阅读说明：本技术 一种扭矩控制方法、装置及车辆 (Torque control method and device and vehicle ) 是由 门昌伟 梁超 储琦 代康伟 梁海强 于 2020-06-08 设计创作，主要内容包括：本发明提供了一种扭矩控制方法、装置及车辆,所述方法包括：在驱动挡位下,若接收到制动信号,则监测车身电子稳定系统ESP功能信号；根据所述车身电子稳定系统ESP功能信号,在满足预设条件时,进行限扭矩控制；在进行限扭矩控制后,若接收到加速踏板开度信号,则根据所述加速踏板开度信号和当前车速,确定需求扭矩；确定依据预设扭矩梯度,将当前扭矩调整至所述需求扭矩的扭矩控制指令。通过上述方案,可以降低车身电子稳定系统ESP在与整车控制器VCU进行匹配的过程中,由于扭矩变化过快造成的制动磨盘声音大,制动系统的耐久性差的问题。(The invention provides a torque control method, a torque control device and a vehicle, wherein the method comprises the following steps: under a driving gear, if a braking signal is received, an ESP (electronic stability program) function signal of an electronic stability system of the vehicle body is monitored; according to the ESP functional signal of the Electronic Stability Program (ESP) of the vehicle body, when a preset condition is met, torque limiting control is carried out; after torque limiting control is carried out, if an accelerator pedal opening signal is received, determining a required torque according to the accelerator pedal opening signal and the current vehicle speed; and determining a torque control instruction for adjusting the current torque to the required torque according to a preset torque gradient. Through the scheme, the problems that the brake disc sound is loud and the durability of a brake system is poor due to the fact that the torque changes too fast in the process of matching the vehicle body electronic stability system (ESP) with the Vehicle Control Unit (VCU) can be solved.)

1. A torque control method, comprising:

under a driving gear, if a braking signal is received, an ESP (electronic stability program) function signal of an electronic stability system of the vehicle body is monitored;

according to the ESP functional signal of the Electronic Stability Program (ESP) of the vehicle body, when a preset condition is met, torque limiting control is carried out;

after torque limiting control is carried out, if an accelerator pedal opening signal is received, determining a required torque according to the accelerator pedal opening signal and the current vehicle speed;

and determining a torque control instruction for adjusting the current torque to the required torque according to a preset torque gradient.

2. The torque control method of claim 1, further comprising:

and when the current automatic parking system AVH is determined to be switched from the inactivated state to the activated state or the hill hold system HHC is determined to be in the activated state according to the ESP function signal of the electronic stability system (ESP), the preset condition is met.

3. The torque control method according to claim 1, wherein the performing torque limit control includes:

and determining the output torque value as a preset calibration value.

4. The torque control method of claim 1, further comprising:

determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the last period;

wherein determining a torque control command for adjusting the current torque to the requested torque according to a preset torque gradient comprises:

and determining the torque of the current period according to the output torque of the previous time period and the preset torque gradient of the current period.

5. The torque control method according to claim 4, wherein determining the preset torque gradient for a current period based on vehicle speed information for the current period and an output torque for a previous period comprises:

determining the preset torque gradient of the current period according to a preset torque filter function table;

when different vehicle speed information in the current time period and different output torques in the last time period are recorded in the torque filter function table, the corresponding preset torque gradient is obtained.

6. The torque control method of claim 1, further comprising:

and if a fault signal of the whole vehicle is received, limiting the output torque according to the fault signal of the whole vehicle.

7. A torque control device, comprising:

the monitoring module is used for monitoring ESP (electronic stability program) functional signals of the electronic stability system of the vehicle body under the driving gear if braking signals are received;

the torque limiting module is used for carrying out torque limiting control when a preset condition is met according to the ESP functional signal of the Electronic Stability Program (ESP) of the vehicle body;

the determining module is used for determining the required torque according to the accelerator pedal opening signal and the current vehicle speed if the accelerator pedal opening signal is received after torque limiting control is carried out;

and the adjusting module is used for determining a torque control instruction for adjusting the current torque to the required torque according to a preset torque gradient.

8. The torque control device according to claim 7, characterized in that the device further comprises:

and the condition judgment module is used for determining that the preset condition is met when the current automatic parking system AVH is switched from the inactivated state to the activated state or the ramp auxiliary system HHC is currently in the activated state according to the ESP function signal of the electronic stability system (ESP) of the vehicle body.

9. The torque control device of claim 7, wherein the torque limiting module is specifically configured to:

and determining the output torque value as a preset calibration value.

10. The torque control device according to claim 7, characterized in that the device further comprises:

the second determining module is used for determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the previous period;

wherein the adjustment module is configured to:

and determining the torque of the current period according to the output torque of the previous time period and the preset torque gradient of the current period.

11. The torque control device of claim 10, wherein the second determination module is specifically configured to:

determining the preset torque gradient of the current period according to a preset torque filter function table;

when different vehicle speed information in the current time period and different output torques in the last time period are recorded in the torque filter function table, the corresponding preset torque gradient is obtained.

12. The torque control device according to claim 7, characterized in that the device further comprises:

and the limiting module is used for limiting the output torque according to the finished automobile fault signal if the finished automobile fault signal is received.

13. A vehicle characterized by comprising the torque control apparatus according to any one of claims 7 to 12.

Technical Field

The invention relates to the technical field of dynamic control of electric automobiles, in particular to a torque control method, a torque control device and a vehicle.

Background

The holding capacity of electric automobiles in the market is increased year by year, and more vehicles are changed from traditional vehicle types to pure electric vehicle types. With the increasing Vehicle configurations, the matching between a Vehicle Control Unit (VCU) and other external controllers is also increasing, wherein an Electronic Stability Program (ESP) needs to control and coordinate torque during the matching process with the VCU to solve the problems of loud brake disc sound and poor durability of the brake system.

Disclosure of Invention

The embodiment of the invention provides a torque control method, a torque control device and a vehicle, which are used for solving the problems that in the prior art, a brake disc is loud and the durability of a brake system is poor in the process of matching an Electronic Stability Program (ESP) of a vehicle body with a Vehicle Control Unit (VCU).

In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:

an embodiment of the first aspect of the invention provides a torque control method, including:

under a driving gear, if a braking signal is received, an ESP (electronic stability program) function signal of an electronic stability system of the vehicle body is monitored;

according to the ESP functional signal of the Electronic Stability Program (ESP) of the vehicle body, when a preset condition is met, torque limiting control is carried out;

after torque limiting control is carried out, if an accelerator pedal opening signal is received, determining a required torque according to the accelerator pedal opening signal and the current vehicle speed;

and determining a torque control instruction for adjusting the current torque to the required torque according to a preset torque gradient.

Optionally, the method further comprises:

and when the current automatic parking system AVH is determined to be switched from the inactivated state to the activated state or the hill hold system HHC is determined to be in the activated state according to the ESP function signal of the electronic stability system (ESP), the preset condition is met.

Optionally, the performing torque limit control includes:

and determining the output torque value as a preset calibration value.

Optionally, the method further comprises:

determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the last period;

wherein determining a torque control command for adjusting the current torque to the requested torque according to a preset torque gradient comprises:

and determining the torque of the current period according to the output torque of the previous time period and the preset torque gradient of the current period.

Optionally, determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the previous period, including:

determining the preset torque gradient of the current period according to a preset torque filter function table;

when different vehicle speed information in the current time period and different output torques in the last time period are recorded in the torque filter function table, the corresponding preset torque gradient is obtained.

Optionally, the method further comprises:

and if a fault signal of the whole vehicle is received, limiting the output torque according to the fault signal of the whole vehicle.

An embodiment of the second aspect of the present invention further provides a torque control device, including:

the detection module is used for monitoring ESP (electronic stability program) functional signals of the electronic stability system of the vehicle body under the driving gear if braking signals are received;

the torque limiting module is used for carrying out torque limiting control when a preset condition is met according to the ESP functional signal of the Electronic Stability Program (ESP) of the vehicle body;

the first determining module is used for determining the required torque according to an accelerator pedal opening signal and the current vehicle speed if the accelerator pedal opening signal is received after torque limiting control is carried out;

and the adjusting module is used for determining a torque control instruction for adjusting the current torque to the required torque according to a preset torque gradient.

Optionally, the apparatus further comprises:

and the condition judgment module is used for determining that the preset condition is met when the current automatic parking system AVH is switched from the inactivated state to the activated state or the ramp auxiliary system HHC is currently in the activated state according to the ESP function signal of the electronic stability system (ESP) of the vehicle body.

Optionally, the torque limiting module is specifically configured to:

and determining the output torque value as a preset calibration value.

Optionally, the apparatus further comprises:

the second determining module is used for determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the previous period;

wherein the adjustment module is configured to:

and determining the torque of the current period according to the output torque of the previous time period and the preset torque gradient of the current period.

Optionally, the second determining module is specifically configured to:

determining the preset torque gradient of the current period according to a preset torque filter function table;

when different vehicle speed information in the current time period and different output torques in the last time period are recorded in the torque filter function table, the corresponding preset torque gradient is obtained.

Optionally, the apparatus further comprises:

and the limiting module is used for limiting the output torque according to the finished automobile fault signal if the finished automobile fault signal is received.

An embodiment of the third aspect of the invention also provides a vehicle including the torque control device described above.

The invention has the beneficial effects that:

according to the scheme, under the driving gear, after a braking signal is received, an ESP (electronic stability program) function signal of a vehicle body electronic stability system is monitored, torque limit control is performed according to the ESP function signal of the vehicle body electronic stability system when a preset condition is met, after the torque limit control is performed, if an opening signal of an accelerator pedal is received, a required torque is determined according to the opening signal of the accelerator pedal and the current vehicle speed, the current torque is adjusted to the required torque according to a preset torque gradient, and a torque control instruction is output, so that the problems that in the process of matching the ESP of the vehicle body electronic stability system with a VCU (vehicle control unit), the sound of a brake disc is large due to the fact that the torque changes too fast, and the durability of the brake system is poor can be solved.

Drawings

FIG. 1 is a first flowchart of a torque control method provided by an embodiment of the present invention;

FIG. 2 is a second flowchart of a torque control method provided by the present invention;

FIG. 3 is a schematic structural diagram of a torque control device provided in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The invention provides a torque control method, a torque control system and a vehicle, aiming at the problems of loud brake disc sound and poor durability of a brake system caused by too fast torque change in the process of matching an Electronic Stability Program (ESP) of a vehicle body with a Vehicle Control Unit (VCU).

The torque control method is described in detail below in specific embodiments.

As shown in fig. 1, an embodiment of the present invention provides a torque control method, including:

step 101: and in the driving gear, if a braking signal is received, an ESP (electronic stability program) function signal of the electronic stability system of the vehicle body is monitored.

It should be noted that the torque Control method of the present invention may be applied to a controller, where the controller may be a vehicle Control Unit VCU, a Motor Control Unit (MCU), or another controller different from the VCU and the MCU.

The Electronic Stability Program (ESP) for a Vehicle body at least comprises an automatic parking system (AVH) and a Hill Hold Control (HHC).

The ESP functional signals of the electronic stability system of the vehicle body at least comprise: an automatic parking system AVH activating signal, an automatic parking system AVH adding brake pressure middle signal, an automatic parking system AVH brake pressure releasing signal and an automatic parking system AVH quitting signal; a hill assist system HHC activation signal, a hill assist system HHC plus brake pressure in signal, a hill assist system HHC release brake pressure signal, a hill assist system HHC exited signal.

Step 102: and carrying out torque limiting control when a preset condition is met according to the ESP functional signal of the Electronic Stability Program (ESP) of the vehicle body.

The method further comprises the following steps:

and when the current automatic parking system AVH is determined to be switched from the inactivated state to the activated state or the hill hold system HHC is determined to be in the activated state according to the ESP function signal of the electronic stability system (ESP), the preset condition is met.

In a driving gear, a driver steps on a brake pedal to make the vehicle stationary, and meanwhile, an automatic parking system AVH is switched from an inactivated state to an activated state, and at the moment, torque limiting control is started; or the user steps on the brake pedal in the process of driving on the slope, the slope auxiliary system HHC is switched from the inactivated state to the activated state, the original brake pressure is still kept for 1s, at the moment, torque limit control is started, and the purpose of performing the torque limit control is to prevent the electronic stability system (ESP) and the motor controller MCU of the vehicle body from being stronger at the front end of the wheel in the driving gear.

The performing torque limit control includes:

and determining the output torque value as a preset calibration value.

It should be noted that, in the embodiment of the present invention, the preset calibration value is 1 to 5Nm, that is, when the torque limit control is performed, the output torque value is 1 to 5Nm, and calibration can be performed.

Step 103: after torque limiting control is carried out, if an accelerator opening signal, which can also be called an accelerator opening signal, is received, the required torque is determined according to the accelerator opening signal and the current vehicle speed.

In this embodiment, in the driving gear, the required torque can be calculated by the internal table lookup logic through the accelerator opening degree signal and the current vehicle speed.

Step 104: and determining a torque control instruction for adjusting the current torque to the required torque according to a preset torque gradient.

After torque limiting control is performed, a driver steps on an accelerator, an automatic parking system AVH sends a signal for releasing brake pressure or a hill auxiliary system HHC sends a signal for releasing brake pressure, a vehicle control unit VCU controls torque in the process of releasing brake pressure to rise to required torque, and in order to prevent impact and grinding disc noise caused by too fast rise of torque from directly jumping from current torque to the required torque, filtering processing needs to be performed according to a preset torque gradient.

The method further comprises the following steps:

determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the last period;

wherein determining a torque control command for adjusting the current torque to the requested torque according to a preset torque gradient comprises:

and determining the torque of the current period according to the output torque of the previous time period and the preset torque gradient of the current period.

Determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the previous period, wherein the determining comprises the following steps:

determining the preset torque gradient of the current period according to a preset torque filter function table;

when different vehicle speed information in the current time period and different output torques in the last time period are recorded in the torque filter function table, the corresponding preset torque gradient is obtained.

It should be noted that the torque of the current cycle is determined according to the output torque of the previous time cycle and the preset torque gradient of the current cycle, and may be determined according to the following formula: the torque of the current period is equal to the output torque of the last time period and the preset torque gradient of the current period.

The preset torque gradient of the current period is determined according to a preset torque filter function table, wherein when different vehicle speed information in the current time period and different output torques of the previous time period are recorded in the torque filter function table, the preset torque gradient corresponds to the preset torque gradient. Such as the filter function table shown in table 1.

TABLE 1 Filter function Table

In Table 1, V₁To V_nFor vehicle speed information in the current cycle, X₁To X_nFor the output torque of the last time period, U₁₁To U_nnThe torque gradient value T is obtained for a table lookup.

According to a preset torque gradient, after the current torque is adjusted to the required torque, a torque control command is output, and calculation is carried out according to the following formula:

torque control command is torque filtered Δ T + torque control command of previous sampling period.

The delta T is a single software control period, the torque transient response is adjusted according to the acceleration response requirement of a driver and the activation of the automatic parking system AVH and the hill auxiliary system HHC, the brake pressure of the automatic parking system AVH and the hill auxiliary system HHC can be reduced to 50% of the original torque response to the maximum extent, the brake pressure is matched with an Electronic Stability Program (ESP) of a vehicle body, and the durability and the user experience of the brake system are improved.

And the motor controller MCU outputs torque according to the torque control instruction.

The method further comprises the following steps:

and if a fault signal of the whole vehicle is received, limiting the output torque according to the fault signal of the whole vehicle.

It should be noted that, the vehicle fault signal battery remaining capacity SOC is low, and at this time, the vehicle control unit VCU limits the output torque, thereby avoiding an accident.

As shown in fig. 2, fig. 2 is a flowchart of a torque control method according to an embodiment of the present invention. The technical details of the same parts as those of the above embodiments are not repeated.

The input information includes: the method comprises the steps that an accelerator pedal opening signal and an ESP (electronic stability program) function signal of a vehicle body electronic stability system comprise an AVH (automatic parking System) activating signal, an AVH adding brake pressure middle signal of the automatic parking system, an AVH releasing brake pressure signal of the automatic parking system and an AVH quitting signal of the automatic parking system; the system comprises a ramp auxiliary system HHC activating signal, a ramp auxiliary system HHC plus brake pressure signal, a ramp auxiliary system HHC brake pressure releasing signal, a ramp auxiliary system HHC quitting signal, a finished vehicle fault signal and the like. The output information is a torque control command.

As shown in fig. 3, fig. 3 is a schematic structural diagram of a torque control device according to an embodiment of the present invention, including:

the monitoring module 301 is configured to monitor an ESP function signal of the vehicle body electronic stability system if a braking signal is received in the driving gear;

the torque limiting module 302 is used for performing torque limiting control when a preset condition is met according to the ESP function signal of the vehicle body electronic stability system;

the first determining module 303 is configured to determine a required torque according to an accelerator pedal opening signal and a current vehicle speed if the accelerator pedal opening signal is received after torque limiting control is performed;

an adjusting module 304 is configured to determine a torque control command for adjusting the current torque to the required torque according to a preset torque gradient.

The device further comprises:

and the condition judgment module is used for determining that the preset condition is met when the current automatic parking system AVH is switched from the inactivated state to the activated state or the ramp auxiliary system HHC is currently in the activated state according to the ESP function signal of the electronic stability system (ESP) of the vehicle body.

The torque limiting module 302 is specifically configured to:

and determining the output torque value as a preset calibration value.

The device further comprises:

the second determining module is used for determining the preset torque gradient of the current period according to the vehicle speed information in the current period and the output torque of the previous period;

wherein the adjusting module 304 is configured to:

and determining the torque of the current period according to the output torque of the previous time period and the preset torque gradient of the current period.

The second determining module is specifically configured to:

determining the preset torque gradient of the current period according to a preset torque filter function table;

when different vehicle speed information in the current time period and different output torques in the last time period are recorded in the torque filter function table, the corresponding preset torque gradient is obtained.

The device further comprises:

and the limiting module is used for limiting the output torque according to the finished automobile fault signal if the finished automobile fault signal is received.

As shown in fig. 4, fig. 4 is a schematic structural diagram of a vehicle according to another embodiment of the present invention, including:

the vehicle body electronic stability system ESP401 is used for sending vehicle body electronic stability system ESP function signals to the vehicle control unit VCU 402;

the vehicle control unit VCU402 is used for carrying out torque limiting control when preset conditions are met according to the ESP functional signals of the vehicle body electronic stability system; the system is used for receiving the opening information of an accelerator pedal and the fault information of the whole vehicle; after torque limiting control is carried out, if an accelerator pedal opening signal is received, determining a required torque according to the accelerator pedal opening signal and the current vehicle speed; and determining a torque control instruction for adjusting the current torque to the required torque according to a preset torque gradient.

And the motor controller MCU403 is used for receiving the torque control command and performing torque control.

The vehicle also includes a Controller Area Network (CAN) bus. The vehicle body electronic stability system ESP401, the vehicle control unit VCU402 and the motor controller MCU403 are connected through the CAN bus.

While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.