CN116513189A - Method and system for determining vehicle torque, vehicle and storage medium - Google Patents
Method and system for determining vehicle torque, vehicle and storage medium Download PDFInfo
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- CN116513189A CN116513189A CN202310678923.1A CN202310678923A CN116513189A CN 116513189 A CN116513189 A CN 116513189A CN 202310678923 A CN202310678923 A CN 202310678923A CN 116513189 A CN116513189 A CN 116513189A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0604—Throttle position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a method, a system, a vehicle and a storage medium for determining vehicle torque, wherein the method for determining the vehicle torque comprises the following steps: acquiring operation data and vehicle speed of a vehicle, wherein the operation data comprise an accelerator pedal signal, a brake pedal signal and a gear signal; determining a drivability factor value according to the accelerator pedal signal, wherein the drivability factor value is used for compensating the required torque of the vehicle; determining a first required torque according to an accelerator pedal signal, a vehicle speed, a gear signal and a drivability factor value; performing torque limiting on the first required torque according to a preset torque limiting condition to obtain a second required torque; and filtering the second required torque according to a preset filtering condition to obtain a target required torque. The method solves the technical problem that the existing conventional torque calculation method cannot accurately determine the required torque of the vehicle when the vehicle is in the rapid acceleration working condition.
Description
Technical Field
The invention belongs to the technical field of hybrid vehicles, and particularly relates to a vehicle torque determining method, a vehicle torque determining system, a vehicle and a storage medium.
Background
Compared with the traditional vehicle, the hybrid power vehicle is added with a motor and a power battery, and better dynamic property and economical efficiency can be realized through a control strategy so as to meet the national policy and fuel consumption regulation requirements and the like. The hybrid power vehicle is mainly an automobile which obtains power transmission from an electric driving system and an engine, and based on motor and engine torque control, not only can realize larger driving torque output, but also can optimize the working area of the engine, finally reduces oil consumption and emission, and realizes the aims of energy conservation and emission reduction. Because the hybrid electric vehicle is provided with two power sources of the electric engine, if torque calculation of the vehicle cannot be effectively performed, running control of the whole vehicle and performance of the vehicle are affected, and therefore, how to accurately and effectively perform the calculation of the required torque of the hybrid electric vehicle is one of the key problems to be solved at present.
When the vehicle is in a sudden acceleration working condition, the vehicle has a larger torque demand, and the existing conventional torque calculation method cannot accurately determine the required torque of the vehicle.
Disclosure of Invention
The embodiment of the invention provides a method, a system, a vehicle and a storage medium for determining vehicle torque, which are used for at least solving the technical problem that the conventional torque calculation method cannot accurately determine the required torque of the vehicle when the vehicle is in a sudden acceleration working condition.
According to a first aspect of an embodiment of the present invention, there is provided a method of determining vehicle torque, applied to a hybrid vehicle, including: acquiring operation data and vehicle speed of a vehicle, wherein the operation data comprise an accelerator pedal signal, a brake pedal signal and a gear signal; determining a drivability factor value according to the accelerator pedal signal, wherein the drivability factor value is used for compensating the required torque of the vehicle; determining a first required torque according to an accelerator pedal signal, a vehicle speed, a gear signal and a drivability factor value; performing torque limiting on the first required torque according to a preset torque limiting condition to obtain a second required torque; and filtering the second required torque according to a preset filtering condition to obtain a target required torque.
Optionally, the method for determining the vehicle torque further includes: determining an auxiliary driving category in response to an auxiliary driving system start of the vehicle, wherein the auxiliary driving category includes traction control, body electronic stability control, and constant speed cruise control; determining auxiliary driving demand torque according to preset arbitration conditions and auxiliary driving categories; the assist driving demand torque is marked as the target demand torque.
Optionally, acquiring the operation data of the vehicle includes: responding to the simultaneous existence of an accelerator pedal signal and a brake pedal signal, and acquiring the trigger time of the accelerator pedal signal and the trigger time of the brake pedal signal; the value of the accelerator pedal signal is set to zero in response to the accelerator pedal signal trigger time preceding the brake pedal signal trigger time, or the value of the accelerator pedal signal is scaled down in a preset ratio in response to the brake pedal signal trigger time preceding the accelerator pedal signal trigger time.
Optionally, determining the drivability factor value according to the accelerator pedal signal includes: determining a driving intensity value according to the opening degree of an accelerator pedal and the change rate of the accelerator pedal, wherein the opening degree of the accelerator pedal and the change rate of the accelerator pedal are determined according to an accelerator pedal signal; determining a driving coefficient according to the driving intensity value and a preset driving level threshold value; and determining a driving factor value according to the driving factor and a preset sudden acceleration factor table.
Optionally, determining the first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal and the drivability factor value includes: determining a current gear of the vehicle according to the gear signal; determining a preset torque comparison table according to the current gear; determining an initial first required torque according to a vehicle speed, an accelerator pedal opening and a preset torque comparison table, wherein the accelerator pedal opening is determined according to an accelerator pedal signal; the first demand torque is determined based on the initial first demand torque and the driveability factor value.
Optionally, the method for determining the vehicle torque further includes: acquiring a driving mode of the vehicle, wherein the driving mode comprises a comfort mode, an economy mode and a sport mode; according to the current gear, determining the preset torque comparison table comprises: determining a preset gear torque comparison table set according to the current gear; and determining a preset torque comparison table according to the driving mode and the preset gear torque comparison table set.
Optionally, filtering the second required torque according to a preset filtering condition to obtain the target required torque includes: acquiring a driving mode and an accelerator pedal state of a vehicle, wherein the driving mode comprises a pure electric mode and a hybrid electric mode, and the accelerator pedal state comprises an accelerator stepping state and an accelerator releasing state; determining a preset filtering limit value table according to a driving mode of the vehicle and the state of an accelerator pedal; determining a filtering limit value according to a preset filtering limit value table, an accelerator pedal opening and a motor rotating speed; and filtering the second required torque according to the filtering limit value to obtain the target required torque.
According to a second aspect of the embodiment of the present invention, there is also provided a system for determining a vehicle torque, including: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring operation data and a vehicle speed of a vehicle, and the operation data comprise an accelerator pedal signal, a brake pedal signal and a gear signal; the first determining module is used for determining a drivability factor value according to the accelerator pedal signal, wherein the drivability factor value is used for representing the influence on torque under the sudden acceleration working condition of the vehicle; the second determining module is used for determining the first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal and the drivability factor value; the torque limiting module is used for limiting the first required torque according to a preset torque limiting condition to obtain a second required torque; and the filtering module is used for filtering the second required torque according to preset filtering conditions to obtain the target required torque.
Optionally, the vehicle torque determination system further includes an arbitration module for: determining an auxiliary driving category in response to an auxiliary driving system start of the vehicle, wherein the auxiliary driving category includes traction control, body electronic stability control, and constant speed cruise control; determining auxiliary driving demand torque according to preset arbitration conditions and auxiliary driving categories; the assist driving demand torque is marked as the target demand torque.
Optionally, the acquiring module is further configured to: responding to the simultaneous existence of an accelerator pedal signal and a brake pedal signal, and acquiring the trigger time of the accelerator pedal signal and the trigger time of the brake pedal signal; the value of the accelerator pedal signal is set to zero in response to the accelerator pedal signal trigger time preceding the brake pedal signal trigger time, or the value of the accelerator pedal signal is scaled down in a preset ratio in response to the brake pedal signal trigger time preceding the accelerator pedal signal trigger time.
Optionally, the first determining module is further configured to: determining a driving intensity value according to the opening degree of an accelerator pedal and the change rate of the accelerator pedal, wherein the opening degree of the accelerator pedal and the change rate of the accelerator pedal are determined according to an accelerator pedal signal; determining a driving coefficient according to the driving intensity value and a preset driving level threshold value; and determining a driving factor value according to the driving factor and a preset sudden acceleration factor table.
Optionally, the second determining module is further configured to: determining a current gear of the vehicle according to the gear signal; determining a preset torque comparison table according to the current gear; determining an initial first required torque according to a vehicle speed, an accelerator pedal opening and a preset torque comparison table, wherein the accelerator pedal opening is determined according to an accelerator pedal signal; the first demand torque is determined based on the initial first demand torque and the driveability factor value.
Optionally, the second determining module is further configured to: acquiring a driving mode of the vehicle, wherein the driving mode comprises a comfort mode, an economy mode and a sport mode; according to the current gear, determining the preset torque comparison table comprises: determining a preset gear torque comparison table set according to the current gear; and determining a preset torque comparison table according to the driving mode and the preset gear torque comparison table set.
Optionally, the filtering module is further configured to: acquiring a driving mode and an accelerator pedal state of a vehicle, wherein the driving mode comprises a pure electric mode and a hybrid electric mode, and the accelerator pedal state comprises an accelerator stepping state and an accelerator releasing state; determining a preset filtering limit value table according to a driving mode of the vehicle and the state of an accelerator pedal; determining a filtering limit value according to a preset filtering limit value table, an accelerator pedal opening and a motor rotating speed; and filtering the second required torque according to the filtering limit value to obtain the target required torque.
According to a third aspect of embodiments of the present invention there is also provided a vehicle comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the method of determining vehicle torque as described in any of the embodiments of the first aspect above.
According to a fourth aspect of embodiments of the present invention, there is also provided a non-volatile storage medium in which a computer program is stored, wherein the computer program is arranged to perform the method of determining a vehicle torque as described in any of the embodiments of the first aspect above when run on a computer or processor.
In the embodiment of the invention, firstly, operation data and vehicle speed of a vehicle are obtained, wherein the operation data comprise an accelerator pedal signal, a brake pedal signal and a gear signal; then determining a drivability factor value according to the accelerator pedal signal, wherein the drivability factor value is used for compensating the required torque of the vehicle; determining a first required torque according to an accelerator pedal signal, a vehicle speed, a gear signal and a drivability factor value; performing torque limiting on the first required torque according to a preset torque limiting condition to obtain a second required torque; and filtering the second required torque according to a preset filtering condition to obtain a target required torque. According to the method, the driving factor value used for compensating the required torque of the vehicle is determined through the accelerator pedal signal, the first required torque is determined according to the accelerator pedal signal, the vehicle speed, the gear signal and the driving factor value, the first required torque is limited, the target torque is obtained through filtering processing, the torque requirement of the vehicle under the sudden acceleration working condition can be met through the target torque value compensated by the driving factor value, and the technical problem that the conventional torque calculation method cannot accurately determine the required torque of the vehicle when the vehicle is under the sudden acceleration working condition can be 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 method of determining vehicle torque according to one embodiment of the present invention;
FIG. 2 is a schematic illustration of a hybrid vehicle system configuration according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of pedal signal processing according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a demand torque computing architecture according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a torque filtering architecture according to one embodiment of the present invention;
fig. 6 is a block diagram of a vehicle torque determination system 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 terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation 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.
According to an embodiment of the present invention, there is provided an embodiment of a method of determining vehicle torque, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system containing at least one set of computer executable instructions, and, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than what is shown or described herein.
The method embodiments may also be performed in an electronic device, similar control device, or cloud, including a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It will be appreciated by those of ordinary skill in the art that the foregoing structural descriptions are merely illustrative and are not intended to limit the structure of the electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a different configuration than the above structural description.
The processor may include one or more processing units. For example: the processor may include a processing device of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a digital signal processing (digital signal processing, DSP) chip, a microprocessor (microcontroller unit, MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligent, AI) type processor, or the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.
The memory may be used to store a computer program, for example, a computer program corresponding to a method for determining a vehicle torque in the embodiment of the present invention, and the processor implements the method for determining a vehicle torque by running the computer program stored in the memory. 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, which may be connected to the electronic device 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 communication device is used to receive or transmit 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 communication device includes a network adapter (network interface controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet wirelessly. In some embodiments of the present solution, the communication device is configured to connect to a mobile device such as a mobile phone, a tablet, or the like, and may send an instruction to the electronic apparatus through the mobile device.
The display devices may be touch screen type liquid crystal displays (liquid crystal display, LCD) 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 electronic device. In some embodiments, the electronic device has a graphical user interface (graphical user interface, GUI) with which a user can human interact by touching finger contacts and/or gestures on the touch-sensitive surface, executable instructions for performing the human interaction functions described above being configured/stored in one or more processor-executable computer program products or readable storage media.
FIG. 1 is a flow chart of a method of determining vehicle torque according to one embodiment of the present invention, the method being applied to a hybrid vehicle, as shown in FIG. 1, the method comprising the steps of:
step S101, operation data of a vehicle and a vehicle speed are acquired.
Wherein the operation data includes an accelerator pedal signal, a brake pedal signal, and a gear signal.
Specifically, when determining the required torque of the vehicle, it is first necessary to acquire an accelerator pedal signal, a brake pedal signal, a gear signal, and the vehicle speed of the vehicle.
It will be appreciated that the vehicle's operating data and speed may be obtained via a vehicle controller area network bus.
Step S102, determining a driving factor value according to the accelerator pedal signal.
Wherein the drivability factor value is used to compensate for the torque demand of the vehicle.
Specifically, the determination of the drivability factor value requires that the rate of change of the accelerator pedal and the opening of the accelerator pedal in the accelerator pedal signal be used as calculation parameters, and then the drivability factor compensation value is calculated according to a preset calculation formula.
It should be noted that the drivability factor value is a compensation coefficient from which the compensated required torque can be determined when the vehicle has determined an initial required torque. When the vehicle is in a sudden acceleration working condition, the determined compensation factor value is larger, and then the required torque after compensation according to the compensation factor value is larger.
Step S103, determining a first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal and the drivability factor value.
Specifically, a torque value is firstly inquired from a torque comparison table according to an accelerator pedal opening speed and a gear signal in an accelerator pedal signal, and then the torque value is compensated according to a drivability factor value to obtain a first required torque.
And step S104, limiting torsion of the first required torque according to a preset torsion limiting condition to obtain a second required torque.
Specifically, according to the fault diagnosis information of the whole vehicle or safety consideration, the maximum vehicle speed and the assembly capacity under different scenes are limited, and the maximum upper limit value and the minimum lower limit value of the torque required by the driver are further set, so that the limitation of the torque required by the driver is realized. If the first required torque is between the maximum upper limit value and the minimum lower limit value, the first required torque is directly used as the second required torque, if the first required torque is smaller than the minimum lower limit value, the minimum lower limit value is used as the second required torque, and when the first required torque is larger than the maximum upper limit value, the maximum upper limit value is used as the second required torque.
The torque limitation is to limit the required torque, and the maximum torque output capacity of the power system is limited according to the sequence, and then the vehicle speed limit is limited, and the vehicle speed limit can be finally converted into the torque output limit. The powertrain torque capacity is the result of a combination of engine torque capacity, electric machine torque capacity, and associated driveline torque losses, which cannot exceed the maximum torque limit of the transmission input shaft. The speed limit of the vehicle is mainly to limit the torque of the vehicle speed limit value through the closed-loop control of the vehicle speed and the torque under different working conditions, and when the vehicle speed exceeds a specified limit value, the torque demand value is gradually reduced.
Illustratively, the forward drive mode maximum vehicle speed limit is 245 km/h, the forward engine limp-home limit is 80 km/h, and the forward motor limp-home limit is 60 km/h.
Step S105, filtering the second required torque according to a preset filtering condition to obtain a target required torque.
Specifically, after the second required torque is determined, the second required torque needs to be filtered according to a preset filtering condition, so that the final target required torque meets the evaluation requirements of the drivability and the dynamic performance of the vehicle.
It should be noted that, the method for determining the vehicle torque provided in the foregoing embodiment is applied to a hybrid vehicle, and the system configuration of the hybrid vehicle is described with reference to fig. 2, where the hybrid vehicle includes an engine, a motor, a clutch, a gearbox, a power battery, wheels, an EMS (Engine Management System, an engine controller), a BMS (Battery Management System, a battery management system), an MCU (Motor Control Unit, a motor controller), an HCU (Hybrid Control Unit, a whole vehicle controller) and a TCU (Transmission Control Unit, a gearbox controller), and the respective controllers communicate with each other through a vehicle controller local area network.
In the embodiment of the invention, firstly, operation data and vehicle speed of a vehicle are obtained, wherein the operation data comprise an accelerator pedal signal, a brake pedal signal and a gear signal; then determining a drivability factor value according to the accelerator pedal signal, wherein the drivability factor value is used for compensating the required torque of the vehicle; determining a first required torque according to an accelerator pedal signal, a vehicle speed, a gear signal and a drivability factor value; performing torque limiting on the first required torque according to a preset torque limiting condition to obtain a second required torque; and filtering the second required torque according to a preset filtering condition to obtain a target required torque. According to the method, the driving factor value used for compensating the required torque of the vehicle is determined through the accelerator pedal signal, the first required torque is determined according to the accelerator pedal signal, the vehicle speed, the gear signal and the driving factor value, the first required torque is limited, the target torque is obtained through filtering processing, the torque requirement of the vehicle under the sudden acceleration working condition can be met through the target torque value compensated by the driving factor value, and the technical problem that the conventional torque calculation method cannot accurately determine the required torque of the vehicle when the vehicle is under the sudden acceleration working condition can be solved.
Optionally, the method for determining the vehicle torque further includes:
step S106, in response to the start of the auxiliary driving system of the vehicle, an auxiliary driving category is determined, wherein the auxiliary driving category includes traction control, body electronic stability control, and constant speed cruise control.
Specifically, the auxiliary driving system of the vehicle includes a TCS (Traction Control System ), an ESP (Electronic Stability Program, body electronic stability system), and a CCS (Cruise Control System, constant speed cruise system), and the auxiliary driving class is a traction control class when the TCS is started, a body electronic stability control class when the ESP is started, and a constant speed cruise control class when the CCS is started.
It should be noted that TCS, ESP, and CCS in the auxiliary driving system are simultaneously started.
Step S107, determining auxiliary driving demand torque according to preset arbitration conditions and auxiliary driving categories.
Specifically, the preset arbitration condition is set based on the influence of the required torque and by considering the torque intervention of the parts. The preset arbitration conditions are specifically as follows: TCS safety intervention requests torque, safety priority first; ESP energy recovery request torque, braking energy recovery priority second bit; CCS cruise intervention requests torque, cruise function priority third.
When the driving support category includes a plurality of categories, the torque requested by the corresponding system is responded according to the priority.
For example, if only TCS is activated, TCS safety intervention torque is taken as auxiliary driving demand torque; if only the ESP is started, the ESP energy recovery request torque is taken as the auxiliary driving demand torque; if only CCS is started, the cruise intervention request torque is taken as the auxiliary driving demand torque. If TCS, ESP and CCS are started at the same time, the safe intervention torque is taken as the auxiliary driving demand torque because the priority of TCS is highest.
When the TCS safety intervention function is activated, it indicates that the vehicle is at risk of slip runaway, and the TCS will issue a corresponding intervention request torque. When the ESP energy recovery function is activated, indicating that the vehicle is in energy recovery mode, the energy recovery torque is calculated by the ESP, which calculates the energy recovery request torque value from the master cylinder pressure signal. When the CCS cruise intervention function is active, indicating that the vehicle is in constant cruise mode, the CCS control system issues a corresponding cruise request torque value.
Step S108, the assist driving demand torque is marked as the target demand torque.
Specifically, after the driving assistance demand torque is determined, the driving assistance demand torque is marked as the target demand torque, that is, the value of the target demand torque determined in step S105 is replaced with the value of the driving assistance demand torque.
Optionally, in step S101, acquiring the operation data of the vehicle may include the steps of:
step S1011, in response to the accelerator pedal signal and the brake pedal signal simultaneously existing, acquires the accelerator pedal signal trigger time and the brake pedal signal trigger time.
In step S1012, the value of the accelerator pedal signal is set to zero in response to the accelerator pedal signal triggering time preceding the brake pedal signal triggering time, or the value of the accelerator pedal signal is reduced according to a preset ratio in response to the brake pedal signal triggering time preceding the accelerator pedal signal triggering time.
Specifically, when the accelerator pedal and the brake pedal are simultaneously depressed, logic processing is required for the pedal signal, which can be divided into the following two cases: when the accelerator pedal is firstly stepped on and then the brake pedal is stepped on, the accelerator pedal signal is reset to zero, and only the brake pedal signal is reserved; when the brake pedal is firstly pressed down and then the accelerator pedal is pressed down, the brake pedal signal is reserved, and the accelerator pedal signal value is output at the same time, but the maximum value of the accelerator pedal is required to be limited, and the value of the accelerator pedal signal is reduced according to a preset proportion.
Alternatively, in some embodiments of the invention, the predetermined proportion is 50%.
Referring to FIG. 3, alternatively, in some embodiments of the invention, the processing of pedal signals is processed by a throttle and brake pedal processing model provided in the vehicle. The input of the accelerator and brake pedal processing module is the output of an accelerator pedal sensor, a brake pedal sensor and a brake master cylinder pressure sensor, and the output of the accelerator and brake pedal processing module is an accelerator pedal signal and a brake pedal signal.
Optionally, in step S102, determining the drivability factor value according to the accelerator pedal signal may include the steps of:
and S1021, determining a driving intensity value according to the accelerator pedal opening and the accelerator pedal change rate, wherein the accelerator pedal opening and the accelerator pedal change rate are determined according to an accelerator pedal signal.
Specifically, the driving performance level value=the accelerator pedal change rate/the accelerator pedal opening. The drivability value is used to characterize the speed at which the driver is stepping on the accelerator pedal.
Step S1022, determining the driving coefficient according to the driving intensity value and the preset driving level threshold value.
Specifically, the driving intensity value obtained in step S1022 is compared with the preset 3 driving level threshold values to obtain a driving coefficient, and the judgment logic is as follows:
When the driving intensity value is smaller than the level 1 threshold value (levellim1=0.1), setting the driving level to 0, and at this time, the driving coefficient=1;
when the driving intensity value is greater than or equal to the level 1 threshold and less than the level 2 threshold (e.g., leverlim 2=0.4), setting the driving level to be 1, and at this time, the driving coefficient=1.02;
when the driving intensity value is greater than or equal to the level 2 threshold and less than the level 3 threshold (e.g., leverlim 3=0.8), setting the driving level to be 2, and at this time, the driving coefficient=1.03;
when the driving intensity value is equal to or greater than the level 3 threshold, the driving intensity level is set to 3, and the driving coefficient=1.05.
It should be noted that, the above-mentioned level threshold values are all exemplary, and in the actual implementation process, the level threshold values may be set according to actual requirements.
Step S1023, determining the driving factor value according to the driving factor and the preset sudden acceleration factor table.
Specifically, after the drivability coefficient is calculated, the sudden acceleration coefficient needs to be determined according to the drivability coefficient value and a preset sudden acceleration coefficient table. The preset rapid acceleration coefficient table is formed by calibrating according to the output conditions of gear and motor power. After the preset rapid acceleration coefficient is obtained, the driving factor value is determined by the following formula:
Drivability factor value = drivability coefficient × rapid acceleration coefficient
Exemplary, a preset rapid acceleration coefficient table (rapid acceleration coefficient MAP) is shown in table 1:
TABLE 1
Optionally, in step S103, determining the first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal, and the drivability factor value may include the steps of:
step S1031, determining a current gear of the vehicle according to the gear signal.
Exemplary gears of the vehicle include forward, reverse, and park.
Step S1032, determining a preset torque comparison table according to the current gear.
Specifically, each gear corresponds to a preset torque comparison table, and the preset torque comparison table is obtained through calibrating the opening percentage of an accelerator pedal and the vehicle speed.
Exemplary, the preset torque map corresponding to the forward gear is shown in table 2:
TABLE 2
The above is a torque map of a vehicle having different modes when the vehicle is in a forward gear and in a comfort mode. When the vehicle mode is not judged, a default mode may be set as a preset torque map for the forward gear.
It should be noted that when the vehicle has multiple operation modes, different modes correspond to different preset torque comparison tables under the condition that the vehicle is in a forward gear.
Exemplary, the preset torque reference table corresponding to the reverse gear of the vehicle is shown in table 3:
TABLE 3 Table 3
It can be appreciated that a preset torque comparison table corresponding to the reverse gear is also preset in the vehicle.
Step S1033, determining an initial first required torque according to the vehicle speed, the accelerator pedal opening and a preset torque comparison table, wherein the accelerator pedal opening is determined according to an accelerator pedal signal.
Specifically, after a preset torque comparison table corresponding to the current gear is determined, the preset torque comparison table is queried according to the vehicle speed and the opening degree of an accelerator pedal, and an initial first required torque is determined.
Step S1034, determining the first required torque according to the initial first required torque and the drivability factor value.
Specifically, the initial first required torque is multiplied by the drivability factor value to obtain the first required torque.
Optionally, the method for determining the vehicle torque further includes: acquiring a driving mode of the vehicle, wherein the driving mode comprises a comfort mode, an economy mode and a sport mode; according to the current gear, determining the preset torque comparison table comprises: determining a preset gear torque comparison table set according to the current gear; and determining a preset torque comparison table according to the driving mode and the preset gear torque comparison table set.
Specifically, when the vehicle includes three working modes, i.e., a comfort mode, an economy mode and a sport mode, when determining a preset torque comparison table according to a gear, a plurality of preset torque tables corresponding to the gear are determined according to the gear, and then a current gear and a corresponding preset torque comparison table under the current mode are determined according to a driving mode.
For example, if the gear is a forward gear and the mode is a comfort mode, three preset torque reference tables corresponding to the forward gear are first determined, and the three tables are respectively a forward gear+comfort mode preset torque reference table, a forward gear+sport mode preset torque reference table, and a forward gear+economy mode preset torque reference table, and then a final target preset torque reference table is determined according to the current mode.
It should be noted that the three different operating modes of the vehicle require different torques, and among the three modes, the economy mode requires lower torque, the comfort mode requires the torque to be centered, and the sport mode requires higher torque.
It should be noted that, the required torque of the parking gear is 0, and the preset torque reference table is not required to be set for the gear.
Alternatively, in some embodiments of the present invention, the modes of the vehicle are not differentiated when the vehicle is in reverse, so in this embodiment, the reverse corresponds to only one preset torque map.
Referring to FIG. 4, optionally, in some embodiments of the invention, when determining the first torque demand based on the accelerator pedal signal, the vehicle speed, the gear signal, and the driveability factor value, the gear and operating mode of the vehicle are first determined.
When the vehicle is in the forward gear, the torque calculation for the forward gear comprises torque calculation in a comfort mode, torque calculation in an economic mode and torque calculation in a sport mode, and the final torque calculation output is the corresponding torque requirement in the forward gear. When the vehicle is in the reverse gear, the reverse gear torque calculation is included, and the torque calculation output obtained finally is the corresponding torque requirement under the condition of the reverse gear. When the vehicle is in the parking gear, the torque calculation of the parking gear is included, and the torque calculation output obtained finally is the corresponding torque requirement under the condition of the parking gear. It should be noted that, the calculation of each torque request, steps S1031 to S1034, have already been described, and will not be repeated here.
Optionally, in step S106, filtering the second required torque according to a preset filtering condition to obtain the target required torque may include the following steps:
in step S1061, a driving mode and an accelerator pedal state of the vehicle are acquired, where the driving mode includes a pure mode and a hybrid mode, and the accelerator pedal state includes an accelerator stepping and an accelerator releasing.
Step S1062, determining a preset filter limit table according to the driving mode of the vehicle and the state of the accelerator pedal.
Step S1063, determining a filtering limit according to a preset filtering limit table, the opening of the accelerator pedal and the motor rotation speed.
In step S1064, the second required torque is filtered according to the filtering limit value to obtain the target required torque.
Referring to fig. 5, in particular, the filtering scheme is divided into four cases according to the movement modes of the vehicle, including electric only TipIn, electric only TipOut, hybrid TipIn, and hybrid TipOut. Under the conditions of pure electric TipIN and pure electric TipOut, the filtering comprises positive torque filtering, negative torque filtering and zero crossing torque filtering; in the case of hybrid TipIn and hybrid TipOut, the filtering includes comfort mode torque filtering, economy mode torque filtering, and sport mode torque filtering.
It should be noted that TipIn refers to a rapid accelerator pedal condition, and TipOut refers to a rapid throttle release condition.
For example, in the electric-only TipIn mode, the required torque of the current vehicle can be divided into positive torque (forward), negative torque (reverse) and zero-crossing torque (such as deceleration to acceleration), and the calibrated torque change rate filter limit value table is different under different conditions. In the pure electric TipIN positive torque mode, according to the motor rotating speed and the accelerator pedal opening percentage, the torque change rate filtering limit value is calibrated, and a preset table formed by calibration is shown in Table 4:
TABLE 4 Table 4
In the electric-only TipIn mode, the preset torque change rate filter limit value table is preset in the vehicle under the negative torque and the zero-crossing torque.
For example, in the electric-only TipOut mode, the required torque of the current vehicle can be classified into positive torque, negative torque and zero-crossing torque, and the calibrated torque change rate limit is different in different situations. In the pure electric TipOut positive torque mode, according to the motor rotation speed and gear input of a gearbox, the torque change rate filtering limit value is calibrated, and a preset table formed by calibration is shown in Table 5:
TABLE 5
Continuous table 5
It should be noted that, in the electric-only TipOut mode, the preset torque change rate filter limit value table is preset in the vehicle under both the negative torque and the zero-crossing torque.
For example, in the hybrid TipIn mode, the required torque of the current vehicle can be classified into positive torque (forward), negative torque (reverse) and zero crossing torque (deceleration to acceleration), and the calibrated torque change rate limit is different in different situations. And judging the working mode of the vehicle in a hybrid power TipIN positive torque mode, wherein the judging result comprises a motion mode and a normal mode, the normal mode comprises a comfort mode and an economic mode, and then in each mode, the torque change rate limit value is calibrated according to the motor rotating speed and the accelerator pedal opening percentage. When the vehicle is in the normal mode, the corresponding preset torque change rate filter limit value table under the condition of the hybrid power TipIN is the same as the corresponding preset torque change rate filter limit value table under the condition of the pure electric TipIN.
When the vehicle is in the motion mode, the corresponding preset torque change rate filtering limit value under the hybrid power TipIn positive torque mode is shown in table 6:
TABLE 6
In the hybrid TipIn mode, the preset torque change rate filter limit value table is preset in the vehicle under the negative torque and the zero-crossing torque.
For example, in the hybrid TipOut mode, the required torque of the current vehicle can be divided into three types, namely positive torque (forward), negative torque (reverse) and zero crossing torque (deceleration to acceleration), and the calibrated torque change rate limit is different under different conditions. And judging the working mode of the vehicle in a hybrid power TipOut positive torque mode, wherein the judging result comprises a motion mode and a normal mode, the normal mode comprises a comfort mode and an economic mode, and then in each mode, the torque change rate limit value is calibrated according to the motor rotating speed and the accelerator pedal opening percentage. When the vehicle is in the normal mode, the corresponding preset torque change rate filter limit value table under the condition of the hybrid power TipOut is the same as the corresponding preset torque change rate filter limit value table under the condition of the pure electric TipOut.
When the vehicle is in the motion mode, the corresponding preset torque change rate filtering limit value table in the positive torque mode of the hybrid power TipOut is shown in table 7:
TABLE 7
In the hybrid power TipOut mode, the preset torque change rate filter limit value table is corresponding to the negative torque and the zero-crossing torque, and is preset in the vehicle.
It can be appreciated that, according to the driving mode of the vehicle and the state of the accelerator pedal, a preset filtering limit value table (i.e. a filtering limit value table corresponding to the preset torque change rate) is determined; and determining a filter limit value (corresponding to the value in the filter limit value table of the preset torque change rate) according to the preset filter limit value table, the opening degree of the accelerator pedal and the rotating speed of the motor. And filtering the second required torque according to the filtering limit value to obtain a target required torque, namely, when the torque change rate corresponding to the second required torque is larger than the filtering limit value, the current filtering limit is used as the target required torque, and when the torque change rate corresponding to the second required torque is smaller than or equal to the filtering limit value, the second required torque is used as the target required torque.
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 a 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 embodiment also provides a system for determining the vehicle torque, which is used for implementing the above embodiment and the preferred implementation, and is not described in detail. As used below, the term "module" is a combination of software and/or hardware that can implement 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. 6 is a block diagram of a vehicle torque determination system 200 according to one embodiment of the present invention, as shown in fig. 6, exemplified by the vehicle torque determination system 200, including: an acquisition module 201, configured to acquire operation data and a vehicle speed of a vehicle, where the operation data includes an accelerator pedal signal, a brake pedal signal, and a gear signal; a first determining module 202, configured to determine a drivability factor value according to an accelerator pedal signal, where the drivability factor value is used to characterize an effect on torque under a sudden acceleration condition of the vehicle; a second determining module 203, configured to determine a first required torque according to an accelerator pedal signal, a vehicle speed, a gear signal, and a driving factor value; the torque limiting module 204 is configured to limit the first required torque according to a preset torque limiting condition to obtain a second required torque; the filtering module 205 is configured to filter the second required torque according to a preset filtering condition to obtain a target required torque.
Optionally, the vehicle torque determining system 200 further includes an arbitration module, not shown, connected to the second determining module, for: determining an auxiliary driving category in response to an auxiliary driving system start of the vehicle, wherein the auxiliary driving category includes traction control, body electronic stability control, and constant speed cruise control; determining auxiliary driving demand torque according to preset arbitration conditions and auxiliary driving categories; the assist driving demand torque is marked as the target demand torque.
Optionally, the obtaining module 201 is further configured to: responding to the simultaneous existence of an accelerator pedal signal and a brake pedal signal, and acquiring the trigger time of the accelerator pedal signal and the trigger time of the brake pedal signal; the value of the accelerator pedal signal is set to zero in response to the accelerator pedal signal trigger time preceding the brake pedal signal trigger time, or the value of the accelerator pedal signal is scaled down in a preset ratio in response to the brake pedal signal trigger time preceding the accelerator pedal signal trigger time.
Optionally, the first determining module 202 is further configured to: determining a driving intensity value according to the opening degree of an accelerator pedal and the change rate of the accelerator pedal, wherein the opening degree of the accelerator pedal and the change rate of the accelerator pedal are determined according to an accelerator pedal signal; determining a driving coefficient according to the driving intensity value and a preset driving level threshold value; and determining a driving factor value according to the driving factor and a preset sudden acceleration factor table.
Optionally, the second determining module 203 is further configured to: determining a current gear of the vehicle according to the gear signal; determining a preset torque comparison table according to the current gear; determining an initial first required torque according to a vehicle speed, an accelerator pedal opening and a preset torque comparison table, wherein the accelerator pedal opening is determined according to an accelerator pedal signal; the first demand torque is determined based on the initial first demand torque and the driveability factor value.
Optionally, the second determining module 203 is further configured to: acquiring a driving mode of the vehicle, wherein the driving mode comprises a comfort mode, an economy mode and a sport mode; according to the current gear, determining the preset torque comparison table comprises: determining a preset gear torque comparison table set according to the current gear; and determining a preset torque comparison table according to the driving mode and the preset gear torque comparison table set.
Optionally, the filtering module 205 is further configured to: acquiring a driving mode and an accelerator pedal state of a vehicle, wherein the driving mode comprises a pure electric mode and a hybrid electric mode, and the accelerator pedal state comprises an accelerator stepping state and an accelerator releasing state; determining a preset filtering limit value table according to a driving mode of the vehicle and the state of an accelerator pedal; determining a filtering limit value according to a preset filtering limit value table, an accelerator pedal opening and a motor rotating speed; and filtering the second required torque according to the filtering limit value to obtain the target required torque.
Optionally, in some embodiments of the present invention, the method provided in the foregoing embodiments is performed by an HCU of a vehicle, where the HCU includes the acquisition module 201, the first determination module 202, the second determination module 203, the torsion limiting module 204, the filtering module 205, and the arbitration module in the foregoing vehicle torque determination system 200.
An embodiment of the invention also provides a vehicle comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the method of determining vehicle torque as described in any of the embodiments above.
Alternatively, in the present embodiment, the processor in the vehicle described above may be arranged to run a computer program to perform the steps of:
step S101, operation data of a vehicle and a vehicle speed are acquired.
Step S102, determining a driving factor value according to the accelerator pedal signal.
Step S103, determining a first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal and the drivability factor value.
And step S104, limiting torsion of the first required torque according to a preset torsion limiting condition to obtain a second required torque.
Step S105, filtering the second required torque according to a preset filtering condition to obtain a target required torque.
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.
Embodiments of the present invention also provide a non-volatile storage medium in which a computer program is stored, wherein the computer program is arranged to perform the method of determining a vehicle torque described in any of the above embodiments when run on a computer or processor.
Alternatively, in the present embodiment, the above-described computer program may be configured to store a computer program for performing the steps of:
step S101, operation data of a vehicle and a vehicle speed are acquired.
Step S102, determining a driving factor value according to the accelerator pedal signal.
Step S103, determining a first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal and the drivability factor value.
And step S104, limiting torsion of the first required torque according to a preset torsion limiting condition to obtain a second required torque.
Step S105, filtering the second required torque according to a preset filtering condition to obtain a target required torque.
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.
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 some 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 modules may be divided into a logic function, and there may be other division manners in actual implementation, for example, multiple modules or components may be combined or 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 respect to each other may be through some interface, module or indirect coupling or communication connection of modules, electrical or otherwise.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, 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 method of determining vehicle torque, applied to a hybrid vehicle, comprising:
acquiring operation data and vehicle speed of a vehicle, wherein the operation data comprise an accelerator pedal signal, a brake pedal signal and a gear signal;
determining a drivability factor value according to the accelerator pedal signal, wherein the drivability factor value is used for compensating the required torque of the vehicle;
determining a first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal and the drivability factor value;
performing torque limiting on the first required torque according to a preset torque limiting condition to obtain a second required torque;
and filtering the second required torque according to a preset filtering condition to obtain a target required torque.
2. The method of determining vehicle torque according to claim 1, characterized by further comprising:
determining an auxiliary driving category in response to an auxiliary driving system start of the vehicle, wherein the auxiliary driving category includes traction control, body electronic stability control, and constant speed cruise control;
Determining auxiliary driving demand torque according to preset arbitration conditions and the auxiliary driving category;
the assist driving demand torque is marked as the target demand torque.
3. The method of determining vehicle torque according to claim 1, wherein the acquiring operation data of the vehicle includes:
responding to the simultaneous existence of the accelerator pedal signal and the brake pedal signal, and acquiring the trigger time of the accelerator pedal signal and the trigger time of the brake pedal signal;
in response to the accelerator pedal signal trigger time preceding the brake pedal signal trigger time, setting a value of the accelerator pedal signal to zero, or,
and responding to the trigger time of the brake pedal signal before the trigger time of the accelerator pedal signal, and reducing the value of the accelerator pedal signal according to a preset proportion.
4. The method of determining vehicle torque according to claim 1, characterized in that the determining a drivability factor value from the accelerator pedal signal includes:
determining a driving intensity value according to an accelerator pedal opening and an accelerator pedal change rate, wherein the accelerator pedal opening and the accelerator pedal change rate are determined according to the accelerator pedal signal;
Determining a driving coefficient according to the driving intensity value and a preset driving level threshold value;
and determining the driving factor value according to the driving factor and a preset sudden acceleration factor table.
5. The method of determining vehicle torque according to claim 1, wherein the determining the first required torque based on the accelerator pedal signal, the vehicle speed, the gear signal, and the drivability factor value includes:
determining a current gear of the vehicle according to the gear signal;
determining a preset torque comparison table according to the current gear;
determining an initial first required torque according to the vehicle speed, the accelerator pedal opening and the preset torque comparison table, wherein the accelerator pedal opening is determined according to the accelerator pedal signal;
and determining the first required torque according to the initial first required torque and the drivability factor value.
6. The method of determining vehicle torque according to claim 5, characterized by further comprising:
acquiring a driving mode of a vehicle, wherein the driving mode comprises a comfort mode, an economy mode and a sport mode;
the determining the preset torque comparison table according to the current gear comprises:
Determining a preset gear torque comparison table set according to the current gear;
and determining the preset torque comparison table according to the driving mode and the preset gear torque comparison table set.
7. The method for determining a vehicle torque according to claim 1, wherein the filtering the second required torque according to a preset filtering condition to obtain the target required torque includes:
acquiring a driving mode and an accelerator pedal state of the vehicle, wherein the driving mode comprises a pure electric mode and a hybrid electric mode, and the accelerator pedal state comprises an accelerator stepping state and an accelerator releasing state;
determining a preset filtering limit value table according to the driving mode of the vehicle and the state of the accelerator pedal;
determining a filtering limit value according to the preset filtering limit value table, the opening of an accelerator pedal and the rotating speed of a motor;
and filtering the second required torque according to the filtering limit value to obtain the target required torque.
8. A vehicle torque determination system, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring operation data and a vehicle speed of a vehicle, and the operation data comprise an accelerator pedal signal, a brake pedal signal and a gear signal;
The first determining module is used for determining a drivability factor value according to the accelerator pedal signal, wherein the drivability factor value is used for representing the influence on torque under the condition of sudden acceleration of the vehicle;
the second determining module is used for determining a first required torque according to the accelerator pedal signal, the vehicle speed, the gear signal and the drivability factor value;
the torque limiting module is used for limiting the first required torque according to a preset torque limiting condition to obtain a second required torque;
and the filtering module is used for filtering the second required torque according to a preset filtering condition to obtain a target required torque.
9. A vehicle comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of determining the torque of the vehicle as claimed in any of the preceding claims 1 to 7.
10. A non-volatile storage medium, characterized in that it has stored therein a computer program, wherein the computer program is arranged to perform the method of determining the torque of a vehicle as claimed in any one of the preceding claims 1 to 7 when run on a computer or processor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118242185A (en) * | 2024-05-23 | 2024-06-25 | 盛瑞传动股份有限公司 | Engine torque control method, device, gearbox controller and storage medium |
| CN118494452A (en) * | 2024-07-15 | 2024-08-16 | 中国第一汽车股份有限公司 | Vehicle control method, system, vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118242185A (en) * | 2024-05-23 | 2024-06-25 | 盛瑞传动股份有限公司 | Engine torque control method, device, gearbox controller and storage medium |
| CN118242185B (en) * | 2024-05-23 | 2024-09-10 | 盛瑞传动股份有限公司 | Engine torque control method, device, gearbox controller and storage medium |
| CN118494452A (en) * | 2024-07-15 | 2024-08-16 | 中国第一汽车股份有限公司 | Vehicle control method, system, vehicle and storage medium |
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