CN110481344B - Method and system for controlling acceleration of double-motor automobile - Google Patents
Method and system for controlling acceleration of double-motor automobile Download PDFInfo
- Publication number
- CN110481344B CN110481344B CN201910801937.1A CN201910801937A CN110481344B CN 110481344 B CN110481344 B CN 110481344B CN 201910801937 A CN201910801937 A CN 201910801937A CN 110481344 B CN110481344 B CN 110481344B
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- eds
- torque
- acceleration
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000009467 reduction Effects 0.000 claims abstract description 42
- 238000004590 computer program Methods 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 6
- 230000003993 interaction Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a method and a system for controlling acceleration of a double-motor automobile, wherein the method comprises the following steps: receiving an acceleration starting signal; judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal; if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference of front and rear electric drive systems of the target vehicle and the current vehicle speed; acquiring a torque reduction value of a previous EDS from a preset torque attenuation database based on the EDS rotating speed difference of the target vehicle and the current vehicle speed; performing torque limit control on the front EDS based on the torque reduction value and a target torque value in a current state of the target vehicle to control acceleration of the target vehicle; the technical problem that the response delay time of the existing vehicle acceleration control method is long is solved.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a method and a system for controlling acceleration of a double-motor automobile.
Background
With the advancement of science and technology and the improvement of environmental requirements, electric vehicles are gradually emerging, and the acceleration performance of the electric vehicles is an important index for measuring the performance of the vehicles, not only as a transportation tool, but also as a high-performance vehicle according to the current vehicle demand. The existing vehicle acceleration control methods calculate and obtain an optimal acceleration control strategy according to real-time vehicle state parameters, so that acceleration control is carried out, and the problem of long response delay time exists.
Disclosure of Invention
The embodiment of the application provides a method and a system for controlling acceleration of a double-motor automobile, and solves the technical problem that the response delay time of the existing vehicle acceleration control method is long.
On one hand, the present application provides the following technical solutions through an embodiment of the present application:
a method of dual motor vehicle acceleration control, the method comprising:
receiving an acceleration starting signal;
judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal;
if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference of front and rear electric drive systems of the target vehicle and the current vehicle speed;
acquiring a torque reduction value of a previous EDS from a preset torque attenuation database based on the EDS rotating speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping;
and carrying out torque limit control on the front EDS based on the torque reduction value and a target torque value in the current state of the target vehicle so as to control the acceleration of the target vehicle.
Optionally, the preset acceleration condition includes:
the speed of the target vehicle is less than or equal to 80 km/h;
the opening degree of an accelerator pedal of the target vehicle is more than or equal to 95%.
Optionally, the target vehicle comprises an active safety system, and the driving mode of the target vehicle comprises a sport mode;
the preset acceleration condition further comprises:
the driving mode of the target vehicle is a motion mode;
the active safety system of the target vehicle is in an off state.
Optionally, the active safety system of the target vehicle is a traction control system TCS.
Optionally, the receiving the acceleration start signal includes:
and receiving a target vehicle accelerator pedal opening degree change signal.
Optionally, the performing torque limit control on the front EDS based on the torque reduction value and the target torque value in the current state of the target vehicle includes:
adding the torque reduction value and a target torque value of the target vehicle in the current state to obtain a front EDS torque limit value of the target vehicle;
and carrying out torque limit control on the front EDS based on the front EDS torque limit value.
Optionally, if the target vehicle does not satisfy the preset acceleration condition, controlling acceleration of the target vehicle according to a target torque value of the target vehicle in the current state.
In another aspect, the present application provides a system for acceleration control of a dual-motor vehicle according to another embodiment of the present application, the system including:
the signal receiving module is used for receiving an acceleration starting signal;
the judging module is used for judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal;
the first obtaining module is used for obtaining the EDS (electric drive system) rotation speed difference between the front and rear electric drive systems of the target vehicle and the current vehicle speed if the target vehicle meets the preset acceleration condition;
the second acquisition module is used for acquiring a torque reduction value of the previous EDS from a preset torque attenuation database based on the EDS rotation speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping;
and the acceleration control module is used for carrying out torque limiting control on the front EDS based on the torque reduction value and the target torque value in the current state of the target vehicle so as to control the acceleration of the target vehicle.
The invention discloses a readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The invention discloses vehicle-mounted equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the method when executing the program.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
firstly, receiving an acceleration starting signal; judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal; if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference of front and rear electric drive systems of the target vehicle and the current vehicle speed; acquiring a torque reduction value of a previous EDS from a preset torque attenuation database based on the EDS rotating speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping; performing torque limit control on the front EDS based on the torque reduction value and a target torque value in a current state of the target vehicle to control acceleration of the target vehicle; the torque reduction value of the front EDS is directly obtained from a preset torque attenuation database, and the torque attenuation database is preset with the current vehicle speed of the target vehicle, the EDS rotating speed difference and the torque reduction value of the front EDS corresponding to the current vehicle speed and the EDS rotating speed difference and capable of preventing the front wheel from slipping, so that the method does not need to obtain state data of multiple aspects of the vehicle in real time like the existing method, calculate through a preset model, and need to carry out more information interaction times and information interaction amount in the process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of a method for acceleration control of a dual motor vehicle in one embodiment of the present invention;
FIG. 2 is a system architecture diagram of a two motor vehicle acceleration control in one embodiment of the present invention.
Detailed Description
The embodiment of the application provides a method and a system for controlling acceleration of a double-motor automobile, and solves the technical problem that the response delay time of the existing vehicle acceleration control method is long.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a method of dual motor vehicle acceleration control, the method comprising:
receiving an acceleration starting signal; judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal; if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference of front and rear electric drive systems of the target vehicle and the current vehicle speed; acquiring a torque reduction value of a previous EDS from a preset torque attenuation database based on the EDS rotating speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping; and carrying out torque limit control on the front EDS based on the torque reduction value and a target torque value in the current state of the target vehicle so as to control the acceleration of the target vehicle.
The acceleration control method only aims at the pure electric vehicle with two motors, controls the torque of the front EDS through a preset torque control table, prevents the tires of the vehicle from skidding, and controls the acceleration of the vehicle.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
In this embodiment, a method for controlling acceleration of a dual-motor vehicle is applied to a dual-motor pure electric vehicle, or may be a hybrid vehicle, and referring to fig. 1, the method includes:
s101, receiving an acceleration starting signal;
s102, judging whether a target vehicle meets a preset acceleration condition or not based on the acceleration starting signal;
s103, if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference and the current speed of a front electric drive system and a rear electric drive system of the target vehicle;
s104, acquiring a torque reduction value of the front EDS from a preset torque attenuation database based on the EDS rotating speed difference and the current speed of the target vehicle; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping;
and S105, carrying out torque limiting control on the front EDS based on the torque reduction value and the target torque value in the current state of the target vehicle so as to control the acceleration of the target vehicle.
In general, a dual-motor electric vehicle is driven by front and rear electric drive systems EDS respectively for front and rear wheels, and is controlled by a vehicle control unit VCU. During rapid acceleration, the vehicle is in a state of backward movement of the gravity center of the head raising, the front driving wheels slip due to overlarge torque, so that the grip force is lost to a certain extent, the acceleration performance of the vehicle is affected, and in order to obtain better acceleration performance, the slip of the front driving wheels of the vehicle needs to be controlled according to state parameters (such as the speed and the weight of the vehicle) of the vehicle, and the delay response time is reduced as much as possible. The corresponding delay time is related to the time for starting acceleration from the moment when the acceleration starting signal is received to the moment when the torque control is really realized, and the process is related to the time consumed during the adjustment of the torque control, and the more the interaction times are, the larger the information interaction amount is, and the more the consumed time is.
The steps of the method of the present invention are explained in detail below with reference to the drawings, so as to facilitate understanding of how the acceleration performance is improved.
Referring to fig. 1, S101 is first executed to receive an acceleration start signal.
The acceleration start signal is generally obtained by stepping on the accelerator pedal, but may be obtained by clicking a physical key for controlling the accelerator or by touching a virtual key, which is not limited herein.
As an optional implementation, the receiving the acceleration start signal includes: and receiving a target vehicle accelerator pedal opening degree change signal.
Next, S102 is executed, and based on the acceleration start signal, it is determined whether the target vehicle satisfies a preset acceleration condition.
After the acceleration starting signal is obtained, the state of the target vehicle needs to be judged first, and whether the target vehicle meets the preset acceleration condition of acceleration control or not is judged.
Specifically, the preset acceleration condition includes:
the speed of the target vehicle is less than or equal to 80 km/h;
the opening degree of an accelerator pedal of the target vehicle is more than or equal to 95%.
When the vehicle speed exceeds 80km/h, acceleration is carried out, more consideration is taken to the problem of safety, such as the problem of transverse movement, and in order to ensure the stability of the vehicle, the intervention of an ESP is needed, so that the acceleration is carried out below 80km/h, and the acceleration is more suitable for the actual requirement.
The opening degree of the accelerator pedal is equivalent to the deep stepping degree of the accelerator pedal, and the opening degree meets more than or equal to 95 percent, which means that the floor oil is commonly called as floor oil in the industry, and can explain that a driver wants to perform rapid acceleration operation.
Specifically, when the speed is 0, the vehicle is started and accelerated, and meanwhile, when a driver operates the floor oil, the vehicle is commonly called as 'catapult starting'.
Further, when the target vehicle includes an active safety system and the driving mode of the target vehicle includes a sport mode;
the preset acceleration condition further comprises:
the driving mode of the target vehicle is a motion mode;
the active safety system of the target vehicle is in an off state.
Specifically, the motion mode is the driving mode that present high performance car all possessed basically, and under the motion mode, the power timing more accords with sharp acceleration logic, and its rotational speed of shifting is higher.
For example, the active safety system of the target vehicle is a traction control system TCS.
Next, executing S103, and if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference and the current vehicle speed of the front and rear electric drive systems of the target vehicle;
specifically, the EDS speed difference between the front and rear electric drive systems is a motor speed signal fed back by the front and rear MCU through the VCU, and the current vehicle speed is also obtained through the VCU.
Next, S104 is executed, and a torque reduction value of the previous EDS is obtained from a preset torque attenuation database based on the EDS rotating speed difference of the target vehicle and the current vehicle speed;
the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, the EDS rotating speed difference and a torque reduction value of a front EDS which is corresponding to the current vehicle speed and the EDS rotating speed difference and can prevent the front wheel from slipping.
It should be noted that the preset torque attenuation database stores a torque attenuation table, in which the current vehicle speed of the target vehicle, the EDS rotational speed difference, and the torque reduction value of the front EDS corresponding to the current vehicle speed and the EDS rotational speed difference, which can prevent the front wheel from slipping, and the torque attenuation table is data obtained through a previous test for the same model of the target vehicle.
The following table is a torque attenuation table for a target vehicle:
in the above table, the torque attenuation table is related to the vehicle speed and the difference between the rotating speeds of the front and rear wheels, the abscissa is the vehicle speed (km/h), and the ordinate is the ratio (rpm) between the difference between the rotating speeds of the front and rear axles and the rotating speed of the rear axle;
when the front axle torque attenuation device works, the front axle torque attenuation is quickly obtained in a linear interpolation table look-up mode according to the current vehicle speed and the rotational speed difference of the front EDS and the rear EDS, and the front axle torque attenuation is the torque reduction value of the front EDS.
The torque attenuation amount is determined on the following principle:
because the axle load moves backwards during acceleration, the ratio of the rotating speed difference of the front axle and the rear axle to the rotating speed of the rear axle can be regarded as the sliding rate of the front wheel on the assumption that the sliding rate of the rear wheel is zero;
according to the tire slip rate-adhesion coefficient characteristic, calculating ideal wheel end torques corresponding to different vehicle speeds under an ideal slip rate;
taking the difference value of the target torque or the EDS peak torque of the EDS at the current vehicle speed and the ideal wheel end torque obtained by calculation as the basic torque attenuation amount in the state;
when the current wheel slip rate is smaller than the ideal slip rate or larger than the ideal slip rate, the torque attenuation amount is adjusted according to the slip rate difference proportion.
The torque attenuation table is optimized as follows:
considering the actual field of use
The system robustness under the scene is realized by multiplying the basic torque attenuation by 110-150%;
and further optimizing and calibrating the torque attenuation meter according to simulation calculation and real vehicle test.
Therefore, torque control data can be obtained only by looking up a table according to a preset torque attenuation table, and real-time acquisition and calculation are not needed, so that the calculation amount is small, and the response speed is high; and a complex tire slip rate estimation model is not needed, the calculation speed is high, the reliability is high, and the adaptability is strong.
Next, S105 is executed to perform torque limit control on the front EDS to control acceleration of the target vehicle based on the torque reduction value and a target torque value in a current state of the target vehicle.
Specifically, the method comprises the following steps:
adding the torque reduction value and a target torque value of the target vehicle in the current state to obtain a front EDS torque limit value of the target vehicle;
and carrying out torque limit control on the front EDS based on the front EDS torque limit value.
Specifically, the target torque value is a normal torque value of the target vehicle in the current state.
And if the target vehicle does not meet the preset acceleration condition, controlling the acceleration of the target vehicle according to the target torque value of the target vehicle in the current state.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
the method of the embodiment is applied to the double-motor pure electric vehicle, and firstly, an acceleration starting signal is received; judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal; if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference of front and rear electric drive systems of the target vehicle and the current vehicle speed; acquiring a torque reduction value of a previous EDS from a preset torque attenuation database based on the EDS rotating speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping; performing torque limit control on the front EDS based on the torque reduction value and a target torque value in a current state of the target vehicle to control acceleration of the target vehicle; the torque reduction value of the front EDS is directly obtained from a preset torque attenuation database, and the torque attenuation database is preset with the current vehicle speed of the target vehicle, the EDS rotating speed difference and the torque reduction value of the front EDS corresponding to the current vehicle speed and the EDS rotating speed difference and capable of preventing the front wheel from slipping, so that the method does not need to obtain state data of multiple aspects of the vehicle in real time like the existing method, calculate through a preset model, and need to carry out more information interaction times and information interaction amount in the process.
Example two
In this embodiment, a system for controlling acceleration of a dual-motor vehicle is applied to a dual-motor pure electric vehicle, and referring to fig. 2, the system includes:
the signal receiving module is used for receiving an acceleration starting signal;
the judging module is used for judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal;
the first obtaining module is used for obtaining the EDS (electric drive system) rotation speed difference between the front and rear electric drive systems of the target vehicle and the current vehicle speed if the target vehicle meets the preset acceleration condition;
the second acquisition module is used for acquiring a torque reduction value of the previous EDS from a preset torque attenuation database based on the EDS rotation speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping;
and the acceleration control module is used for carrying out torque limiting control on the front EDS based on the torque reduction value and the target torque value in the current state of the target vehicle so as to control the acceleration of the target vehicle.
Since the system for acceleration control of a dual-motor electric vehicle described in this embodiment is a system adopted to implement the method for acceleration control of a dual-motor electric vehicle described in this embodiment of the present application, a person skilled in the art can understand the specific implementation manner of the system described in this embodiment and various variations thereof based on the method for acceleration control of a dual-motor electric vehicle described in this embodiment of the present application, and therefore, how to implement the method described in this embodiment of the present application by the system is not described in detail herein. The system adopted by a person skilled in the art to implement the method for controlling acceleration of the dual-motor pure electric vehicle in the embodiment of the present application is within the protection scope of the present application.
Based on the same inventive concept as in the previous embodiments, embodiments of the present invention further provide a readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of any of the methods described above.
Based on the same inventive concept as that in the foregoing embodiments, an embodiment of the present invention further provides an on-board device, which includes a memory, a processor, and a computer program stored on the memory and running on the processor, and when the processor executes the program, the processor implements the steps of any one of the foregoing methods
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for acceleration control of a two-motor vehicle, the method comprising:
receiving an acceleration starting signal;
judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal;
if the target vehicle meets the preset acceleration condition, acquiring the EDS (electric drive system) rotation speed difference of front and rear electric drive systems of the target vehicle and the current vehicle speed;
acquiring a torque reduction value of a previous EDS from a preset torque attenuation database based on the EDS rotating speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping;
and carrying out torque limit control on the front EDS based on the torque reduction value and a target torque value in the current state of the target vehicle so as to control the acceleration of the target vehicle.
2. The method of claim 1, wherein the predetermined acceleration condition includes:
the speed of the target vehicle is less than or equal to 80 km/h;
the opening degree of an accelerator pedal of the target vehicle is more than or equal to 95%.
3. The method of claim 2, wherein the target vehicle comprises an active safety system and the driving mode of the target vehicle comprises a sport mode;
the preset acceleration condition further comprises:
the driving mode of the target vehicle is a motion mode;
the active safety system of the target vehicle is in an off state.
4. The method of claim 3, wherein the active safety system of the target vehicle is a Traction Control System (TCS).
5. The method of claim 1, wherein receiving an acceleration initiation signal comprises:
and receiving a target vehicle accelerator pedal opening degree change signal.
6. The method of claim 1, wherein the torque limiting control of the front EDS based on the torque down value and the target torque value at the current state of the target vehicle comprises:
adding the torque reduction value and a target torque value of the target vehicle in the current state to obtain a front EDS torque limit value of the target vehicle;
and carrying out torque limit control on the front EDS based on the front EDS torque limit value.
7. The method of claim 1, wherein if the target vehicle does not satisfy the preset acceleration condition, the acceleration of the target vehicle is controlled according to a target torque value in a current state of the target vehicle.
8. A system for dual motor vehicle acceleration control, comprising:
the signal receiving module is used for receiving an acceleration starting signal;
the judging module is used for judging whether the target vehicle meets a preset acceleration condition or not based on the acceleration starting signal;
characterized in that the system further comprises:
the first obtaining module is used for obtaining the EDS (electric drive system) rotation speed difference between the front and rear electric drive systems of the target vehicle and the current vehicle speed if the target vehicle meets the preset acceleration condition;
the second acquisition module is used for acquiring a torque reduction value of the previous EDS from a preset torque attenuation database based on the EDS rotation speed difference of the target vehicle and the current vehicle speed; the preset torque attenuation database is preset with the current vehicle speed of the target vehicle, an EDS (electric vehicle speed) rotating speed difference and a torque reduction value of a front EDS (electric vehicle speed) which corresponds to the current vehicle speed and the EDS rotating speed difference and can prevent a front wheel from slipping;
and the acceleration control module is used for carrying out torque limiting control on the front EDS based on the torque reduction value and the target torque value in the current state of the target vehicle so as to control the acceleration of the target vehicle.
9. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. An in-vehicle device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the processor executes the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910801937.1A CN110481344B (en) | 2019-08-29 | 2019-08-29 | Method and system for controlling acceleration of double-motor automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910801937.1A CN110481344B (en) | 2019-08-29 | 2019-08-29 | Method and system for controlling acceleration of double-motor automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110481344A CN110481344A (en) | 2019-11-22 |
| CN110481344B true CN110481344B (en) | 2021-03-16 |
Family
ID=68554765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910801937.1A Active CN110481344B (en) | 2019-08-29 | 2019-08-29 | Method and system for controlling acceleration of double-motor automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110481344B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693448B (en) * | 2021-01-06 | 2022-10-11 | 恒大新能源汽车投资控股集团有限公司 | Automobile torque steering control method and electronic equipment |
| CN112959896A (en) * | 2021-03-28 | 2021-06-15 | 大运汽车股份有限公司 | Four-wheel drive control method for pure electric vehicle with dual-drive electric bridge architecture |
| CN113479208B (en) * | 2021-07-16 | 2022-08-16 | 华人运通(江苏)技术有限公司 | Automobile starting control method, device, equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085807A (en) * | 2009-12-07 | 2011-06-08 | 财团法人工业技术研究院 | Driving method and driving device for electric power wheel with slip correction |
| CN102826087A (en) * | 2012-08-31 | 2012-12-19 | 长城汽车股份有限公司 | Torque control method of automobile four-drive system |
| CN104477050A (en) * | 2014-11-28 | 2015-04-01 | 山东理工大学 | Novel control method of power system of double-motor and double-drive-axle electric vehicle |
| CN106379197A (en) * | 2016-10-11 | 2017-02-08 | 北京新能源汽车股份有限公司 | Method, apparatus and vehicle capable of distributing driving torque based on predicted acceleration |
| CN107097686A (en) * | 2017-04-21 | 2017-08-29 | 阿尔特汽车技术股份有限公司 | The driving torque distribution control method of dual-motor electric automobile |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
| CN109094425A (en) * | 2018-09-04 | 2018-12-28 | 广州小鹏汽车科技有限公司 | Vehicle torque coefficient distribution method and device |
| CN110014851A (en) * | 2019-04-10 | 2019-07-16 | 中国第一汽车股份有限公司 | A kind of front and back bi-motor four-wheel drive cars between centers torque distribution method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2969642A4 (en) * | 2013-03-14 | 2016-11-16 | Boosted Inc | Dynamic control for light electric vehicles |
-
2019
- 2019-08-29 CN CN201910801937.1A patent/CN110481344B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085807A (en) * | 2009-12-07 | 2011-06-08 | 财团法人工业技术研究院 | Driving method and driving device for electric power wheel with slip correction |
| CN102826087A (en) * | 2012-08-31 | 2012-12-19 | 长城汽车股份有限公司 | Torque control method of automobile four-drive system |
| CN104477050A (en) * | 2014-11-28 | 2015-04-01 | 山东理工大学 | Novel control method of power system of double-motor and double-drive-axle electric vehicle |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
| CN106379197A (en) * | 2016-10-11 | 2017-02-08 | 北京新能源汽车股份有限公司 | Method, apparatus and vehicle capable of distributing driving torque based on predicted acceleration |
| CN107097686A (en) * | 2017-04-21 | 2017-08-29 | 阿尔特汽车技术股份有限公司 | The driving torque distribution control method of dual-motor electric automobile |
| CN109094425A (en) * | 2018-09-04 | 2018-12-28 | 广州小鹏汽车科技有限公司 | Vehicle torque coefficient distribution method and device |
| CN110014851A (en) * | 2019-04-10 | 2019-07-16 | 中国第一汽车股份有限公司 | A kind of front and back bi-motor four-wheel drive cars between centers torque distribution method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110481344A (en) | 2019-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110481344B (en) | Method and system for controlling acceleration of double-motor automobile | |
| US8744713B2 (en) | Method for controlling braking of vehicle | |
| KR101655663B1 (en) | Control method for front wheel and rear wheel torque distribution of electric 4 wheel drive hybrid electric vehicle | |
| CN101905659B (en) | Regenerative brake control system and method | |
| CN109017747B (en) | Front and rear axle torque distribution method and system of new energy four-wheel drive vehicle and related components | |
| CN108016422B (en) | Vehicle torque control method and system and vehicle | |
| US20200172109A1 (en) | Vehicle having electric motor and driving control method for the same | |
| US20160107634A1 (en) | System and method for controlling torque of hybrid vehicle | |
| CN109649185A (en) | Device and method for controlling the vehicle with motor | |
| US11254216B2 (en) | Control system and method for controlling a torque generator | |
| CN113085575B (en) | Four-wheel drive torque limiting method and device based on vertical load estimation | |
| CN112477609B (en) | Electric vehicle and electric vehicle sliding energy recovery method and recovery system | |
| CN114312345A (en) | Dynamic and smooth compensation distribution control method for front and rear axle torques of four-wheel-drive pure electric vehicle | |
| CN114274790A (en) | Power distribution method and system of pure electric vehicle, readable storage medium and vehicle | |
| CN107010048B (en) | System and method for controlling torque intervention in a hybrid electric vehicle | |
| US11332143B2 (en) | Method for controlling wheel slip of vehicle | |
| WO2024055671A1 (en) | Vehicle control unit, motor control unit, and related device | |
| CN111674263A (en) | Auxiliary braking method and system for vehicle | |
| CN112389417A (en) | System and method for controlling wheel slip of a vehicle | |
| CN113682152B (en) | Traction control method for distributed drive automobile | |
| CN114643877B (en) | Vehicle control method and device and vehicle | |
| CN114684157A (en) | Vehicle speed estimation method and device and electric vehicle | |
| CN114655215A (en) | Antiskid control method, device, equipment and storage medium | |
| CN112319478B (en) | Vehicle driving mode switching method and device, storage medium and electric commercial vehicle | |
| CN112848915A (en) | Driving torque controller, control method, automobile and computer storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20240222 Granted publication date: 20210316 |
|
| PP01 | Preservation of patent right |