CN115701502A - Gearbox control method based on terrain prediction, terminal device and storage medium - Google Patents
Gearbox control method based on terrain prediction, terminal device and storage medium Download PDFInfo
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Abstract
The invention relates to a gearbox control method based on terrain prediction, a terminal device and a storage medium, wherein the method comprises the following steps: s1: acquiring current vehicle state data, a road gradient value of a current position of a vehicle and a road gradient value of a rated position in front of the vehicle; s2: calculating the speed ratio variation of the current gearbox; s3: calculating a target speed ratio corresponding to a front rated position of the vehicle; s4: extracting a gearbox gear corresponding to the gearbox speed ratio closest to the target speed ratio according to the target speed ratio, and taking the extracted gearbox gear as a target gear; s5: and controlling the gear of the gearbox to be switched to a target gear. When the terrain changes, the most suitable gear in the short-distance terrain in front is automatically predicted by calculating the influence of the terrain on the vehicle power, and direct gear switching is performed, so that the defect that continuous gear-by-gear shifting is needed in the prior art is overcome, the gear shifting frequency is reduced, and the driving experience of a driver and the economical efficiency of vehicle energy consumption are improved.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a transmission control method based on terrain prediction, a terminal device and a storage medium.
Background
AMT technology has realized gearbox automatic gear shifting in order to make things convenient for the driver to drive, nevertheless is used for the commercial vehicle because commercial vehicle gearbox keeps off the position more, often has tens to dozens of fender position, needs to solve the too high problem of frequency of shifting. The too high frequency of shifting often is because commercial car is used for freight, and the dead weight is too big, and under the condition that external topography changed slightly, the slope will cause great influence to vehicle power in addition great vehicle dead weight factor, and traditional AMT gear shift tactics need shift step by step, consequently appears continuously shifting up or continuously the phenomenon of downshifting in succession easily, causes to shift too frequently, influences the driving experience of driver and the economic nature of vehicle energy consumption.
Disclosure of Invention
In order to solve the above problems, the present invention provides a transmission control method based on terrain prediction, a terminal device, and a storage medium.
The specific scheme is as follows:
a terrain prediction based transmission control method comprising the steps of:
s1: acquiring current vehicle state data, a road gradient value of a current position of a vehicle and a road gradient value of a rated position in front of the vehicle;
the vehicle state data comprises the whole vehicle mass of the vehicle, the speed ratio of a main speed reducer, the radius of a driving wheel, the transmission efficiency, the output torque of an engine, the current gear of a gearbox and the speed ratio of the gearbox;
s2: calculating the speed ratio variation delta ig of the current gearbox according to the current vehicle state data, the road gradient value of the current position of the vehicle and the road gradient value of the front rated position of the vehicle by the following formula:
wherein r represents the radius of the drive wheel ig 0 The speed ratio of a main speed reducer is represented, eta represents transmission efficiency, m represents the whole vehicle mass of a vehicle, g represents gravity acceleration, i represents a gradient value of a front position, k represents a gradient value of a current position, and T represents output torque of an engine;
s3: calculating a target speed ratio Ig corresponding to a front rated position of the vehicle according to the speed ratio variation delta Ig of the current gearbox and the speed ratio Ig of the gearbox:
Ig＝ig+Δig
s4: extracting a gearbox gear corresponding to the gearbox speed ratio closest to the target speed ratio Ig according to the target speed ratio Ig, and taking the extracted gearbox gear as a target gear;
s5: and controlling the gear of the gearbox to be switched to a target gear.
Further, the method also comprises the step S6: and after the target gear is successfully switched, controlling the gear of the gearbox to be kept until the current theoretical gear obtained from the gear-shifting control curve according to the depth of an accelerator pedal of the vehicle and the vehicle speed is the same as the target gear, and then canceling the keeping of the gear of the gearbox.
Further, controlling whether the gear of the transmission is maintained further includes: and monitoring the current theoretical gear in real time, and immediately canceling the maintenance of the gear of the gearbox and recovering a default gear shifting strategy if the current theoretical gear is not continuously increased or decreased along with time or the current theoretical gear is not between the current gear and a target gear.
Further, the method also comprises the step S7: and acquiring the current vehicle state data, the road slope value of the current position of the vehicle and the road slope value of the front rated position of the vehicle in real time, and returning to S2 when the road slope value of the front rated position of the vehicle is changed.
Further, the output torque of the engine is obtained from a control curve of the depth of an accelerator pedal corresponding to the vehicle and the torque of the engine according to the current depth of the accelerator pedal of the vehicle.
Further, the road grade value is obtained by an electronic horizon device.
A terrain prediction based transmission control terminal device comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of an embodiment of the invention when executing the computer program.
A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above for embodiments of the invention.
According to the technical scheme, when the terrain changes, the most suitable gear in the short-distance terrain in the front is automatically predicted by calculating the influence of the terrain on the vehicle power, and direct gear switching is carried out, so that the defect that continuous gear-by-gear shifting is needed in the prior art is overcome, the gear shifting frequency is reduced, and the driving experience of a driver and the economical efficiency of vehicle energy consumption are improved.
Drawings
Fig. 1 is a flowchart of a first embodiment of the invention.
Detailed Description
To further illustrate the various embodiments, the present invention provides the accompanying figures. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The first embodiment is as follows:
an embodiment of the present invention provides a gearbox control method based on terrain prediction, as shown in fig. 1, the method includes the following steps:
s1: the method comprises the steps of collecting current vehicle state data, a road gradient value of a current position of a vehicle and a road gradient value of a rated position in front of the vehicle.
The vehicle state data at least comprises the vehicle mass of the vehicle, the speed ratio of a main speed reducer, the radius of a driving wheel, the transmission efficiency, the output torque of an engine, the current gear of a gearbox and the speed ratio of the gearbox.
The output torque of the engine is obtained from a control curve of the depth of an accelerator pedal corresponding to the vehicle and the torque of the engine according to the current depth of the accelerator pedal of the vehicle.
The road grade value of the current position of the vehicle and the road grade value of the rated position in front of the vehicle can be obtained through an electronic horizon device. The electronic horizon equipment contains a road map, the road has gradient information, and the road terrain in front of the vehicle is obtained through a GNSS positioning system. The gradient information is generally represented discretely in D meters on the road, and D is generally 5-30 meters. The nominal position in front of the vehicle can be set by a person skilled in the art according to requirements, and is set to be 10 meters in front of the vehicle in the embodiment.
S2: calculating the speed ratio variation delta ig of the current gearbox according to the current vehicle state data, the road gradient value of the current position of the vehicle and the road gradient value of the front rated position of the vehicle by the following formula:
wherein r represents the radius of the drive wheel ig 0 The speed ratio of the final drive is represented, eta represents transmission efficiency, m represents vehicle mass of the vehicle, g represents gravity acceleration, i represents a gradient value of a front position, k represents a gradient value of a current position, and T represents output torque of the engine.
The above formula is converted from:
where the left side of the equation represents the amount of change in drive force produced when the transmission ratio changes by Δ ig. Since the distance between the front rated position of the vehicle and the current position is closely spaced, it can be considered that the vehicle state does not change greatly during the period, and the amount of change in the evaluation speed ratio can offset the influence of the future gradient change on the driving force.
S3: calculating a target speed ratio Ig corresponding to a front rated position of the vehicle according to the speed ratio variation delta Ig of the current gearbox and the speed ratio Ig of the gearbox:
Ig＝ig+Δig
s4: and extracting a gearbox gear corresponding to the gearbox speed ratio closest to the target speed ratio Ig according to the target speed ratio Ig, and taking the extracted gearbox gear as the target gear.
Since the gear ratio of the gearbox is fixed discretely, the target speed ratio Ig will not normally be exactly equal to a certain gear ratio of the gearbox, and therefore the gear corresponding to the closest speed ratio is taken here.
S5: and controlling the gear of the gearbox to be switched to a target gear.
Because the condition of switching to the target gear is not met at the current moment according to the gear-shifting control curve of the depth of the accelerator pedal and the vehicle speed, namely after the target gear is switched, the vehicle is switched to the current gear again according to the gear-shifting control curve, in order to avoid the situation, the embodiment further comprises the step S6: and after the target gear is successfully switched, controlling the gear of the gearbox to be kept until the current theoretical gear obtained from a gear-shifting control curve according to the depth of an accelerator pedal of the vehicle and the speed of the vehicle is the same as the target gear, and then cancelling the keeping of the gear of the gearbox.
Controlling whether the gear of the transmission is maintained further comprises: and monitoring the current theoretical gear in real time, and immediately canceling the keeping of the gear of the gearbox and recovering a default gear shifting strategy if the current theoretical gear is not continuously increased or decreased along with time or is not between the current gear and a target gear.
In order to continuously perform the determination, the embodiment further includes step S7: and acquiring the current vehicle state data, the road gradient value of the current position of the vehicle and the road gradient value of the front rated position of the vehicle in real time, and returning to S2 when the road gradient value of the front rated position of the vehicle is changed.
According to the embodiment of the invention, when the terrain changes, the most suitable gear in the short-distance terrain in front is automatically predicted by calculating the influence of the terrain on the vehicle power, and direct gear switching is carried out, so that the defect that continuous gear-by-gear shifting is needed in the prior art is overcome, the gear shifting frequency is reduced, and the driving experience of a driver and the economical efficiency of vehicle energy consumption are improved.
The second embodiment:
the invention also provides a terrain prediction based gearbox control terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method embodiment of the invention.
Further, as an executable scheme, the transmission control terminal device based on terrain prediction may be a computing device such as an on-board computer and a cloud server. The terrain prediction based transmission control terminal device may include, but is not limited to, a processor, a memory. It will be understood by those skilled in the art that the above-described configuration of the transmission control terminal device based on terrain prediction is only an example of the transmission control terminal device based on terrain prediction, and does not constitute a limitation on the transmission control terminal device based on terrain prediction, and may include more or less components than the above-described configuration, or combine some components, or different components, for example, the transmission control terminal device based on terrain prediction may further include an input/output device, a network access device, a bus, etc., which is not limited by the embodiments of the present invention.
Further, as an executable solution, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, said processor being the control centre of said terrain prediction based gearbox control terminal device, various parts of the entire terrain prediction based gearbox control terminal device being connected by various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the terrain prediction based transmission control terminal by running or executing the computer programs and/or modules stored in the memory, as well as invoking data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method of an embodiment of the invention.
The terrain prediction based transmission control terminal integrated module/unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), software distribution medium, and the like.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A terrain prediction based transmission control method, comprising the steps of:
s1: collecting current vehicle state data, a road gradient value of a current position of a vehicle and a road gradient value of a rated position in front of the vehicle;
the vehicle state data comprises the whole vehicle mass of the vehicle, the speed ratio of a main speed reducer, the radius of a driving wheel, the transmission efficiency, the output torque of an engine, the current gear of a gearbox and the speed ratio of the gearbox;
s2: calculating the speed ratio variation delta ig of the current gearbox according to the current vehicle state data, the road gradient value of the current position of the vehicle and the road gradient value of the front rated position of the vehicle by the following formula:
wherein r represents the radius of the drive wheel ig 0 Representing the speed ratio of a main speed reducer, eta representing transmission efficiency, m representing the whole vehicle mass of a vehicle, g representing gravity acceleration, i representing a gradient value of a front position, k representing a gradient value of a current position, and T representing the output torque of an engine;
s3: calculating a target speed ratio Ig corresponding to a front rated position of the vehicle according to the speed ratio variation delta Ig of the current gearbox and the speed ratio Ig of the gearbox:
Ig＝ig+Δig
s4: extracting a gearbox gear corresponding to the gearbox speed ratio closest to the target speed ratio Ig according to the target speed ratio Ig, and taking the extracted gearbox gear as a target gear;
s5: and controlling the gear of the gearbox to be switched to a target gear.
2. The terrain prediction-based transmission control method of claim 1, wherein: further comprising step S6: and after the target gear is successfully switched, controlling the gear of the gearbox to be kept until the current theoretical gear obtained from a gear-shifting control curve according to the depth of an accelerator pedal of the vehicle and the speed of the vehicle is the same as the target gear, and then cancelling the keeping of the gear of the gearbox.
3. The terrain prediction-based transmission control method of claim 2, wherein: controlling whether the gear of the transmission is maintained further comprises: and monitoring the current theoretical gear in real time, and immediately canceling the maintenance of the gear of the gearbox and recovering a default gear shifting strategy if the current theoretical gear is not continuously increased or decreased along with time or the current theoretical gear is not between the current gear and a target gear.
4. The terrain prediction-based transmission control method of claim 1, wherein: further comprising step S7: and acquiring the current vehicle state data, the road gradient value of the current position of the vehicle and the road gradient value of the front rated position of the vehicle in real time, and returning to S2 when the road gradient value of the front rated position of the vehicle is changed.
5. The terrain prediction-based transmission control method of claim 1, wherein: the output torque of the engine is obtained from a control curve of the depth of an accelerator pedal corresponding to the vehicle and the torque of the engine according to the current depth of the accelerator pedal of the vehicle.
6. The terrain prediction-based transmission control method of claim 1, wherein: the road grade value is obtained by an electronic horizon device.
7. A gearbox control terminal device based on terrain prediction is characterized in that: comprising a processor, a memory and a computer program stored in said memory and running on said processor, said processor implementing the steps of the method according to any one of claims 1 to 6 when executing said computer program.
8. A computer-readable storage medium storing a computer program, the computer program characterized in that: the computer program realizing the steps of the method as claimed in any one of claims 1 to 6 when executed by a processor.
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