Torque control method for vehicle, vehicle controller, and non-transitory machine-readable storage medium

Patent metadata

Field	Value
Publication number	US-12017557-B2
Application number	US-202117790159-A
Country	US
Kind code	B2
Filing date	Jan 5, 2021
Priority date	Feb 24, 2020
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A torque control method and apparatus for a vehicle, including: determining whether a torque change request is received, during a process of performing an energy recovery function; determining whether an antilock brake system is in an active state, in case that the torque change request is not received; if so, decreasing an energy recovery torque with a first torque change gradient; determining whether the antilock brake system is transited from the activated state to a non-activated state, during a process of decreasing the energy recovery torque; if so, determining whether it is satisfied that a first current driver demand torque is greater than a first preset value and the antilock brake system is in the non-activated state for longer than a first preset time; and if satisfied, recovering the energy recovery torque to the first current driver demand torque with a second torque change gradient.

First claim

What is claimed is:

1. A torque control method for a vehicle, being implemented by a vehicle controller, the method comprising:
determining, by the vehicle controller, whether a torque change request sent from an electronic stability program, is received, during a process of performing an energy recovery function;
determining, by the vehicle controller, whether an antilock brake system is in an active state, in case that the torque change request is not received;
decreasing an energy recovery torque with a first torque change gradient, in case that the antilock brake system is in the active state, wherein the energy recovery torque is restricted to that a minimum value thereof is decreased to a preset torque, and a size of the preset torque is greater than 0;
determining whether the antilock brake system is transited from the activated state to a non-activated state, during a process of decreasing the energy recovery torque;
determining whether it is satisfied that a first current driver demand torque is greater than a first preset value and the antilock brake system is in the non-activated state for longer than a first preset time, in case that the antilock brake system is transited from the activated state to the non-activated state; and
recovering the energy recovery torque to the first current driver demand torque with a second torque change gradient, when it is satisfied that the first current driver demand torque is greater than the first preset value and the antilock brake system is in the non-activated state for longer than the first preset time.

2. The torque control method for the vehicle according to claim 1 , further comprising:
maintaining, during the process of decreasing the energy recovery torque when the energy recovery torque is decreased to the preset torque and the antilock brake system is in the activated state, the energy recovery torque to be the preset torque until the antilock brake system is transited from the activated state to the non-activated state.

3. The torque control method for the vehicle according to claim 1 , further comprising:
returning to the step of decreasing the energy recovery torque with the first torque change gradient, when it is satisfied that the first current driver demand torque is greater than the first preset value and the antilock brake system is in the non-activated state for longer than the first preset time.

4. The torque control method for the vehicle according to claim 1 , wherein the torque change request is configured to instruct a torque increase or a torque decrease and to instruct a target torque; and the torque control method for the vehicle further comprises:
executing, in case of receiving the torque change request, a corresponding torque decrease or torque increase on the energy recover torque with a third torque change gradient, so as to adjust the energy recovery torque to the target torque;
determining whether the torque change request is exited; and
recovering the energy recovery torque to a second current driver demand torque with a second torque change gradient, in case that the torque change request is exited.

5. The torque control method for the vehicle according to claim 4 , wherein at least one of the following features is defined:
the first torque change gradient is smaller than 400 N·m/S;
the second torque change gradient is smaller than 600 N·m/S; or
the third torque change gradient is smaller than 800 N·m/S.

6. The torque control method for the vehicle according to claim 1 , wherein the first torque change gradient is set to satisfy that the energy recovery torque, when being decreased with the first torque change gradient, is enabled to be decreased to the preset value within the preset time.

7. The torque control method for the vehicle according to claim 5 , wherein the first torque change gradient is set to satisfy that the energy recovery torque, when being decreased with the first torque change gradient, is enabled to be decreased to the preset value within the preset time.

8. A vehicle controller, comprising:
a processor, and
a storage medium storing instructions, which, when being executed by the processor, cause the vehicle controller to carry a method comprising:

determining whether a torque change request is received, during a process of performing an energy recovery function;
determining whether an antilock brake system is in an active state, in case that the torque change request is not received;
decreasing an energy recovery torque with a first torque change gradient, in case that the antilock brake system is in the active state, wherein the energy recovery torque is restricted to that a minimum value thereof is decreased to a preset torque, and a size of the preset torque is greater than 0;
determining whether the antilock brake system is transited from the activated state to a non-activated state, during a process of decreasing the energy recovery torque;
determining whether it is satisfied that a first current driver demand torque is greater than a first preset value and the antilock brake system is in the non-activated state for longer than a first preset time, in case that the antilock brake system is transited from the activated state to the non-activated state; and
recovering the energy recovery torque to the first current driver demand torque with a second torque change gradient, when it is satisfied that the first current driver demand torque is greater than the first preset value and the antilock brake system is in the non-activated state for longer than the first preset time.

9. The vehicle controller according to claim 8 , wherein the method further comprises:
maintaining, during the process of decreasing the energy recovery torque when the energy recovery torque is decreased to the preset torque and the antilock brake system is in the activated state, the energy recovery torque to be the preset torque until the antilock brake system is transited from the activated state to the non-activated state.

10. The vehicle controller according to claim 8 , wherein the method further comprises:
a returning module, configured for returning to the step of decreasing the energy recovery torque with the first torque change gradient, when it is satisfied that the first current driver demand torque is greater than the first preset value and the antilock brake system is in the non-activated state for longer than the first preset time.

11. The vehicle controller according to claim 8 , wherein the torque change request is configured to instruct a torque increase or a torque decrease and to instruct a target torque; and the method further comprising:
executing, in case of receiving the torque change request, a corresponding torque decrease or torque increase on the energy recover torque with a third torque change gradient, so as to adjust the energy recovery torque to the target torque;
determining whether the torque change request is exited; and
recovering the energy recovery torque to a second current driver demand torque with a second torque change gradient, in case that the torque change request is exited.

12. The vehicle controller according to claim 11 , wherein at least one of the following features is defined:
the first torque change gradient is smaller than 400 N·m/S;
the second torque change gradient is smaller than 600 N·m/S; or
the third torque change gradient is smaller than 800 N·m/S.

13. The vehicle controller according to claim 8 , wherein the first torque change gradient is set to satisfy that the energy recovery torque, when being decreased with the first torque change gradient, is

Assignees

• Great Wall Motor Co Ltd

Inventors

• Wang Yinlei
• Wu Di
• Liu Han
• Liu Xiu
• Deng Weifeng
• Hou Wentao
• Wang Baogang

Classifications

• F16H2061/0433

  by torque supply with an electric motor · CPC title

• B60W20/40

  Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers {(power-up or power-down of the driveline B60W30/192)} · CPC title

• B60L2240/423

  Torque · CPC title

• B60W2510/083

  Torque · CPC title

• B60W2540/10

  Accelerator pedal position · CPC title