CN-122008901-A - Vehicle torque control method, device, equipment and storage medium

CN122008901ACN 122008901 ACN122008901 ACN 122008901ACN-122008901-A

Abstract

The embodiment of the application relates to the field of computer control, in particular to a vehicle torque control method, device, equipment and storage medium, wherein the method comprises the steps of obtaining vehicle control parameters and required torque of a driver, wherein the vehicle control parameters comprise a rapid torque change rate, a rapid transition torque threshold value and a dead zone threshold value, and the rapid torque change rate is larger than a basic torque change rate corresponding to a driving state of a vehicle; and if the vehicle meets the rapid transition condition, determining the target torque of the vehicle based on the rapid torque change rate, and controlling the vehicle torque according to the target torque, thereby solving the technical problem of vehicle shake caused by repeated zero crossing of the driving shaft torque in the prior art.

Inventors

ZHAO YA
WANG XIAO
HUANG KECHENG
CHEN CHANGSHENG

Assignees

奇瑞汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. A vehicle torque control method, characterized by comprising: acquiring a vehicle control parameter and a driver's required torque, wherein the vehicle control parameter comprises a rapid torque change rate, a rapid transition torque threshold value and a dead zone threshold value, and the rapid torque change rate is larger than a basic torque change rate corresponding to a driving state of the vehicle; Judging whether the vehicle meets a rapid transition condition according to the vehicle control parameter and the required torque, wherein the rapid transition condition comprises that the absolute value of the required torque is smaller than a rapid transition torque threshold value and the direction of the required torque is negative; And if the vehicle meets the rapid transition condition, determining a target torque of the vehicle based on the rapid torque change rate, and controlling the vehicle torque according to the target torque.
2. The method of claim 1, wherein determining the target torque of the vehicle based on the rapid torque change rate comprises: determining a dynamic change coefficient according to the rapid torque change rate; Calculating a torque distribution coefficient of the vehicle at the current moment according to a first coefficient calculation formula, the dynamic change coefficient and the torque distribution coefficient of the vehicle at the last moment, wherein the first coefficient calculation formula satisfies that alpha (k) =alpha (k-1) +g_dynamic [ 0-alpha (k-1) ] [ delta ] T, alpha (k) is the torque distribution coefficient of the vehicle at the current moment, alpha (k-1) is the torque distribution coefficient of the vehicle at the last moment, g_dynamic is the dynamic change coefficient, and delta T is the time interval between the current moment and the last moment; and determining the target torque of the vehicle according to the torque distribution coefficient of the vehicle at the current moment.
3. The method of claim 2, wherein a difference between the absolute value of the demand torque and the rapid transition torque threshold is inversely related to the dynamic coefficient of variation.
4. The method of claim 2, wherein determining a dynamic change coefficient from the rapid torque change rate comprises: And determining a dynamic change coefficient according to a dynamic change coefficient calculation formula, wherein the dynamic change coefficient calculation formula meets the requirements that G_dynamic=G_fast [ 1+2 (T_th- |T_req|)/T_th ], G_fast is the rapid torque change rate, T_th is the rapid transition torque threshold, and T_req is the required torque.
5. The method of claim 4, wherein after determining the target torque of the vehicle based on the rapid torque change rate, comprising: Judging whether the vehicle meets a zero-crossing protection condition, wherein the zero-crossing protection condition comprises that the absolute value of the target torque of the driving shaft in the target torque is smaller than a dead zone threshold value; and if the vehicle meets the zero-crossing protection condition, controlling the target torque of the driving shaft to be zero.
6. The method of claim 5, wherein the rapid transition torque threshold is 5-20Nm, the dead zone threshold is 2-5Nm, and the rapid torque rate of change is 2-4 times the base torque rate of change.
7. The method of claim 4, wherein determining the target torque of the vehicle based on the torque distribution coefficient of the vehicle at the current time comprises: Calculating a front axle torque according to a front axle torque formula, wherein the front axle torque formula satisfies that T_front=alpha (k) is T_req, T_front is the front axle torque, the target torque comprises the front axle torque, and the maximum change rate of the front axle torque is 500Nm/s; And calculating a front axle torque according to a rear axle torque formula, wherein the rear axle torque formula meets the condition that T_rear= (1-alpha (k)). T_req, T_rear is rear axle torque, the target torque comprises the rear axle torque, and the maximum change rate of the rear axle torque is 500Nm/s.
8. A vehicle torque control apparatus, characterized by comprising: the vehicle control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle control parameters and a driver's required torque, the vehicle control parameters comprise a rapid torque change rate, a rapid transition torque threshold value and a dead zone threshold value, and the rapid torque change rate is larger than a basic torque change rate corresponding to a driving state of the vehicle; The judging module is used for judging whether the vehicle meets a rapid transition condition according to the vehicle control parameter and the required torque, wherein the rapid transition condition comprises that the absolute value of the required torque is smaller than a rapid transition torque threshold value and the direction of the required torque is negative; And the control module is used for determining the target torque of the vehicle based on the rapid torque change rate and controlling the vehicle torque according to the target torque if the vehicle meets the rapid transition condition.
9. An electronic device is characterized by comprising a processor; a memory for storing the processor-executable instructions; the processor is configured to execute the vehicle torque control method according to any one of the preceding claims 1 to 7 by executing the instructions in the memory.
10. A computer storage medium having instructions stored therein which, when executed, implement the vehicle torque control method of any one of claims 1 to 7.

Description

Vehicle torque control method, device, equipment and storage medium Technical Field The present application relates to the field of computer control, and in particular, to a vehicle torque control method, apparatus, device, and storage medium. Background With the development of new energy automobile technology, a dual-motor four-wheel drive automobile type has been popularized. The dual-motor vehicle system can respectively and independently distribute torque to the front shaft and the rear shaft according to the requirement, so that the safety and the operability of vehicle driving are improved. Under different road conditions, the torque output of the front shaft and the rear shaft can be adjusted by the double-motor four-wheel drive, and the stability of the vehicle is ensured. However, the current vehicle torque distribution coefficient change usually adopts a fixed gradient limit to prevent torque abrupt change, and this fixed gradient control mode has obvious defects that when the required torque is quickly changed from positive driving to negative recovery, the driving shaft torque can undergo a double zero crossing process of positive torque to zero torque and then negative torque and zero torque due to slower distribution coefficient change, and the ineffective torque zero crossing change can cause obvious vehicle shake and impact, so that the driving stability and riding comfort are seriously affected. Therefore, the technical problem of vehicle shake caused by repeated zero crossing of the torque of the driving shaft exists in the prior art. Content of the application The application aims to provide a vehicle torque control method, device, equipment and storage medium, so as to achieve the technical effect of avoiding vehicle shake caused by repeated zero crossing of driving shaft torque. In a first aspect, the present application provides a vehicle torque control method, comprising: The method comprises the steps of obtaining vehicle control parameters and required torque of a driver, wherein the vehicle control parameters comprise a rapid torque change rate, a rapid transition torque threshold value and a dead zone threshold value, and the rapid torque change rate is larger than a basic torque change rate corresponding to a driving state of a vehicle; judging whether the vehicle meets a rapid transition condition according to the vehicle control parameter and the required torque, wherein the rapid transition condition comprises that the absolute value of the required torque is smaller than a rapid transition torque threshold value and the direction of the required torque is negative; And if the vehicle meets the rapid transition condition, determining the target torque of the vehicle based on the rapid torque change rate, and controlling the torque of the vehicle according to the target torque. Further, determining a target torque of the vehicle based on the rapid torque change rate includes: Determining a dynamic change coefficient according to the rapid torque change rate; Calculating a torque distribution coefficient of the vehicle at the current moment according to a first coefficient calculation formula, a dynamic change coefficient and a torque distribution coefficient of the vehicle at the previous moment, wherein the first coefficient calculation formula is that alpha (k) =alpha (k-1) +G_dynamic [ 0-alpha (k-1) ], alpha (k) is the torque distribution coefficient of the vehicle at the current moment, alpha (k-1) is the torque distribution coefficient of the vehicle at the previous moment, G_dynamic is the dynamic change coefficient, and delta T is the time interval between the current moment and the previous moment; and determining the target torque of the vehicle according to the torque distribution coefficient of the vehicle at the current moment. Further, the difference between the absolute value of the requested torque and the rapid transition torque threshold is inversely related to the dynamic change coefficient. Further, determining the dynamic change coefficient according to the rapid torque change rate includes: And determining a dynamic change coefficient according to a dynamic change coefficient calculation formula, wherein the dynamic change coefficient calculation formula meets the conditions that G_dynamic=G_fast [ 1+2 (T_th- |T_req|)/T_th ], G_fast is a rapid torque change rate, T_th is a rapid transition torque threshold value, and T_req is a required torque. Further, after determining the target torque of the vehicle based on the rapid torque change rate, it includes: Judging whether the vehicle meets a zero-crossing protection condition, wherein the zero-crossing protection condition comprises that the absolute value of the target torque of the driving shaft in the target torque is smaller than a dead zone threshold value; and if the vehicle meets the zero-crossing protection condition, controlling the target torque of the driving shaft to be zero. Further, the rapid tr