Search

JP-7857440-B2 - Vehicle torque control method and apparatus, as well as electronic device and storage medium

JP7857440B2JP 7857440 B2JP7857440 B2JP 7857440B2JP-7857440-B2

Inventors

  • リン、ホーピン
  • シー、ミンチョアン
  • イン、チャオ
  • フー、ルオ
  • ユアン、ユエシュ

Assignees

  • ビーワイディー カンパニー リミテッド

Dates

Publication Date
20260512
Application Date
20230519
Priority Date
20220520

Claims (9)

  1. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value, The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle. The torque adjustment value includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The torque of the drive shaft of the vehicle comprises a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, the first torque adjustment amount comprises a front axle torque adjustment amount and a rear axle torque adjustment amount, and the torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. A method comprising controlling the front axle motor to decrease the front axle torque adjustment amount and controlling the rear axle motor to increase the rear axle torque adjustment amount when the front axle torque adjustment amount is not zero, the rear axle torque adjustment amount is zero, and the current torque output value of the rear axle motor is less than a preset torque peak value of the rear axle motor.
  2. Controlling the rear axle motor to increase the rear axle torque adjustment amount is The method according to claim 1, comprising: obtaining the torque difference of the rear axle motor between the preset torque peak value of the rear axle motor and the current torque output value of the rear axle motor; and controlling the torque of the rear axle motor to increase the front axle torque adjustment amount when the front axle torque adjustment amount is less than or equal to the torque difference of the rear axle motor, or controlling the torque of the rear axle motor to increase the torque difference of the rear axle motor when the front axle torque adjustment amount is greater than the torque difference of the rear axle motor.
  3. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value, The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle. The torque adjustment value includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The torque of the drive shaft of the vehicle comprises a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, the first torque adjustment amount comprises a front axle torque adjustment amount and a rear axle torque adjustment amount, and the torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. A method comprising controlling the rear axle motor to decrease the rear axle torque adjustment amount and controlling the front axle motor to increase the front axle torque adjustment amount when the front axle torque adjustment amount is 0, the rear axle torque adjustment amount is not 0, and the current torque output value of the front axle motor is less than a preset torque peak value of the front axle motor.
  4. Controlling the front axle motor to increase the amount of torque adjustment on the front axle is The method according to claim 3, comprising: obtaining the torque difference of the front axle motor between the preset torque peak value of the front axle motor and the current torque output value of the front axle motor; and controlling the torque of the front axle motor to increase the rear axle torque adjustment amount when the rear axle torque adjustment amount is less than or equal to the torque difference of the front axle motor, or controlling the torque of the front axle motor to increase the torque difference of the front axle motor when the rear axle torque adjustment amount is greater than the torque difference of the front axle motor.
  5. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value, The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle. The torque adjustment value includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The torque of the drive shaft of the vehicle comprises a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, the first torque adjustment amount comprises a front axle torque adjustment amount and a rear axle torque adjustment amount, and the torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. A method comprising controlling the front axle motor to reduce the rear axle torque adjustment amount when the front axle torque adjustment amount is not zero and the rear axle torque adjustment amount is not zero , and controlling the rear axle motor to reduce the rear axle torque adjustment amount.
  6. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value, The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle. The torque adjustment value includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The vehicle drive parameters further comprise vehicle speed, steering wheel rotation angle, and current yaw rate, and the torque adjustment value further comprises a second torque adjustment amount, and the torque adjustment value of the vehicle's drive shaft is determined based on the vehicle drive parameters. Determining the ideal yaw rate based on the rotation angle of the steering wheel and the vehicle speed, and The system further comprises calculating the second torque adjustment amount based on the ideal yaw rate and the current yaw rate. The torque of the drive shaft of the vehicle comprises a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, and the first torque adjustment amount comprises a front axle torque adjustment amount and a rear axle torque adjustment amount. Adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value, The front axle torque is adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount. Alternatively, the rear axle torque may be adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount. Alternatively, the system may be configured to adjust the front axle torque and the rear axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount. The torque of the drive shaft of the vehicle comprises front axle torque and rear axle torque, and the front axle torque is adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount and the second torque adjustment amount, or the rear axle torque is adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount and the second torque adjustment amount, or the front axle torque and rear axle torque are adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount and the second torque adjustment amount, When the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, the front axle motor is controlled to reduce the front axle torque adjustment amount, and the rear axle motor is controlled to reduce the second torque adjustment amount. The rear axle motor is controlled to reduce the first combined torque adjustment amount when the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, wherein the first combined torque adjustment amount = k1 * the rear axle torque adjustment amount + k2 * the second torque adjustment amount; or the front axle motor is controlled to reduce the second torque adjustment amount and the rear axle motor is controlled to reduce the rear axle torque adjustment amount when the second torque adjustment amount is less than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0; or the front axle motor is controlled to reduce the second combined torque adjustment amount when the second torque adjustment amount is less than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, wherein the second combined torque adjustment amount = k3 * the rear axle torque adjustment amount + k4 * the second torque adjustment amount. In the formula, k1 , k2 , k3 , and k4 are torque distribution coefficients.
  7. A vehicle comprising a processor, memory, and a computer program stored in the memory and executable by the processor, wherein the steps of the vehicle torque control method according to any one of claims 1 to 6 are performed when the computer program is executed by the processor.
  8. A computer-readable storage medium for storing a computer program, wherein the steps of the vehicle torque control method according to any one of claims 1 to 6 are performed when the computer program is executed by a processor.
  9. A vehicle comprising a front wheel motor, a rear wheel motor, and a control device, wherein the control device is configured to perform the steps of the vehicle torque control method described in any one of claims 1 to 6 .

Description

Cross-reference of related applications This disclosure claims priority to Chinese Patent Application No. 202210551581.2, entitled "VEHICLE TORQUE CONTROL METHOD AND APPARATUS, ELECTRONIC DEVICE AND STORAGE MEDIUM," filed by BYD Co., Ltd. on 20 May 2022. This disclosure relates to the vehicle technology, and more particularly to vehicle torque control methods and apparatus, electronic devices, and storage media. During vehicle operation, vehicles may encounter situations such as turning to escape dangerous situations. In these situations, vehicle torque often needs to be controlled to ensure safe and smooth vehicle movement. However, currently, situational awareness is often limited to a specific vehicle speed range, resulting in insufficient torque control conditions, making it impossible to control torque across the entire speed range. This is a flowchart illustrating the steps of a vehicle torque control method according to one embodiment of the present disclosure.This is a flowchart of the steps of a vehicle torque control method according to another embodiment of the present disclosure.This is a schematic diagram of the vehicle steering model described herein.This is a schematic diagram of the two-degree-of-freedom motion model of the vehicle according to this disclosure.This is a structural block diagram of a vehicle torque control device according to one embodiment of the present disclosure. Embodiments of this disclosure are described in detail below, and examples of embodiments are shown in the accompanying drawings, where the same or similar elements or elements having the same or similar function are represented by the same or similar reference numerals throughout the description. The embodiments described below with reference to the accompanying drawings are illustrative and intended to illustrate this disclosure and should not be construed as limitations on this disclosure. Figure 1 is a flowchart of the steps of a vehicle torque control method according to one embodiment of the present disclosure, which may specifically include the following steps. Step 101: Vehicle drive parameters are obtained. These parameters include the wheel rotation speeds of the wheels at both ends of the vehicle's drive shaft. In the embodiments of this disclosure, various sensors are mounted on the vehicle, including a wheel speed sensor for detecting wheel rotation speed, a resolver sensor for detecting motor rotation speed, a rotation angle sensor for detecting the rotation angle of the steering wheels, a vehicle speed sensor for detecting vehicle speed, and a yaw rate sensor for detecting the vehicle's yaw rate. After the vehicle is powered, signals from various sensors, including wheel speed sensors, are read to obtain vehicle drive parameters. These vehicle drive parameters include at least the wheel rotation speeds of the wheels at both ends of the vehicle's drive shaft. Step 102: The torque adjustment value for the vehicle's drive shaft is determined based on the vehicle drive parameters. After obtaining the corresponding vehicle drive parameters, the vehicle's driving conditions are determined based on these parameters, and the torque adjustment values for the vehicle's drive shafts are calculated based on these parameters. For example, if the vehicle includes two drive shafts, a front axle and a rear axle, the torque adjustment values for the front axle and the rear axle are calculated. Step 103: The torque of the vehicle's drive shaft is adjusted based on the torque adjustment value. Different adjustment policies are determined based on the torque adjustment values corresponding to the different drive shafts of the vehicle, and each drive shaft throughout the vehicle is adjusted accordingly according to the adjustment policy. In embodiments of this disclosure, vehicle drive parameters are acquired. Torque adjustment values for the vehicle's drive shafts are determined based on the vehicle drive parameters. The torque of the vehicle's drive shafts is adjusted based on the torque adjustment values. The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the vehicle's drive shafts. The torque adjustment value for each drive shaft of the vehicle is determined by the wheel rotation speeds of the wheels at both ends of the vehicle's drive shafts, and the torque adjustment in the drive shafts is not limited to a fixed vehicle drive speed range, but the torque of the drive shafts can be adjusted over the entire speed range, resulting in more comprehensive control conditions for torque control. Torque adjustment of the drive shafts is not limited to the adjustment of a single drive shaft. By adjusting each of the vehicle's drive shafts, the torque of the drive shafts is adjusted more comprehensively, and double-shaft closed-loop control is implemented, thereby avoiding power consumption, and as a result, vehicle slip control can be implemented over the entire range. Figure 2 is a