CN114771277A

CN114771277A - Motor torque control method and device for vehicle

Info

Publication number: CN114771277A
Application number: CN202210265910.7A
Authority: CN
Inventors: 吴俊�; 范永杰; 邓宝华
Original assignee: Chery New Energy Automobile Co Ltd
Current assignee: Chery New Energy Automobile Co Ltd
Priority date: 2022-03-17
Filing date: 2022-03-17
Publication date: 2022-07-22

Abstract

The application discloses a motor torque control method and device of a vehicle, wherein the method comprises the following steps: detecting an actual vehicle driving state of a vehicle; carrying out torque arbitration according to the actual driving state of the whole vehicle to obtain a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle in the torque switching process; and when the output torque of the driving motor is controlled according to the torque request of the vehicle, processing the request torque corresponding to the torque request by using a torque loading strategy or a torque unloading strategy to obtain the target torque corresponding to the driving motor in the zero-crossing interval, so that the output torque of the driving motor reaches a smooth condition. Therefore, the problems that in the related art, the output of the driving motor is directly controlled based on the torque request in the torque distribution and execution processes of the vehicle, smoothness and transition cannot be realized, and the vehicle is easy to shake obviously due to the fact that a gap exists in a transmission system, so that the driving experience of a user is influenced are solved.

Description

Motor torque control method and device for vehicle

Technical Field

The present disclosure relates to vehicle power control technologies, and in particular, to a method and an apparatus for controlling a motor torque of a vehicle.

Background

In recent years, new energy vehicles have been rapidly developed under the support of national and local policies, but with the wide application of new energy vehicles, the demands of users on vehicle dynamic performance and economy are increasing, and further various functions and modes of the new energy vehicles in the driving process are increasing, such as ABS (antilock brake system), ESC (Electronic Stability Controller), cruise control mode, and the like.

Generally, when a user quickly steps on or releases the accelerator, or performs function and mode adjustment, a driving motor of a vehicle needs to perform corresponding torque switching. However, in the related art, the output of the driving motor is directly controlled based on the torque request in the torque distribution and execution processes of the vehicle, which cannot be smooth and excessive, and the vehicle is easy to shake obviously due to the gap existing in the transmission system, thereby affecting the driving feeling of the vehicle and reducing the driving experience of the user, and thus needs to be solved urgently.

Content of application

The application provides a motor torque control method and device of a vehicle, and aims to solve the problems that in the related art, the output of a driving motor is directly controlled based on a torque request in the torque distribution and execution processes of the vehicle, the smoothness and the transition cannot be realized, and the vehicle is easy to shake obviously due to the existence of a gap in a transmission system, so that the driving feeling of the vehicle is influenced, and the driving experience of a user is reduced.

An embodiment of a first aspect of the present application provides a motor torque control method for a vehicle, including the following steps: detecting an actual vehicle driving state of a vehicle; carrying out torque arbitration according to the actual driving state of the whole vehicle to obtain a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle in a torque switching process; and processing the requested torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy while controlling the output torque of the driving motor according to the torque request of the vehicle to obtain a target torque corresponding to the driving motor in a zero-crossing interval, so that the output torque of the driving motor reaches a smooth condition.

Optionally, in an embodiment of the present application, the detecting an actual vehicle driving state of the vehicle includes: collecting the working state, the current gear, the voltage of an accelerator pedal and/or the actual fault type of the ABS or the ESC of the vehicle; and matching the actual driving state of the whole vehicle according to the working state of the ABS or the ESC, the current gear, the voltage of the accelerator pedal and/or the actual fault type.

Optionally, in an embodiment of the present application, before processing a requested torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy, the method further includes: and generating the torque loading strategy or the torque unloading strategy according to the accelerator pedal voltage of the vehicle, the maximum allowable discharge power of a battery, the maximum torque of a motor and the fault information of parts.

Optionally, in an embodiment of the application, the processing a requested torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy includes: detecting an actual torque zone bit of the vehicle according to the current speed, the current torque and the requested torque of the vehicle; and if the actual torque zone bit is a torque loading zone bit, generating the torque loading strategy, and if the actual torque zone bit is a torque unloading zone bit, generating the torque unloading strategy.

Optionally, in an embodiment of the present application, the generating the torque loading strategy and the generating the torque unloading strategy include: and weakening the torque loading or unloading gradient when the output torque is in a zero-crossing point or a first preset torque state based on the current torque and the torque correction coefficient of the vehicle, and restoring the loading or unloading response when the output torque is in a second torque state.

Optionally, in an embodiment of the present application, before causing the output torque of the driving motor to reach the smoothing condition, the method further includes: timing a correction trigger time length of the requested torque; and when the correction trigger time length is greater than a preset threshold value, stopping the correction action of the output torque.

An embodiment of a second aspect of the present application provides a motor torque control apparatus for a vehicle, including: the detection module is used for detecting the actual vehicle driving state of the vehicle; the torque arbitration module is used for carrying out torque arbitration according to the actual whole vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle in a torque switching process; and the control module is used for processing the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy while controlling the output torque of the driving motor according to the torque request of the vehicle to obtain the target torque corresponding to the driving motor in a zero-crossing interval so that the output torque of the driving motor reaches a smooth condition.

Optionally, in an embodiment of the present application, the detection module includes: the acquisition unit is used for acquiring the working state, the current gear, the voltage of an accelerator pedal and/or the actual fault type of the ABS or the ESC of the vehicle; and the matching unit is used for matching the actual vehicle driving state according to the working state of the ABS or ESC, the current gear, the accelerator pedal voltage and/or the actual fault type.

Optionally, in an embodiment of the present application, the apparatus further includes: and the generating module is used for generating the torque loading strategy or the torque unloading strategy according to the accelerator pedal voltage of the vehicle, the maximum allowable discharge power of a battery, the maximum torque of a motor and the fault information of parts.

Optionally, in an embodiment of the present application, the control module includes: the detection unit is used for detecting an actual torque zone bit of the vehicle according to the current speed, the current torque and the requested torque of the vehicle; and the generating unit is used for generating the torque loading strategy when the actual torque flag bit is a torque loading flag bit, and generating the torque unloading strategy when the actual torque flag bit is a torque unloading flag bit.

Optionally, in an embodiment of the present application, the generating unit includes: and the control subunit is used for weakening the torque loading or unloading gradient when the output torque is in a zero-crossing point or a first preset torque state and restoring the loading or unloading response when the output torque is in a second torque state based on the current torque and the torque correction coefficient of the vehicle.

Optionally, in an embodiment of the present application, the apparatus further includes: the timing module is used for timing the correction trigger time length of the requested torque; and the stopping module is used for stopping the correcting action of the output torque when the correction trigger time length is greater than a preset threshold value.

According to a third aspect of the present invention, a vehicle control unit is provided to implement the motor torque control device for a vehicle according to the above embodiments.

An embodiment of a fourth aspect of the present application provides a vehicle comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the motor torque control method of the vehicle as described in the above embodiments.

Embodiments of a fifth aspect of the present application provide a computer-readable storage medium storing computer instructions for causing a computer to execute a motor torque control method of a vehicle as described in the above embodiments.

The torque arbitration method and the torque arbitration device can carry out torque arbitration according to the driving state of the whole vehicle so as to load or unload the requested torque, and therefore the corresponding target torque of the driving motor in the zero-crossing interval is obtained, smooth switching of the torque of the driving motor is further achieved, shaking possibly caused by transmission system gaps is eliminated, the response speed of the vehicle is improved, and driving experience of a user is improved. Therefore, the problems that in the related art, the output of the driving motor is directly controlled based on the torque request in the torque distribution and execution processes of the vehicle, smoothness and transition cannot be realized, and the vehicle is easy to shake obviously due to the fact that a gap exists in a transmission system, so that the driving feeling of the vehicle is influenced, and the driving experience of a user is reduced are solved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a method for controlling motor torque of a vehicle according to an embodiment of the present application;

FIG. 2 is a flow chart of a D-range torque arbitration for a method of controlling motor torque of a vehicle according to an embodiment of the present application;

FIG. 3 is a flow chart of an R-range torque arbitration for a motor torque control method of a vehicle according to one embodiment of the present application;

FIG. 4 is a flow chart of an N-speed torque arbitration for a method of controlling motor torque of a vehicle according to an embodiment of the present application;

FIG. 5 is a flow chart of torque arbitration for different driving modes of a motor torque control method of a vehicle according to an embodiment of the present application;

FIG. 6 is a flow chart of energy recovery torque arbitration for a motor torque control method of a vehicle according to one embodiment of the present application;

FIG. 7 is a flow chart of torque loading gradient selection for a motor torque control method of a vehicle according to one embodiment of the present application;

FIG. 8 is a flow chart of torque off-load gradient selection for a motor torque control method of a vehicle according to one embodiment of the present application;

fig. 9 is a schematic structural diagram of a motor torque control device of a vehicle according to an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.

A motor torque control method and apparatus of a vehicle according to an embodiment of the present application will be described below with reference to the accompanying drawings. In the method, torque arbitration can be performed according to the driving state of the whole vehicle, so that loading or unloading processing can be performed on the requested torque, a corresponding target torque of the driving motor in a zero-crossing interval can be obtained, smooth switching of the torque of the driving motor can be realized, shaking possibly caused by the transmission system clearance can be eliminated, the response speed of the vehicle is improved, and the driving experience of a user can be improved. Therefore, the problems that in the related art, the output of the driving motor is directly controlled based on the torque request in the torque distribution and execution processes of the vehicle, smoothness and transition cannot be realized, and the vehicle is easy to shake obviously due to the fact that a gap exists in a transmission system, so that the driving feeling of the vehicle is influenced, and the driving experience of a user is reduced are solved.

Specifically, fig. 1 is a schematic flowchart of a method for controlling motor torque of a vehicle according to an embodiment of the present application.

As shown in fig. 1, the motor torque control method of the vehicle includes the steps of:

in step S101, an actual vehicle driving state of the vehicle is detected.

In the actual implementation process, the embodiment of the application can acquire Vehicle data through a VCU (Vehicle control unit) to further obtain the actual Vehicle driving state of the Vehicle, so that torque arbitration can be performed according to the actual Vehicle driving state, further smooth switching of the torque of the driving motor is realized, shaking possibly caused by a transmission system gap is eliminated, the response speed of the Vehicle is improved, and the driving experience of a user is improved.

Optionally, in an embodiment of the present application, detecting an actual overall driving state of the vehicle includes: collecting the working state of the ABS or ESC of the vehicle, the current gear, the voltage of an accelerator pedal and/or the actual fault type; and matching the actual driving state of the whole vehicle according to the working state of the ABS or the ESC, the current gear, the voltage of an accelerator pedal and/or the actual fault type.

It can be understood that vehicle data can be collected by the VCU in the embodiment of the present application, and the data may be a working state of an ABS or an ESC of the vehicle, a current gear, an accelerator pedal voltage, and/or an actual fault type.

In step S102, torque arbitration is performed according to the actual driving state of the entire vehicle, and a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle during torque switching is obtained.

As a possible implementation mode, the method and the device can reasonably arbitrate the torque requests of modules such as a D gear driving mode, D gear energy recovery, an R gear driving mode, N gear crawling, cruising and an accelerator according to the actual driving state of the whole vehicle.

Specifically, as shown in FIG. 2, the D-range torque arbitration logic may be as follows:

1. judging the trigger flag bit of the current antiskid system, responding to the torque of the driving antiskid module by the VCU if the current antiskid system is in a trigger state, and entering the next judgment if the current antiskid system is not in the trigger state;

2. judging the current active speed limiting trigger flag bit, responding the torque of the active speed limiting module by the VCU if the current active speed limiting trigger flag bit is in a trigger state, and entering the next judgment if the current active speed limiting trigger flag bit is not in the trigger state;

3. judging a current ramp auxiliary/steep descent trigger flag bit, if the current ramp auxiliary/steep descent trigger flag bit is in a trigger state, responding to ramp auxiliary and steep descent relieving torque by the VCU, and if the current ramp auxiliary/steep descent trigger flag bit is not in the trigger state, entering the next step of judgment;

4. and (3) carrying out state detection in a normal driving state of the vehicle:

a. judging a cruise function trigger flag bit, if the cruise function trigger flag bit is in a trigger state, acquiring a module request torque, and if the cruise function trigger flag bit is not in the trigger state, acquiring a current cruise module zero torque;

b. judging an accelerator opening request, wherein if the accelerator opening is zero, the accelerator module is zero torque, and if the accelerator opening is not zero, the torque requested by the accelerator pedal module is obtained;

c. judging a crawling function trigger flag bit, if the crawling function trigger flag bit is in a trigger state, acquiring a crawling module request torque, and if the crawling function trigger flag bit is not in a trigger state, enabling an accelerator module to be zero torque;

according to the embodiment of the application, the obtained requested torque can be subjected to torque superposition processing, and then the D-gear driving requested torque is obtained.

As shown in FIG. 3, the N-speed torque arbitration logic may be as follows:

1. judging the driving gear of the whole vehicle according to whether a motor, a battery and a gear of the vehicle are in a fault state, an electronic gear shifting mechanism state and whether the whole vehicle is in a READY state;

2. detecting whether the actual gear state is N gear or not;

3. and if the actual gear is not the N gear, executing the torque request of the D gear or the R gear, and if the actual gear is the N gear, executing the torque request of zero.

As shown in FIG. 4, the R-range torque arbitration logic may be as follows:

1. judging the trigger flag bit of the antiskid system, if the trigger flag bit is in a trigger state, responding to the torque of the driving antiskid module by the VCU, and if the trigger flag bit is not in a trigger state, entering the next judgment;

2. and (3) carrying out state detection in the normal running state of the vehicle:

a. judging an accelerator opening request, wherein if the accelerator opening is zero, the accelerator module has zero torque, and if the accelerator opening is not zero, the torque requested by the accelerator pedal module is obtained;

b. judging a crawling function trigger flag bit, if the crawling function trigger flag bit is in a trigger state, acquiring a crawling module request torque, and if the crawling function trigger flag bit is not in a trigger state, enabling an accelerator module to be zero torque;

according to the embodiment of the application, the obtained requested torque can be subjected to torque superposition processing, and then the R gear driving requested torque is obtained.

As shown in FIG. 5, the driving gear arbitration logic may be as follows:

1. detecting a gear state of the electronic gear shifting mechanism;

2. if the speed is N, executing the N-gear requested torque;

3. if the gear is the R gear, executing the R gear request torque;

4. and if the gear is the D gear, judging whether the energy recovery gear is triggered, if so, obtaining energy recovery torque, and if not, obtaining D gear driving request torque.

As shown in FIG. 6, the energy recovery arbitration logic may be as follows:

1. judging whether the current vehicle state of the vehicle accords with the energy recovery function triggering condition, wherein the triggering condition comprises the following steps: the whole vehicle is in a READY state, the electronic gear shifting mechanism is in a D gear, the motor and the battery have no serious faults, ABS and ESC are not triggered, the vehicle speed is higher than a certain threshold value, an accelerator pedal is loosened, the electric quantity of the battery is lower than a certain threshold value, and the constant-speed cruising is not triggered or the torque is negative and is less than a certain threshold value after being triggered;

2. judging whether an energy recovery function is triggered;

3. when the energy recovery function is triggered, the torque is requested by responding to the energy recovery gear and the vehicle speed;

4. and if the energy recovery function is not triggered, the energy recovery function is quitted.

It should be noted that the threshold may be adjusted by those skilled in the art according to practical situations, and is not limited in particular.

In step S103, while controlling the output torque of the driving motor according to the torque request of the vehicle, the torque loading strategy or the torque unloading strategy is used to process the requested torque corresponding to the torque request, so as to obtain the target torque corresponding to the zero-crossing interval of the driving motor, so that the output torque of the driving motor reaches the smooth condition.

In the actual implementation process, torque arbitration can be performed through the VCU in the actual vehicle driving state, and when the torque request is switched from negative torque to positive torque, the torque request is smoothly processed within a certain time by using a torque loading or unloading coefficient, so that the power response is ensured, and meanwhile, the vehicle is prevented from shaking due to the clearance of a transmission system when the motor torque is in a zero-crossing interval.

It should be noted that the torque loading or unloading factor may be called by a database, or may be set by a person skilled in the art according to practical situations, and is not limited in particular herein.

Optionally, in an embodiment of the present application, before processing a requested torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy, the method further includes: and generating a torque loading strategy or a torque unloading strategy according to the accelerator pedal voltage of the vehicle, the maximum allowable discharge power of the battery, the maximum torque of the motor and the fault information of the part.

Specifically, the embodiment of the application can acquire information such as the voltage of an accelerator pedal, the maximum allowable discharge power of a battery, the maximum torque of a motor, part faults and the like through the VCU, reasonably set the magnitude of the requested torque and the torque loading gradient in the full accelerator state, preferentially ensure that the capacity of a power system is completely released, and further generate a torque loading strategy or a torque unloading strategy.

Optionally, in an embodiment of the present application, processing a requested torque corresponding to the torque request by using a torque loading strategy or a torque unloading strategy includes: detecting an actual torque zone bit of the vehicle according to the current speed, the current torque and the requested torque of the vehicle; and if the actual torque flag bit is the torque loading flag bit, generating a torque loading strategy, and if the actual torque flag bit is the torque unloading flag bit, generating a torque unloading strategy.

Further, in the embodiment of the present application, the conditions under which the VCU requests an MCU (Microcontroller Unit) to generate a torque loading strategy may be as follows:

1. the power supply gear of the whole vehicle is in a READY state;

2. the whole vehicle has no motor or serious battery failure;

3. the electronic gear shifting mechanism is in a D gear or an R gear, and serious faults such as gear clamping stagnation or communication loss and the like do not exist;

4. the actual torque of the whole vehicle in the last period is smaller than the requested torque by a certain threshold value, wherein the threshold value can be selected according to the vehicle speed and the actual torque of the last period;

5. the torque is loaded in the energy recovery state, and besides the conditions, but in the state without the R gear, the conditions that the vehicle speed is higher than a certain threshold value, an accelerator pedal is loosened, ABS/ESC does not act, the battery electric quantity is lower than a certain threshold value, the constant-speed cruise is not triggered or the requested torque is lower than a certain threshold value after being triggered, the electronic gear shifting mechanism is in a D gear and the like still need to be met.

The conditions under which the VCU requests the MCU to generate the torque off-load strategy may be as follows:

1. in the motor torque executing process, the gear of the power supply of the whole vehicle is not in a READY state;

2. in the motor torque executing process, a motor, a battery or a gear and the like report serious faults;

3. in the motor torque executing process, the driving gear is switched to an N gear;

4. the whole vehicle READY is in a D gear or an R gear, the actual torque of the last period is smaller than the requested torque by a certain threshold, wherein the threshold can be selected according to the vehicle speed and the actual torque of the last period.

Optionally, in an embodiment of the present application, the generating a torque loading strategy and the generating a torque unloading strategy include: based on the current torque and the torque correction coefficient of the vehicle, the torque loading or unloading gradient when the output torque is at the zero crossing point or the first preset torque state is weakened, and the loading or unloading response is restored for the second torque state.

In the actual execution process, when the VCU requests the MCU to execute the torque loading or unloading action, the VCU aims to avoid the problem of vehicle shaking caused by the clearance of a transmission system, such as the clearance existing in the spline fit of two pairs of gear flanks of a speed reducer, the transmission shaft and the output end of the speed reducer and the spline fit of the output end of a speed reducer and the motor. According to the embodiment of the application, when the torque loading or unloading gradient is processed, the torque loading or unloading gradient when the torque is in a zero crossing point or a first preset torque state is weakened by newly increasing the torque correction coefficient according to the current torque, and the loading or unloading response is recovered when the torque is in a second torque state.

It should be noted that the torque correction coefficient may be called by a database, or may be set by a person skilled in the art according to practical situations, and is not limited in particular here.

Optionally, in an embodiment of the present application, before the output torque of the driving motor is made to reach the smoothing condition, the method further includes: timing a correction trigger duration of the requested torque; and stopping the correction action of the output torque when the correction trigger time length is greater than a preset threshold value.

It is understood that, in order to avoid the torque response delay, the modification of the embodiment of the present application is only applicable within a preset time period (e.g. 200ms) after the flag bit is loaded or unloaded, and the preset time period may be set by a person skilled in the art according to practical situations, and is not limited specifically herein.

Specifically, as shown in FIG. 7, the torque loading strategy flow is as follows:

1. when the torque request-the current torque is greater than a certain threshold, the torque loading flag is triggered;

2. if the torque loading flag bit is not triggered, maintaining the current torque or executing torque unloading to obtain a torque loading gradient;

3. triggering a torque loading flag bit, and judging whether the current torque is greater than or equal to zero;

4. if the current torque is negative torque, judging that the current torque is in an energy recovery mode, and selecting a torque gradient according to the current torque and the vehicle speed to obtain a torque loading gradient;

5. if the current torque is not negative torque, judging whether the opening of the accelerator is larger than 80%;

6. if the opening of the accelerator is larger than 80%, determining a pre-torque loading gradient according to the D gear driving request torque and the actual vehicle speed, and multiplying the pre-torque loading gradient by a torque coefficient within a preset time (such as 200ms) after the loading flag bit is triggered to execute the torque loading gradient;

7. and if the throttle opening is less than or equal to 80%, multiplying the torque coefficient within a preset time (such as 200ms) after the loading flag bit is triggered to obtain a torque loading gradient.

As shown in fig. 8, the torque unloading strategy flow is as follows:

1. when the torque request-current torque is less than a certain threshold, the torque unloading flag is triggered;

2. if the torque unloading zone bit is not triggered, the torque unloading gradient is 0, and a torque unloading gradient is obtained;

3. and triggering the torque unloading zone bit, determining a pre-torque unloading gradient according to the energy recovery request torque and the actual vehicle speed, and multiplying the pre-torque unloading gradient by a torque coefficient within a preset time (such as 200ms) after the unloading zone bit is triggered to execute the torque unloading gradient.

In addition, in order to ensure the dynamic property of the accelerator of the whole vehicle and ensure that the maximum capacity of a power system can be released, the torque loading gradient is not corrected when the torque correction is carried out.

According to the motor torque control method for the vehicle, torque arbitration can be performed according to the driving state of the whole vehicle, so that loading or unloading processing is performed on the requested torque, and therefore the target torque corresponding to the driving motor in the zero-crossing interval is obtained, smooth switching of the driving motor torque is further achieved, shaking possibly caused by transmission system gaps is eliminated, the response speed of the vehicle is improved, and driving experience of a user is improved. Therefore, the problems that in the related technology, the output of the driving motor is directly controlled based on the torque request in the torque distribution and execution processes of the vehicle, smoothness transition cannot be achieved, the vehicle shakes obviously due to the fact that a gap exists in a transmission system, the driving feeling of the vehicle is affected, and the driving experience of a user is reduced are solved.

Next, a motor torque control device of a vehicle according to an embodiment of the present application will be described with reference to the drawings.

Fig. 9 is a block schematic diagram of a motor torque control device of a vehicle according to an embodiment of the present application.

As shown in fig. 9, the motor torque control device 10 of the vehicle includes: a detection module 100, a torque arbitration module 200, and a control module 300.

Specifically, the detecting module 100 is configured to detect an actual vehicle driving state of the vehicle.

The torque arbitration module 200 is configured to perform torque arbitration according to an actual driving state of the entire vehicle, and obtain a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle in a torque switching process.

The control module 300 is configured to, while controlling the output torque of the driving motor according to the torque request of the vehicle, process the requested torque corresponding to the torque request by using a torque loading strategy or a torque unloading strategy to obtain a target torque corresponding to the driving motor in the zero-crossing interval, so that the output torque of the driving motor reaches a smooth condition.

Optionally, in an embodiment of the present application, the detection module 100 includes: the device comprises an acquisition unit and a matching unit.

The acquisition unit is used for acquiring the working state, the current gear, the voltage of an accelerator pedal and/or the actual fault type of the ABS or the ESC of the vehicle.

And the matching unit is used for matching the actual driving state of the whole vehicle according to the working state of the ABS or the ESC, the current gear, the voltage of an accelerator pedal and/or the actual fault type.

Optionally, in an embodiment of the present application, the apparatus 10 further includes: and generating a module.

The generating module is used for generating a torque loading strategy or a torque unloading strategy according to the accelerator pedal voltage of the vehicle, the maximum allowable discharging power of the battery, the maximum torque of the motor and the fault information of the part.

Optionally, in an embodiment of the present application, the control module 300 includes: detecting the playing element and generating the element.

The detection unit is used for detecting the actual torque zone bit of the vehicle according to the current speed, the current torque and the requested torque of the vehicle.

And the generating unit is used for generating a torque loading strategy when the actual torque zone bit is the torque loading zone bit, and generating a torque unloading strategy when the actual torque zone bit is the torque unloading zone bit.

Optionally, in an embodiment of the present application, the generating unit includes: a control subunit.

The control subunit is used for weakening a torque loading or unloading gradient when the output torque is in a zero crossing point or a first preset torque state and restoring loading or unloading response when the output torque is in a second torque state based on the current torque and the torque correction coefficient of the vehicle.

Optionally, in an embodiment of the present application, the apparatus 10 further includes: the device comprises a timing module and a stopping module.

The timing module is used for timing the correction trigger time length of the requested torque.

And the stopping module is used for stopping the correction action of the output torque when the correction trigger time length is greater than a preset threshold value.

It should be noted that the foregoing explanation of the embodiment of the motor torque control method for a vehicle is also applicable to the motor torque control device for a vehicle of this embodiment, and will not be repeated herein.

According to the motor torque control device of the vehicle, torque arbitration can be performed according to the driving state of the whole vehicle, so that the requested torque is loaded or unloaded, a corresponding target torque of the driving motor in a zero-crossing interval is obtained, smooth switching of the torque of the driving motor is further achieved, shaking possibly caused by a transmission system gap is eliminated, the response speed of the vehicle is improved, and the driving experience of a user is improved. Therefore, the problems that in the related art, the output of the driving motor is directly controlled based on the torque request in the torque distribution and execution processes of the vehicle, smoothness and transition cannot be realized, and the vehicle is easy to shake obviously due to the fact that a gap exists in a transmission system, so that the driving feeling of the vehicle is influenced, and the driving experience of a user is reduced are solved.

And the vehicle control unit comprises the motor torque control device of the vehicle. The vehicle controller can carry out torque arbitration according to the driving state of the whole vehicle so as to load or unload the requested torque, thereby obtaining the corresponding target torque of the driving motor in the zero-crossing interval, further realizing the smooth switching of the torque of the driving motor, eliminating the shaking possibly caused by the transmission system gap, improving the response speed of the vehicle and being beneficial to improving the driving experience of a user. Therefore, the problems that in the related technology, the output of the driving motor is directly controlled based on the torque request in the torque distribution and execution processes of the vehicle, smoothness transition cannot be achieved, the vehicle shakes obviously due to the fact that a gap exists in a transmission system, the driving feeling of the vehicle is affected, and the driving experience of a user is reduced are solved.

Fig. 10 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 1001, processor 1002, and computer programs stored on memory 1001 and executable on processor 1002.

The processor 1002, when executing the program, implements the motor torque control method of the vehicle provided in the above-described embodiment.

Further, the vehicle further includes:

a communication interface 1003 for communicating between the memory 1001 and the processor 1002.

A memory 1001 for storing computer programs that may be run on the processor 1002.

Memory 1001 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 10, but that does not indicate only one bus or one type of bus.

Alternatively, in specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated into a single chip, the memory 1001, the processor 1002 and the communication interface 1003 may complete communication with each other through an internal interface.

The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the motor torque control method of the vehicle as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A motor torque control method of a vehicle, characterized by comprising the steps of:

detecting an actual vehicle driving state of a vehicle;

carrying out torque arbitration according to the actual driving state of the whole vehicle to obtain a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle in a torque switching process; and

and while controlling the output torque of the driving motor according to the torque request of the vehicle, processing the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy to obtain the target torque corresponding to the driving motor in a zero-crossing interval, so that the output torque of the driving motor reaches a smooth condition.

2. The method of claim 1, wherein said detecting an actual overall vehicle driving state of the vehicle comprises:

collecting the working state, the current gear, the voltage of an accelerator pedal and/or the actual fault type of a braking anti-lock braking system (ABS) or a vehicle body electronic stability control system (ESC) of the vehicle;

and matching the actual driving state of the whole vehicle according to the working state of the ABS or the ESC, the current gear, the voltage of the accelerator pedal and/or the actual fault type.

3. The method of claim 2, further comprising, prior to processing a requested torque corresponding to the torque request using the torque loading strategy or the torque unloading strategy:

and generating the torque loading strategy or the torque unloading strategy according to the accelerator pedal voltage of the vehicle, the maximum allowable discharge power of a battery, the maximum torque of a motor and the fault information of parts.

4. The method of claim 1 or 3, wherein said processing a requested torque corresponding to the torque request using the torque loading strategy or the torque unloading strategy comprises:

detecting an actual torque zone bit of the vehicle according to the current speed, the current torque and the requested torque of the vehicle;

if the actual torque zone bit is a torque loading zone bit, generating the torque loading strategy

And if the actual torque zone bit is a torque unloading zone bit, generating the torque unloading strategy.

5. The method of claim 4, wherein said generating the torque loading strategy and said generating the torque unloading strategy comprise:

and weakening the torque loading or unloading gradient when the output torque is in a zero-crossing point or a first preset torque state based on the current torque and the torque correction coefficient of the vehicle, and restoring the loading or unloading response when the output torque is in a second torque state.

6. The method of claim 5, further comprising, prior to causing the output torque of the drive motor to reach the smooth condition:

timing a correction trigger duration of the requested torque;

and when the correction trigger time length is greater than a preset threshold value, stopping the correction action of the output torque.

7. A motor torque control apparatus of a vehicle, characterized by comprising:

the detection module is used for detecting the actual vehicle driving state of the vehicle;

the torque arbitration module is used for carrying out torque arbitration according to the actual whole vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle in a torque switching process; and

and the control module is used for processing the request torque corresponding to the torque request by utilizing the torque loading strategy or the torque unloading strategy while controlling the output torque of the driving motor according to the torque request of the vehicle to obtain the target torque corresponding to the driving motor in a zero-crossing interval so as to enable the output torque of the driving motor to reach a smooth condition.

8. A vehicle control unit, comprising: the motor torque control apparatus of a vehicle according to claim 7.

9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a motor torque control method of a vehicle according to any one of claims 1 to 6.

10. A computer-readable storage medium on which a computer program is stored, the program being executed by a processor for implementing a motor torque control method of a vehicle according to any one of claims 1 to 6.