing the braking energy recovery torque demand to obtain a front axle braking torque demand and a rear axle braking torque demand; performing braking energy recovery processing based on the front axle braking torque demand value, the rear axle braking torque demand value, the front axle recovery parameter and the rear axle recovery parameter to obtain a front axle braking torque value and a rear axle braking torque value; and superposing the front axle braking torque value and the rear axle braking torque value to obtain a braking energy recovery torque value.
Optionally, determining the target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value, and the braking energy recovery torque value includes: determining a coasting target torque value based on the coasting energy recovery torque demand value and the coasting energy recovery torque value; determining a braking target torque value based on the braking energy recovery torque demand value and the braking energy recovery torque value; and superposing the sliding target torque value and the braking target torque value to obtain a target torque value.
Optionally, the vehicle torque control method further includes: comparing the braking energy recovery torque value with the braking energy recovery torque demand value to obtain a comparison result; and adjusting the torque output of the vehicle based on the comparison.
Optionally, the vehicle torque control method further includes: in response to the second state information not meeting the second preset condition, the hydraulic braking force of the vehicle is adjusted to meet the braking torque demand.
According to one embodiment of the present invention, there is also provided a vehicle torque control apparatus including: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether a vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not; the first processing module is used for responding to the first state information to meet a first preset condition and carrying out the sliding energy recovery processing to obtain a sliding energy recovery torque value; the second processing module is used for responding to the first state information to meet a first preset condition, and the second state information meets a second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is obtained by converting the braking torque demand value; a determination module for determining a target torque value based on the coasting energy recovery torque demand, the braking energy recovery torque demand, the coasting energy recovery torque value, and the braking energy recovery torque value; and the control module is used for controlling the vehicle to output torque based on the target torque value.
Optionally, the acquiring module is further configured to acquire a wheel slip rate, a real-time front axle torque value, a real-time rear axle torque value, a front axle friction torque, and a rear axle friction torque, where the front axle friction torque and the rear axle friction torque are determined according to the third state information; the vehicle torque control device further comprises an activation module for activating a resistive torque control function in response to the wheel slip ratio being greater than a preset threshold; the determining module is further used for determining a front axle torque up request value and a rear axle torque up request value based on the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque and the rear axle friction torque when the resistance torque control function is in an activated state; the control module is also configured to control the vehicle to perform torque output based on the front axle torque up request value and the rear axle torque up request value.
Optionally, the second processing module is further configured to allocate a braking energy recovery torque demand to obtain a front axle braking torque demand and a rear axle braking torque demand; performing braking energy recovery processing based on the front axle braking torque demand value, the rear axle braking torque demand value, the front axle recovery parameter and the rear axle recovery parameter to obtain a front axle braking torque value and a rear axle braking torque value; and superposing the front axle braking torque value and the rear axle braking torque value to obtain a braking energy recovery torque value.
Optionally, the determining module is further configured to determine a coasting target torque value based on the coasting energy recovery torque demand value and the coasting energy recovery torque value; determining a braking target torque value based on the braking energy recovery torque demand value and the braking energy recovery torque value; and superposing the sliding target torque value and the braking target torque value to obtain a target torque value.
Optionally, the vehicle torque control method further comprises a comparison module, which is used for comparing the braking energy recovery torque value with the braking energy recovery torque requirement value to obtain a comparison result; and the adjusting module is used for adjusting the torque output of the vehicle based on the comparison result.
Optionally, the adjustment module is further configured to adjust the hydraulic braking force of the vehicle to meet the braking torque demand in response to the second state information not meeting the second preset condition.
According to one embodiment of the present invention, there is also provided a nonvolatile storage medium in which a computer program is stored, wherein the computer program is configured to execute the vehicle torque control method in any one of the above-described claims when run.
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program is configured to execute the vehicle torque control method in any one of the above-described claims when run.
According to one embodiment of the present invention, there is also provided an electronic device including a memory having a computer program stored therein, and a processor configured to run the computer program to perform the vehicle torque control method in any one of the above.
In the embodiment of the invention, the first state information, the second state information, the sliding energy recovery torque requirement value and the braking torque requirement value are obtained, then the sliding energy recovery processing is carried out in response to the first state information meeting a first preset condition to obtain the sliding energy recovery torque value, and the braking energy recovery processing is carried out in response to the first state information meeting the first preset condition and the second state information meeting a second preset condition based on the braking energy recovery torque requirement value to obtain the braking energy recovery torque value, then the target torque value is determined based on the sliding energy recovery torque requirement value, the braking energy recovery torque requirement value, the sliding energy recovery torque value and the braking energy recovery torque value, finally the torque output of the vehicle is controlled based on the target torque value, so that the aim of effectively controlling the vehicle torque during energy recovery is fulfilled, the technical effect of improving the vehicle stability is achieved, and the technical problem of poor vehicle stability of a torque control method in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of a vehicle torque control method according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle torque control system according to one embodiment of the invention;
FIG. 3 is a schematic illustration of a vehicle torque control method according to one embodiment of the present invention;
fig. 4 is a block diagram of a vehicle torque control device according to one embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, a method embodiment of vehicle torque control is provided, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and, although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that illustrated herein.
The method embodiments may be performed in an electronic device or similar computing device that includes a memory and a processor. Taking an example of operation on a vehicle terminal, the vehicle terminal may include one or more processors (the processors may include, but are not limited to, central processing units (Central Processing Unit, CPU), graphics processing units (Graphics Processing Unit, GPU), digital signal processing (Digital Signal Processing, DSP) chips, microprocessors (Micro Controller Unit, MCU), programmable logic devices (Field Programmable Gate Array, FPGA), neural-network processors (Neural-network Processor Unit, NPU), tensor processors (Tensor Processing Unit, TPU), artificial intelligence (Artificial Intelligence, AI) type processors, and the like processing means for storing data. Alternatively, the vehicle terminal may further include a transmission device, an input-output device, and a display device for a communication function. It will be appreciated by those skilled in the art that the above description of the structure is merely illustrative and is not intended to limit the structure of the vehicle terminal. For example, the vehicle terminal may also include more or fewer components than the above structural description, or have a different configuration than the above structural description.
The memory may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the vehicle torque control method in the embodiment of the present invention, and the processor executes the computer program stored in the memory, thereby performing various functional applications and data processing, that is, implementing the vehicle torque control method described above. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the mobile terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission means comprises a network adapter (Network Interface Controller, simply referred to as NIC) that can be connected to other network devices via a base station to communicate with the internet. In one example, the transmission device may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.
Display devices may be, for example, touch screen type liquid crystal displays (Liquid Crustal Display, LCDs) and touch displays (also referred to as "touch screens" or "touch display screens"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (Graphical User Interface, GUI) with which a user can interact with the GUI by touching finger contacts and/or gestures on the touch-sensitive surface, where the human-machine interaction functionality optionally includes the following interactions: executable instructions for performing the above-described human-machine interaction functions, such as creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving electronic mail, talking interfaces, playing digital video, playing digital music, and/or web browsing, are configured/stored in a computer program product or readable storage medium executable by one or more processors.
FIG. 1 is a flow chart of a vehicle torque control method according to one embodiment of the invention, as shown in FIG. 1, comprising the steps of:
step S11, acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether the vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not.
In step S11, the first state information, the second state information, the coasting energy recovery torque demand value, and the braking torque demand value are acquired.
In an alternative embodiment, the first state information may include accelerator pedal opening, brake anti-lock system (Antilock Brake System) ABS function status, body dynamics control (Vehicle Dynamics Control, VDC) function status, vehicle speed, brake pedal travel and gear, and the second state information may include pedal travel value, valid status of 4 wheel speeds, front axle recovery parameter, rear axle recovery parameter, vehicle speed.
Specifically, the first state information may be used to determine whether the driver has a drive or brake demand, and may determine whether the vehicle is in a coasting energy recovery state, and the second state information may be used to determine whether the vehicle is in a braking energy recovery state.
And step S12, responding to the first state information to meet a first preset condition, and performing the sliding energy recovery processing to obtain a sliding energy recovery torque value.
In the step S12, when the first state information satisfies the first preset condition, the recovery processing is performed on the coasting energy, and the coasting energy recovery torque value may be obtained.
Specifically, when the first state information satisfies a first preset condition, that is, the vehicle speed is greater than a preset threshold, the brake pedal stroke is less than the preset threshold, the accelerator pedal opening is less than the preset threshold, the gear is a preset gear, the ABS function is in an inactive state, and the VDC function is in an inactive state, the coasting energy can be recovered, wherein coasting energy recovery refers to energy recovery of the HCU when the driver does not step on the brake pedal and the accelerator pedal.
For example, when the vehicle speed is greater than or equal to 8km/h, the brake pedal travel is less than or equal to 0.3mm, the accelerator pedal opening is less than or equal to 4%, the gear is the D gear, the ABS function is in an inactive state, and the VDC function is in an inactive state, it can be determined that the driver has no driving requirement, and when there is no braking requirement, the coasting energy is recovered, including the coasting energy recovery of the front axle and the rear axle, so as to obtain the coasting energy recovery torque value.
And step S13, responding to the first state information to meet a first preset condition, and responding to the second state information to meet a second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is converted according to the braking torque demand value.
In the step S13, when the first state information satisfies the first preset condition and the second state information satisfies the second preset condition, braking energy recovery processing is performed based on the braking energy recovery torque demand value, so as to obtain a braking energy recovery torque value, where the braking energy recovery torque demand value is converted according to the braking torque demand value.
Specifically, when the second state information satisfies a second preset condition, that is, the pedal stroke value is greater than a preset threshold, the 4 wheel speeds are in an effective state, the front axle recovery parameter is greater than the preset threshold, the rear axle recovery parameter is greater than the preset threshold, and the vehicle speed is greater than the preset threshold, that is, the cooperative braking feedback system (Cooperative Regenerative Brake Systems, CRBS) function is activated, and braking energy recovery processing can be performed at this time, so as to obtain a braking energy recovery torque value.
The braking energy recovery torque demand value is converted according to the braking torque demand value, specifically, the demand of the driver can be judged through the pedal stroke value, the demand deceleration is large when the stroke is large, and the demand deceleration is small when the stroke is small. The brake torque demand of the whole vehicle at this time can be estimated based on the pedal stroke value actually stepped on by the driver.
For example, when the pedal travel value is greater than or equal to 0.3mm, the 4 wheel speeds are all in an active state, the front axle recovery parameter is greater than 0, the rear axle recovery parameter is greater than 0, and the vehicle speed is greater than > 8kph, the braking energy recovery torque value may be based on the braking energy recovery torque demand.
Step S14, determining a target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value, and the braking energy recovery torque value.
In the above-described step S14, the coasting target torque value may be determined from the coasting energy recovery torque demand value and the coasting energy recovery torque value, and the braking target torque value may be determined from the braking energy recovery torque demand value and the braking energy recovery torque value, so that the target torque value is determined based on the coasting target torque value and the braking target torque value.
Step S15, controlling the vehicle to perform torque output based on the target torque value.
In step S15 described above, after the target torque value is determined, the vehicle may be controlled to make torque output based on the target torque value.
Based on the steps S11 to S15, the first state information, the second state information, the coasting energy recovery torque demand value and the braking torque demand value are obtained, and then the coasting energy recovery processing is performed in response to the first state information meeting the first preset condition to obtain the coasting energy recovery torque value, and the braking energy recovery processing is performed in response to the first state information meeting the first preset condition and the second state information meeting the second preset condition based on the braking energy recovery torque demand value to obtain the braking energy recovery torque value, and then the target torque value is determined based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value and the braking energy recovery torque value, and finally the torque output is controlled based on the target torque value, so that the purpose of effectively controlling the vehicle torque during energy recovery is achieved, the technical effect of improving the vehicle stability is achieved, and the technical problem of poor vehicle stability of the torque control method in the related art is solved.
Optionally, the vehicle torque control method further comprises the steps of:
step S161, acquiring a wheel slip rate, a front axle real-time torque value, a rear axle real-time torque value, a front axle friction torque and a rear axle friction torque, wherein the front axle friction torque and the rear axle friction torque are determined according to third state information.
In the above step S161, it may be determined whether the wheels are locked due to the slip, and during the slip and the braking energy recovery, the wheel slip rate, the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque, and the rear axle friction torque of the 4 wheels may be obtained in real time, wherein the wheel slip rate may be used to determine whether the vehicle is in a unstable state.
Specifically, the front axle friction torque and the rear axle friction torque may be calculated according to third state information, where the third state information may include information such as a vehicle weight, front and rear axle load distribution, tire parameters, and a road surface friction coefficient.
Step S162, in response to the wheel slip ratio being greater than a preset threshold, activating a resistive torque control function.
In the above step S162, after the wheel slip rate is obtained, the wheel slip rate may be compared with a preset threshold, and when the wheel slip rate is greater than the preset threshold, a moment of resistance control (MSR) function is activated to rapidly remove the locking condition of the wheel using the MSR function.
For example, when the vehicle speed is greater than 5kph and the slip rate of one of the wheels is greater than 2.8%, then it is determined that the wheel is locked, at which point the MSR function will be activated.
Step S163 of determining a front axle torque up request value and a rear axle torque up request value based on the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque and the rear axle friction torque in a state where the resistance torque control function is activated.
In the above-described step S163, the front axle torque up request value and the rear axle torque up request value may be determined based on the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque, and the rear axle friction torque, with the resistance torque control function in an activated state.
Specifically, when the wheels are locked and the resistance torque control function is in an activated state, the front axle torque request value can be calculated according to the difference between the front axle real-time torque value and the front axle friction torque multiplied by a coefficient (1+a), and the rear axle torque request value can be calculated according to the difference between the rear axle real-time torque value and the rear axle friction torque multiplied by the coefficient (1+a), wherein a is a real vehicle performance calibration value.
Step S164 controls the vehicle to perform torque output based on the front axle torque up request value and the rear axle torque up request value.
In the step S164, after the front axle torque up request value and the rear axle torque up request value are calculated, the vehicle may be controlled to perform torque output based on the front axle torque up request value and the rear axle torque up request value, that is, the front axle and the rear axle torque up respectively, until the slip ratio of each wheel reaches a steady state, for example, the slip ratio of each wheel is less than 2.5%.
Based on the steps S161 to S164, the wheel slip rate, the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque and the rear axle friction torque are obtained, and then the resistance torque control function is activated in response to the wheel slip rate being greater than the preset threshold value, then the front axle torque request value and the rear axle torque request value are determined based on the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque and the rear axle friction torque when the resistance torque control function is in the activated state, and finally the vehicle is controlled to output torque based on the front axle torque request value and the rear axle torque request value, so that the vehicle can be recovered to a stable state in time by distributing the front axle torque and the rear axle torque when the vehicle is locked in the energy recovery state and a instability problem occurs.
Optionally, in step S13, the second state information includes a front axle recovery parameter and a rear axle recovery parameter, and performing the braking energy recovery process based on the braking energy recovery torque demand value, where obtaining the braking energy recovery torque value includes:
step S131, the braking energy recovery torque demand is assigned to obtain a front axle braking torque demand and a rear axle braking torque demand.
In the above step S131, after the braking energy recovery torque demand is obtained, the braking energy recovery torque demand may be allocated to obtain the front axle braking torque demand and the rear axle braking torque demand.
And step S132, performing braking energy recovery processing based on the front axle braking torque demand value, the rear axle braking torque demand value, the front axle recovery parameter and the rear axle recovery parameter to obtain a front axle braking torque value and a rear axle braking torque value.
In step S132 described above, after the front axle brake torque demand value and the rear axle brake torque demand value are obtained, brake energy recovery processing may be performed based on the front axle brake torque demand value, the rear axle brake torque demand value, the front axle recovery parameter, and the rear axle recovery parameter, to obtain the front axle brake torque value and the rear axle brake torque value.
Specifically, the front axle recuperation parameter is used to indicate the capability of front axle maximum brake energy torque recuperation, and the rear axle recuperation parameter is used to indicate the capability of rear axle maximum brake energy torque recuperation, so that brake energy recuperation can be performed according to the front axle brake torque demand, the rear axle brake torque demand, and the capability of front and rear axle maximum brake energy torque recuperation, thereby obtaining the brake torque values actually recovered by the front and rear axles.
And step S133, performing superposition processing on the front axle braking torque value and the rear axle braking torque value to obtain a braking energy recovery torque value.
In step S133 described above, the sum of the front axle braking torque value and the rear axle braking torque value is equal to the braking energy recovery torque value.
Based on the steps S131 to S133, the front axle braking torque demand value and the rear axle braking torque demand value are obtained by distributing the braking energy recovery torque demand value, and further, the braking energy recovery processing is performed based on the front axle braking torque demand value, the rear axle braking torque demand value, the front axle recovery parameter and the rear axle recovery parameter to obtain a front axle braking torque value and a rear axle braking torque value, and finally, the front axle braking torque value and the rear axle braking torque value are subjected to superposition processing to obtain a braking energy recovery torque value, and the overall distribution of the overall vehicle braking energy recovery torque demand value can be performed, so that the front axle and the rear axle execute torque recovery to obtain the braking torque value and the rear axle braking torque value.
Optionally, in step S14 above, determining the target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value, and the braking energy recovery torque value includes:
Step S141, a coasting target torque value is determined based on the coasting energy recovery torque demand value and the coasting energy recovery torque value.
In the above-described step S141, the coasting target torque value may be determined based on the coasting energy recovery torque demand value and the coasting energy recovery torque value so as to cause the vehicle to output the coasting target torque value.
In step S142, a braking target torque value is determined based on the braking energy recovery torque demand value and the braking energy recovery torque value.
In the above-described step S142, the braking target torque value may be determined based on the braking energy recovery torque demand value and the braking energy recovery torque value, so as to cause the vehicle to output the coasting target torque value.
Step S143, the target torque value for coasting and the target torque value for braking are superimposed to obtain the target torque value.
In step S143 described above, after the coasting target torque value and the braking target torque value are obtained, the coasting target torque value and the braking target torque value may be superimposed to obtain the target torque value, so that the vehicle may be caused to output the target torque value.
Based on the steps S141 to S143, the target torque value to be output by the vehicle can be determined by determining the target torque value for coasting based on the coasting energy recovery torque demand value and the coasting energy recovery torque value, further determining the target torque value for braking based on the braking energy recovery torque demand value and the braking energy recovery torque value, and finally superposing the target torque value for coasting and the target torque value for braking to obtain the target torque value.
Optionally, the vehicle torque control method further comprises the steps of:
step S171, the braking energy recovery torque value and the braking energy recovery torque demand value are compared to obtain a comparison result.
In step S171 described above, the braking energy recovery torque value and the braking energy recovery torque demand value may be compared, and when the braking energy recovery torque value is smaller or larger than the braking energy recovery torque demand value, the torque output of the vehicle may be adjusted through the torque request interface.
Step S172 adjusts the torque output of the vehicle based on the comparison result.
In step S172 described above, after the comparison result is obtained, the torque output of the vehicle may be adjusted based on the comparison result.
Specifically, the torque output of the vehicle can be adjusted through the MSR torque request interface, when the deviation between the braking energy recovery torque value and the braking energy recovery torque demand value is larger than a preset threshold value, the recovery response deviation is larger at the moment, the deviation torque request value can be sent through the MSR torque request interface, and the part with insufficient recovery or over-recovery is supplemented.
For example, when ((brake energy recovery torque demand-brake energy recovery torque value)/brake energy recovery torque demand). Ltoreq.5%, the HCU recovery response is considered to meet the demand, and when ((brake energy recovery torque demand-brake energy recovery torque value)/brake energy recovery torque demand) > 5%, the HCU recovery response is considered to deviate too much, for which the difference can be adjusted via the MSR torque request interface.
Based on the steps S171 to S172, the braking energy recovery torque value and the braking energy recovery torque demand value are compared to obtain a comparison result, and further, the torque output of the vehicle is adjusted based on the comparison result, so that the torque output of the vehicle can be dynamically adjusted, and the stability of the vehicle can be improved.
Optionally, the vehicle torque control method further comprises the steps of:
and step S18, in response to the second state information not meeting the second preset condition, adjusting the hydraulic braking force of the vehicle to meet the braking torque demand value.
In the above-described step S18, when the second state information does not satisfy the second preset condition, that is, the condition for braking energy recovery is not satisfied, the braking torque demand value may be satisfied by adjusting the hydraulic braking force of the vehicle.
Based on the above-described step S18, by adjusting the hydraulic braking force of the vehicle to meet the braking torque demand in response to the second state information not meeting the second preset condition, the braking torque demand can be met by providing the hydraulic braking force without braking energy recovery.
FIG. 2 is a schematic diagram of a vehicle torque control system according to one embodiment of the present invention, as shown in FIG. 2, and as shown in FIG. 2, the vehicle torque control system generally includes IBC, HCU, MSR, a cooperative brake feedback system (Cooperative Regenerative Brake Systems, CRBS), an electric motor, and an axle.
Specifically, IBC refers to a device that can accurately identify a driver's braking demand, perform electric and hydraulic braking coordination, convert the braking demand to a braking energy recovery demand torque to the HCU to the greatest extent, and estimate a wheel slip rate to determine whether a wheel is locked, and if the vehicle is locked, perform a torque request through the MSR function and the HCU.
The HCU refers to a device capable of providing driving force to the vehicle and executing torque requests sent by IBCs (up-torque requests sent by MSRs to the HCU, kinetic energy recovery requests sent by CRBS to the HCU brake), and is responsible for coasting energy recovery.
CRBS refers to IBC that converts the driver's braking demand to the greatest extent to torque demand for HCU braking energy recovery, which performs the function of braking energy recovery.
MSR means that under the working condition of energy recovery, especially under the working condition of participation of sliding energy recovery, when the wheels are locked, IBC sends an up-torsion request to HCU through an up-torsion interface of MSR, so that the locking condition of the wheels is rapidly removed, and the HCU executes the function of the up-torsion request.
The IBC can estimate the braking torque required by the whole vehicle at this time according to the pedal stroke value actually stepped on by the driver, and performs electrohydraulic coordination, namely, the maximum braking energy recovery torque capability of the HCU can be known through the maximum recovery capability_front axle and the maximum recovery capability_rear axle input by the HCU, the IBC sends a braking energy recovery request_front axle and a braking energy recovery request_rear axle to the HCU within the motor capability range, the HCU returns the torque values of the front axle and the rear axle actually braking energy recovery to the IBC, the IBC performs closed-loop control on the total result of HCU recovery, when the actual recovery deviation (braking energy recovery request-actual energy recovery torque)/braking energy recovery request of the HCU is less than or equal to 5%, the HCU recovery response is considered to meet the requirement, if the recovery deviation of the HCU is more than 5%, the HCU recovery response deviation is considered to be too large, and the IBC adjusts the difference through the MSR torque request interface.
The total torque required to be executed by the front axle is the sum of the front axle braking torque required value and the front axle torque up-conversion required value, and then the total torque can be sent to the motor for execution. When the MSR function is exited, but the CRBS function has not been exited, the HCU smoothes the torque, wherein the smoothing may include the steps of:
for example, when the slip ratio of the 4 wheels is less than 2.5%, the vehicle is considered to be in a steady state, and the MSR request is changed from a higher value to 0 with the fastest slope, which is to ensure the braking force requirement of the driver, if the torque up is continued, the braking force is continuously reduced, and the driver is far from the requirement, i.e. the front and rear axle torque up request torque value requested through the MSR interface is 0. When the HCU detects that the MSR function activation signal is set to be withdrawn, the HCU transits the value of the MSR front and rear axle torque up-conversion request signal to the sliding energy recovery torque behind the front axle at a certain slope, and the slope is a calibration value, so that the whole vehicle is transited smoothly.
Fig. 3 is a schematic diagram of a vehicle torque control method according to an embodiment of the present invention, as shown in fig. 3, and as shown in fig. 3, the vehicle torque control method mainly includes the steps of:
Step S301, acquiring first state information and second state information;
step S302, responding to the first state information to meet a first preset condition, and performing sliding energy recovery by the HCU, wherein the sliding energy recovery comprises HCU front axle sliding recovery and HCU rear axle sliding recovery;
step S303, in response to the first state information meeting a first preset condition and the second state information meeting a second preset condition, activating a CRBS function, sending an allocated front and rear axle braking energy recovery torque request to the HCU by the IBC, and performing closed-loop control on the HCU braking energy recovery result;
step S304, responding to the locking of the wheels, activating an MSR function, and determining a front axle torque up request value and a rear axle torque up request value based on a front axle real-time torque value, a rear axle real-time torque value, a front axle friction torque and a rear axle friction torque;
step S305, the IBC sends a request for front axle braking energy recovery, i.e. a braking energy recovery request_front axle, to the HCU;
step S306, the IBC sends a request for recovering braking energy of the rear axle to the HCU, namely a braking energy recovery request_rear axle;
step S307, the IBC sends an up-twist request to the HCU for the rear axle, i.e. an up-twist request_rear axle;
step S308, the IBC sends an up-torsion request to the front axle, namely an up-torsion request_front axle, to the HCU;
Step S309, the HCU calculates the sum of the rear axle torque requests, i.e., total torque_rear axle=braking energy recovery request_rear axle+torque up request_rear axle, and sends the total value to the rear motor for execution, and at the same time, when the MSR exits, but the CRBS does not exist, the HCU performs smoothing processing on the torque;
step S310, the rear motor executes the torque request of the HCU;
step S311, the HCU calculates the sum of the front axle torque requests, i.e. total torque_front axle=braking energy recovery request_front axle+torque up request_front axle, and sends the total value to the front motor for execution, and at the same time, when the MSR exits, but the CRBS does not exist, the HCU performs smoothing processing on the torque;
in step S312, the front motor performs a torque request of the HCU.
According to the vehicle torque control method, the brake demand of a driver is identified through the IBC, electro-hydraulic control is performed, the brake demand of the driver is converted into the brake energy recovery torque demand of the HCU to the greatest extent, torque distribution of front and rear axles of the CRBS is responsible, the torque is sent to the HCU, and the HCU feeds back the actual recovery torque to the IBC; the IBC calculates torque up request values of the front axle and the rear axle to the HCU according to the current actual torque and the target sliding torque of the front axle and the rear axle provided by the HCU and by combining the slip rates of 4 wheels, the HCU executes the torque up request values, and then after the MRS function is activated, the front axle and the rear axle of the HCU are requested to respectively carry out torque up according to the actual states of the front axle and the rear axle of the whole automobile until the slip rate of each wheel reaches a stable state; finally, when all wheels are restored to be stable, the MSR function is exited, at the moment, the HCU needs to continuously respond to the front and rear axle torque requests of the CRBS, and the front and rear axle torque requests of the MSR are directly filtered to the torque request curve of the driver, so that the stable driving of the vehicle is ensured.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The present embodiment also provides a vehicle torque control device, which is used to implement the foregoing embodiments and the preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
FIG. 4 is a block diagram of a vehicle torque control apparatus according to one embodiment of the present invention, as shown in FIG. 4, including: an obtaining module 401, configured to obtain first state information, second state information, a coasting energy recovery torque requirement value, and a braking torque requirement value, where the first state information is used to determine whether the vehicle is in a coasting energy recovery state, and the second state information is used to determine whether the vehicle is in a braking energy recovery state; the first processing module 402 is configured to perform a coasting energy recovery process in response to the first state information meeting a first preset condition, to obtain a coasting energy recovery torque value; a second processing module 403, configured to respond to the first state information meeting a first preset condition, and the second state information meeting a second preset condition, and perform braking energy recovery processing based on a braking energy recovery torque demand value, to obtain a braking energy recovery torque value, where the braking energy recovery torque demand value is obtained by converting the braking torque demand value; a determination module 404 for determining a target torque value based on the coasting energy recovery torque demand, the braking energy recovery torque demand, the coasting energy recovery torque value, and the braking energy recovery torque value; a control module 405 for controlling the vehicle to perform torque output based on the target torque value.
Optionally, the obtaining module 401 is further configured to obtain a wheel slip rate, a front axle real-time torque value, a rear axle real-time torque value, a front axle friction torque, and a rear axle friction torque, where the front axle friction torque and the rear axle friction torque are determined according to third state information; the vehicle torque control apparatus further includes an activation module 406 for activating a resistive torque control function in response to the wheel slip rate being greater than a preset threshold; the determining module 404 is further configured to determine, when the resistive torque control function is in an activated state, a front axle torque up request value and a rear axle torque up request value based on the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque, and the rear axle friction torque; the control module 405 is also configured to control the vehicle to perform torque output based on the front axle torque up request value and the rear axle torque up request value.
Optionally, the second processing module 403 is further configured to allocate a braking energy recovery torque requirement value to obtain a front axle braking torque requirement value and a rear axle braking torque requirement value; performing braking energy recovery processing based on the front axle braking torque demand value, the rear axle braking torque demand value, the front axle recovery parameter and the rear axle recovery parameter to obtain a front axle braking torque value and a rear axle braking torque value; and superposing the front axle braking torque value and the rear axle braking torque value to obtain a braking energy recovery torque value.
Optionally, the determining module 404 is further configured to determine a coasting target torque value based on the coasting energy recovery torque demand value and the coasting energy recovery torque value; determining a braking target torque value based on the braking energy recovery torque demand value and the braking energy recovery torque value; and superposing the sliding target torque value and the braking target torque value to obtain a target torque value.
Optionally, the vehicle torque control method further includes a comparison module 407 for comparing the braking energy recovery torque value with the braking energy recovery torque requirement value to obtain a comparison result; an adjustment module 408 for adjusting the torque output of the vehicle based on the comparison.
Optionally, the adjustment module 408 is further configured to adjust the hydraulic braking force of the vehicle to meet the braking torque demand in response to the second state information not meeting the second preset condition.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
There is also provided in this embodiment a non-volatile storage medium in which a computer program is stored, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:
step S1, acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether a vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not;
step S2, responding to the first state information to meet a first preset condition, and performing sliding energy recovery processing to obtain a sliding energy recovery torque value;
step S3, responding to the first state information to meet a first preset condition, and responding to the second state information to meet a second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is obtained by converting the braking torque demand value;
step S4, determining a target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value and the braking energy recovery torque value;
and step S5, controlling the vehicle to output torque based on the target torque value.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
There is also provided in this embodiment a processor for running a program, wherein the program is arranged to execute the steps of any of the method embodiments described above when run.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
step S1, acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether a vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not;
step S2, responding to the first state information to meet a first preset condition, and performing sliding energy recovery processing to obtain a sliding energy recovery torque value;
step S3, responding to the first state information to meet a first preset condition, and responding to the second state information to meet a second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is obtained by converting the braking torque demand value;
Step S4, determining a target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value and the braking energy recovery torque value;
and step S5, controlling the vehicle to output torque based on the target torque value.
There is also provided in this embodiment an electronic device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
step S1, acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether a vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not;
step S2, responding to the first state information to meet a first preset condition, and performing sliding energy recovery processing to obtain a sliding energy recovery torque value;
step S3, responding to the first state information to meet a first preset condition, and responding to the second state information to meet a second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is obtained by converting the braking torque demand value;
Step S4, determining a target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value and the braking energy recovery torque value;
and step S5, controlling the vehicle to output torque based on the target torque value.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A vehicle torque control method, characterized by comprising:
acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether a vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not;
responding to the first state information to meet a first preset condition, and performing sliding energy recovery processing to obtain a sliding energy recovery torque value;
responding to the first state information to meet the first preset condition, and the second state information to meet the second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is obtained by converting the braking torque demand value;
Determining a target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value, and the braking energy recovery torque value;
and controlling the vehicle to output torque based on the target torque value.
2. The vehicle torque control method according to claim 1, characterized in that the method further comprises:
acquiring a wheel slip rate, a front axle real-time torque value, a rear axle real-time torque value, a front axle friction torque and a rear axle friction torque, wherein the front axle friction torque and the rear axle friction torque are determined according to third state information;
activating a resistive torque control function in response to the wheel slip ratio being greater than a preset threshold;
determining a front axle torque up request value and a rear axle torque up request value based on the front axle real-time torque value, the rear axle real-time torque value, the front axle friction torque and the rear axle friction torque when the resistive torque control function is in an activated state;
and controlling the vehicle to output torque based on the front axle torque up request value and the rear axle torque up request value.
3. The vehicle torque control method according to claim 1, characterized in that the second state information includes a front axle recovery parameter and a rear axle recovery parameter, performing a braking energy recovery process based on the braking energy recovery torque demand value, and obtaining the braking energy recovery torque value includes:
Distributing the braking energy recovery torque demand to obtain a front axle braking torque demand and a rear axle braking torque demand;
performing braking energy recovery processing based on the front axle braking torque demand value, the rear axle braking torque demand value, the front axle recovery parameter and the rear axle recovery parameter to obtain a front axle braking torque value and a rear axle braking torque value;
and superposing the front axle braking torque value and the rear axle braking torque value to obtain the braking energy recovery torque value.
4. The vehicle torque control method according to claim 1, characterized in that determining a target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value, and the braking energy recovery torque value includes:
determining a coasting target torque value based on the coasting energy recovery torque demand value and the coasting energy recovery torque value;
determining a braking target torque value based on the braking energy recovery torque demand value and the braking energy recovery torque value;
and superposing the sliding target torque value and the braking target torque value to obtain the target torque value.
5. The vehicle torque control method according to claim 1, characterized in that the method further comprises:
comparing the braking energy recovery torque value with the braking energy recovery torque demand value to obtain a comparison result;
and adjusting a torque output of the vehicle based on the comparison.
6. The vehicle torque control method according to claim 1, characterized in that the method further comprises:
and in response to the second state information not satisfying the second preset condition, adjusting a hydraulic braking force of the vehicle to satisfy the braking torque demand value.
7. A vehicle torque control apparatus, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first state information, second state information, a coasting energy recovery torque demand value and a braking torque demand value, wherein the first state information is used for determining whether a vehicle is in a coasting energy recovery state or not, and the second state information is used for determining whether the vehicle is in a braking energy recovery state or not;
the first processing module is used for responding to the first state information to meet a first preset condition and carrying out the sliding energy recovery processing to obtain a sliding energy recovery torque value;
The second processing module is used for responding to the first state information to meet the first preset condition, and the second state information to meet the second preset condition, and performing braking energy recovery processing based on a braking energy recovery torque demand value to obtain a braking energy recovery torque value, wherein the braking energy recovery torque demand value is obtained through conversion according to the braking torque demand value;
a determination module for determining a target torque value based on the coasting energy recovery torque demand value, the braking energy recovery torque demand value, the coasting energy recovery torque value, and the braking energy recovery torque value;
and the control module is used for controlling the vehicle to output torque based on the target torque value.
8. A non-volatile storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program is arranged to execute the vehicle torque control method as claimed in any one of claims 1 to 6 when run.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is arranged to execute the vehicle torque control method as claimed in any one of claims 1 to 6 at run time.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the vehicle torque control method of any one of claims 1 to 6.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650504A (en) * | 2021-07-16 | 2021-11-16 | 一汽奔腾轿车有限公司 | Method for coordinately controlling braking energy recovery and sliding energy recovery of electric vehicle |
| CN117755103A (en) * | 2024-02-22 | 2024-03-26 | 成都赛力斯科技有限公司 | Control method and device for vehicle torque and storage medium |
-
2023
- 2023-05-06 CN CN202310505457.7A patent/CN116461349A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650504A (en) * | 2021-07-16 | 2021-11-16 | 一汽奔腾轿车有限公司 | Method for coordinately controlling braking energy recovery and sliding energy recovery of electric vehicle |
| CN113650504B (en) * | 2021-07-16 | 2024-01-19 | 一汽奔腾轿车有限公司 | Method for cooperatively controlling braking energy recovery and sliding energy recovery of electric vehicle |
| CN117755103A (en) * | 2024-02-22 | 2024-03-26 | 成都赛力斯科技有限公司 | Control method and device for vehicle torque and storage medium |
| CN117755103B (en) * | 2024-02-22 | 2024-04-16 | 成都赛力斯科技有限公司 | Control method and device for vehicle torque and storage medium |
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