CN102506160A - Ramp based on longitudinal dynamics and vehicle load identification method - Google Patents
Ramp based on longitudinal dynamics and vehicle load identification method Download PDFInfo
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Abstract
The invention discloses a ramp based on longitudinal dynamics and a vehicle load identification method. The vehicle load identification method comprises the following steps: 1) getting real-time torque of an engine and real-time vehicle speed information through a gear-shifting control unit; 2) judging the effectiveness of the got real-time torque of the engine and the real-time vehicle speed information through the gear-shifting control unit; 3) updating effective torque and effective vehicle speed at the last time with the effective real-time torque of the engine and effective vehicle speed value through the gear-shifting control unit; 4) performing low-pass filtering treatment on the torque of the engine through the gear-shifting control unit; 5) calculating driving acceleration of a vehicle on a flat road by utilizing the torque of the engine after filtering through the gear-shifting control unit; 6) performing differential calculation on the real-time vehicle speed through the gear-shifting control unit to get the actual driving acceleration of the vehicle; 7) performing the low-pass filtering treatment on the actual driving acceleration of the vehicle through the gear-shifting control unit; 8) figuring out road grade and a vehicle load value through the gear-shifting control unit; and 9) updating corresponding information with the current driving acceleration of the vehicle on the flat road and the current actual driving acceleration of the vehicle through the gear-shifting control unit.
Description
Technical field
The present invention relates to a kind of ramp and car load identifying method, more particularly, the present invention relates to a kind of automobile automatic gear system that improves and change adaptive based on vertical dynamic (dynamical) ramp and car load identifying method for ramp and car load.
Background technique
Generally automobile automatic gear system shift strategy be with the speed of a motor vehicle and accelerator open degree as Control Parameter, in horizontal good road surface, have satisfactory performance; But under driving cycle more complicated situation; This shift strategy can produce the gear shift problem, like gear shift circulation, unexpected gear shift etc.Trace it to its cause is that automatic speed-changing system is not understood vehicle self and environmental information of living in thereof.Therefore automatic speed-changing system presses for a kind of method that ramp and car load are discerned, and increases travelling comfort, reliability, the Security of automatic speed-changing system with this.
The ramp identifying method has multiple: the ramp identifying method based on the acceleration interval judgement is arranged, and feasible on this theoretical method, but practical application gets up to need to demarcate mass data; The identifying method that utilizes acceleration signal that acceleration transducer records and vehicle actual acceleration to calculate road grade is also arranged, and this method needs extra assembling acceleration transducer, has increased the cost of vehicle undoubtedly.
The present invention proposes accurate identification of road and car load in view of the above problems, makes the automobile automatic gear system have certain adaptability for ramp and car load variation.
Summary of the invention
Technical problem to be solved by this invention is to have overcome the problem that existing technology exists, and provides a kind of automobile automatic gear system that improves to change adaptive based on vertical dynamic (dynamical) ramp and car load identifying method for ramp and car load.
For solving the problems of the technologies described above, the present invention adopts following technological scheme to realize: described following based on vertical dynamic (dynamical) ramp and car load identifying method step:
1. shift change controller obtains real-time Engine torque and real-time speed information through CAN Frame between CAN device driver module and the processing of CAN message processing module and control unit of engine and the ABS control unit.
2. shift change controller is done the validity judgement to the real-time Engine torque information of obtaining: if Engine torque information is invalid, give up invalid moment of torsion, be carved with the effect moment of torsion in the use for the moment, if Engine torque information effectively then changes next step over to.
Simultaneously, shift change controller is done validity to the real-time speed information that obtains and is judged: invalid like speed information, give up the invalid speed of a motor vehicle, and be carved with the effect speed of a motor vehicle in the use for the moment, if speed information effectively then changes next step over to.
3. shift change controller upgrades to go up with the efficient real time Engine torque and is carved with the effect moment of torsion for the moment, and simultaneously, shift change controller upgrades to go up with effective vehicle speed value and is carved with the effect speed of a motor vehicle for the moment.
4. shift change controller is done low-pass filtering treatment through the Engine torque filtration module to Engine torque, and its algorithm is following:
Y
n＝aX
n+(1-a)Y
n-1
Wherein: X
n. this sampled value, Y
N-1. last time filtering output value, a. filter factor, Y
n. this filtering output value.
5. shift change controller utilizes filtering rear engine torque arithmetic vehicle flat pavement running acceleration through vehicle flat pavement running acceleration calculation module:
Wherein: T
Tq. filtering rear engine moment of torsion (Nm), i
g. transmission ratio, i
0. main reducing gear velocity ratio, η
T. mechanical efficiency of power transmission, r. tire rolling radius (m), g. gravity accleration (m/s
2),
Coefficient of rolling resistance, C
D. coefficient of air resistance, A. wind-exposuring area (m
2), the v. speed of a motor vehicle (km/h), δ. the automobile correction coefficient of rotating mass.
6. shift change controller is done differential calculation through vehicle actual travel acceleration calculation module to the real-time speed of a motor vehicle, obtains vehicle actual travel acceleration.
7. shift change controller carries out low-pass filtering treatment through vehicle actual travel acceleration filtration module to vehicle actual travel acceleration, and the low-pass filtering treatment algorithm is following:
Y
n＝aX
n+(1-a)Y
n-1
Wherein: X
n. this sampled value, Y
N-1. last time filtering output value, a. filter factor, Y
n. this filtering output value.
8. shift change controller utilizes current vehicle flat pavement running acceleration, current vehicle actual travel acceleration, a last moment vehicle flat pavement running acceleration and a last moment vehicle actual travel acceleration calculation to go out road grade and car load value through ramp and car load computing module:
Wherein: i. road grade value, g. shows gravity accleration (m/s
2), δ. the automobile correction coefficient of rotating mass,
Coefficient of rolling resistance, v. vehicle current vehicle speed (km/h), Δ m. car load (kg), quality (kg) when the m. vehicle is unloaded, a1
Flat, a1
Real. be current vehicle flat pavement running acceleration, current vehicle actual travel acceleration (m/s
2), a0
Flat, a0
Real. be a last moment vehicle flat pavement running acceleration, last vehicle actual travel acceleration (m/s constantly
2).
9. shift change controller upgrades a last moment vehicle flat pavement running acceleration and last vehicle actual travel acceleration constantly with current vehicle flat pavement running acceleration and current vehicle actual travel acceleration.
Compared with prior art the invention has the beneficial effects as follows:
1. of the present inventionly need not to increase additional sensors, have low cost, simple and practical characteristics based on vertical dynamic (dynamical) ramp and car load identifying method.
2. of the present invention easy based on vertical dynamic (dynamical) ramp and car load identifying method, efficiently can carry out accurate identification to ramp and car load.
3. of the present invention have versatility and portability based on vertical dynamic (dynamical) ramp and car load identifying method, and this method can be applicable in other all types of automatic speed-changing systems.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further described:
Fig. 1 is the schematic block diagram of the functional module construction based on vertical dynamic (dynamical) ramp and car load identifying method of the present invention;
Fig. 2 is the functional sequence block diagram based on vertical dynamic (dynamical) ramp and car load identifying method of the present invention.
Fig. 3 is the FB(flow block) based on the low-pass filtering treatment step in vertical dynamic (dynamical) ramp and the car load identifying method of the present invention.
Fig. 4 is that employing is of the present invention based on vertical dynamic (dynamical) ramp and car load identifying method The simulation experiment result curve.
Fig. 5 is that employing is of the present invention based on vertical dynamic (dynamical) ramp and car load identifying method real train test result curve.
Embodiment
Below in conjunction with accompanying drawing the present invention is explained in detail:
Consult Fig. 1; Be the schematic block diagram of the functional module construction of the described computer program based on vertical dynamic (dynamical) ramp and car load identifying method of embodiment of the present invention among the figure, the described computer program based on vertical dynamic (dynamical) ramp and car load identifying method of embodiment of the present invention is installed and is run among the TCU (shift change controller).The functional module construction of the described computer program based on vertical dynamic (dynamical) ramp and car load identifying method of embodiment of the present invention is made up of CAN device driver module, CAN message processing module, Engine torque filtration module, vehicle actual travel acceleration calculation module, vehicle actual travel acceleration filtration module, vehicle flat pavement running acceleration calculation module, ramp and car load computing module.
In TCU, the corresponding function module program is by the management and running of TCU task dispatch.Wherein CAN device driver module and CAN message processing module are called in the 1ms periodic duty; Engine torque filtration module, vehicle flat pavement running speed-up computation module, vehicle actual travel acceleration filtration module are called in the 10ms periodic duty; Ramp and car load computing module, vehicle actual travel acceleration calculation module are called in the 100ms periodic duty.Shift change controller calls the CAN Frame between CAN device driver module and the processing of CAN message processing module and control unit of engine, the ABS control unit through the TCU task dispatch in the 1ms periodic duty, obtain real-time Engine torque and real-time speed information.The TCU task dispatch calls the Engine torque filtration module Engine torque is done low-pass filtering treatment in the 10ms periodic duty; Vehicle flat pavement running acceleration calculation module is utilized filtering rear engine torque arithmetic vehicle flat pavement running acceleration; Vehicle actual travel acceleration filtration module carries out low-pass filtering treatment to vehicle actual travel acceleration.The TCU task dispatch calls vehicle actual travel acceleration module and the real-time speed of a motor vehicle is done differential calculation obtains vehicle actual travel acceleration in the 100ms periodic duty; Ramp and car load computing module utilize current vehicle flat pavement running acceleration, current vehicle actual travel acceleration and last, and vehicle flat pavement running acceleration, a last moment vehicle actual travel acceleration finally calculate road grade and car load exact value constantly.
Consult Fig. 2, be based on the FB(flow block) of vertical dynamic (dynamical) ramp and car load identifying method among the figure, this method may further comprise the steps:
1. shift change controller (TCU) calls CAN Frame between CAN device driver module and the processing of CAN message processing module and control unit of engine, the ABS control unit through the TCU task dispatch in the 1ms periodic duty, obtains real-time Engine torque and real-time speed information.
Shift change controller (TCU) according to the Engine torque information valid interval of CAN communication protocol definition, the real-time Engine torque information of obtaining done validity judge: if Engine torque information is invalid; Give up invalid moment of torsion, be carved with the effect moment of torsion in the use for the moment.If Engine torque information is effective, then change next step over to.
Simultaneously, shift change controller (TCU) is done validity according to the speed information valid interval of CAN communication protocol definition to the real-time speed information that obtains and is judged: invalid like speed information, give up the invalid speed of a motor vehicle, and be carved with the effect speed of a motor vehicle in the use for the moment.If speed information is effective, then change next step over to.
3. shift change controller (TCU) upgrades to go up with efficient real time Engine torque value and is carved with the effect moment of torsion for the moment.Simultaneously, shift change controller (TCU) upgrades to go up with effective vehicle speed value and is carved with the effect speed of a motor vehicle for the moment.
4. shift change controller (TCU) calls the Engine torque filtration module through the TCU task dispatch Engine torque is done low-pass filtering treatment in the 10ms periodic duty.Adopt the digital low-pass filtering method, its algorithm is as follows:
Y
n＝aX
n+(1-a)Y
n-1
Wherein: X
n. this sampled value, Y
N-1. last time filtering output value, a. filter factor, Y
n. this filtering output value.
5. shift change controller (TCU) calls vehicle flat pavement running acceleration calculation module through the TCU task dispatch in the 10ms periodic duty, utilizes filtering rear engine torque arithmetic vehicle flat pavement running acceleration.Formula is as follows:
Wherein: T
Tq. filtering rear engine moment of torsion (Nm), i
g. transmission ratio, i
0. main reducing gear velocity ratio, η
T. mechanical efficiency of power transmission, r. tire rolling radius (m), g. gravity accleration (m/s
2),
Coefficient of rolling resistance, C
D. coefficient of air resistance, A. wind-exposuring area (m
2), the v. speed of a motor vehicle (km/h), δ. the automobile correction coefficient of rotating mass.
6. shift change controller (TCU) calls vehicle actual travel acceleration calculation module through the TCU task dispatch in the 100ms periodic duty, and the real-time speed of a motor vehicle is done differential calculation, obtains vehicle actual travel acceleration.Desirable scope of the differential calculation time lag is 50ms-500ms, and the concrete time lag should decide according to the real-time speed of a motor vehicle precision of shift change controller (TCU) collection, and the differential calculation time lag is taken as 100ms in the present embodiment.
7. shift change controller (TCU) calls vehicle actual travel acceleration filtration module through the TCU task dispatch vehicle actual travel acceleration is carried out low-pass filtering treatment in the 10ms periodic duty, and the low-pass filtering treatment algorithm is as follows:
Y
n＝aX
n+(1-a)Y
n-1
Wherein: X
n. this sampled value, Y
N-1. last time filtering output value, a. filter factor, Y
n. this filtering output value.
8. shift change controller (TCU) calls ramp and car load computing module through the TCU task dispatch in the 100ms periodic duty, and vehicle flat pavement running acceleration, a last moment vehicle actual travel acceleration finally calculate road grade and car load exact value constantly to utilize current vehicle flat pavement running acceleration, current vehicle actual travel acceleration and last.Used vertical dynamics derivation formula is as follows:
Wherein: i. road grade value, g. shows gravity accleration (m/s
2), δ. the automobile correction coefficient of rotating mass,
Coefficient of rolling resistance, v. vehicle current vehicle speed (km/h), Δ m. car load (kg), quality (kg) when the m. vehicle is unloaded, a1
Flat, a1
Real. be respectively current vehicle flat pavement running acceleration, current vehicle actual travel acceleration (m/s
2).A0
Flat, a0
Real. be respectively a last moment vehicle flat pavement running acceleration, last vehicle actual travel acceleration (m/s constantly
2).
9. shift change controller (TCU) upgrades a last moment vehicle flat pavement running acceleration and last vehicle actual travel acceleration constantly with current vehicle flat pavement running acceleration and current vehicle actual travel acceleration.
Consulting Fig. 3, is the FB(flow block) based on low-pass filtering treatment step in vertical dynamic (dynamical) ramp and the car load identifying method of the present invention among the figure.Vehicle actual travel acceleration filtration module and Engine torque filtration module have all used this filtering algorithm in the present embodiment.Although adopt identical filtering algorithm, the filter factor a of two filtration modules is not quite similar, and choosing of filter factor a will be according to experimental calibration.
This algorithm may further comprise the steps:
1. corresponding filtration module obtains this sampled value X
n
2. corresponding filtration module calculating filter coefficient a and this sampled value X
nProduct.
3. corresponding filtration module calculates (1-a) and filtering output value Y last time
N-1Product.
4. corresponding filtration module calculates this filtering output value Y
n
5. corresponding filtration module is with filtering output value Y last time
N-1Be updated to this filtering output value Y
n
Emulation and analysis of experiments
Consult Fig. 4 and Fig. 5; To according to the invention based on vertical dynamic (dynamical) ramp and car load identifying method; Utilize MATLAB/SIMULINK to set up the Full Vehicle Dynamics model of mechanical automatic speed changing vehicle, and on this model, carried out based on vertical dynamic (dynamical) ramp and the checking of car load recognition algorithm.Dynamic model has been simulated traveling state of vehicle under certain operating mode, and through the method for the invention identification of road and car load.Concrete operating mode is: the throttle opening value remains on 50%, and the road grade value is 8%, and complete vehicle quality is 1300kg, and wherein load is 100kg, and the unloaded quality of car load is 1200kg.Dynamics simulation model verification result curve such as Fig. 4; Vehicle at 6s to experiencing 1～2 shifting up operation between the 7s; Vehicle flat pavement running acceleration that this calculates constantly and vehicle actual travel accekeration have produced the certain amplitude fluctuation; Road grade and car load identification are exerted an influence, so should not discern road grade and car load again in the gearshift procedure.Visible from figure, in 1 grade, 2 grades scopes, vehicle flat pavement running acceleration and vehicle actual travel accekeration remain difference.According to the inventionly accurately identify road grade value 0.08 and car load value 100kg based on vertical dynamic (dynamical) ramp and car load identifying method.
On the dynamic model simulating, verifying basis based on vertical dynamic (dynamical) ramp and car load identifying method according to the invention; Carry out vehicle road test; Further checking is based on the real-time identification effect of vertical dynamic (dynamical) ramp and car load identifying method, and test vehicle assembles 5 grades of AMT speed changers, and the unloaded quality of vehicle is 1125kg; Take driver one people in the test in the car; And in car, lay ipc monitor equipment, and driver and watch-dog gross mass are 75kg, host computer monitoring software is used VECTOR CANAPE6.5.Test roads is that a length is 120m, comprises the bridge of uphill way 50m, level road highway section 20m, descending highway section 50m, and wherein the ramp angle of gradient is (value of slope is about 0.1) about 5 °.Road test result curve such as Fig. 5, this identification curve has more accurately reacted the test roads gradient and test vehicle load condition.
Dynamic model emulation and vehicle road test result verification according to the invention practical based on vertical dynamic (dynamical) ramp and car load identifying method.
In addition, the present invention is not limited in above-mentioned disclosed embodiment, contains included various modification and equivalent in accompanying claims spirit and the scope.
Claims (1)
1. one kind based on vertical dynamic (dynamical) ramp and car load identifying method, it is characterized in that, described following based on vertical dynamic (dynamical) ramp and car load identifying method step:
1) shift change controller obtains real-time Engine torque and real-time speed information through CAN Frame between CAN device driver module and the processing of CAN message processing module and control unit of engine and the ABS control unit;
2) shift change controller is done the validity judgement to the real-time Engine torque information of obtaining: if Engine torque information is invalid, give up invalid moment of torsion, be carved with the effect moment of torsion in the use for the moment, if Engine torque information effectively then changes next step over to;
Simultaneously, shift change controller is done validity to the real-time speed information that obtains and is judged: invalid like speed information, give up the invalid speed of a motor vehicle, and be carved with the effect speed of a motor vehicle in the use for the moment, if speed information effectively then changes next step over to;
3) shift change controller upgrades to go up with the efficient real time Engine torque and is carved with the effect moment of torsion for the moment, and simultaneously, shift change controller upgrades to go up with effective vehicle speed value and is carved with the effect speed of a motor vehicle for the moment;
4) shift change controller is done low-pass filtering treatment through the Engine torque filtration module to Engine torque, and its algorithm is following:
Y
n＝aX
n+(1-a)Y
n-1
Wherein: X
n. this sampled value, Y
N-1. last time filtering output value, a. filter factor, Y
n. this filtering output value;
5) shift change controller utilizes filtering rear engine torque arithmetic vehicle flat pavement running acceleration through vehicle flat pavement running acceleration calculation module:
Wherein: T
Tq. filtering rear engine moment of torsion (Nm), i
g. transmission ratio, i
0. main reducing gear velocity ratio, η
T. mechanical efficiency of power transmission, r. tire rolling radius (m), g. gravity accleration (m/s
2),
Coefficient of rolling resistance, C
D. coefficient of air resistance, A. wind-exposuring area (m
2), the v. speed of a motor vehicle (km/h), δ. the automobile correction coefficient of rotating mass;
6) shift change controller is done differential calculation through vehicle actual travel acceleration calculation module to the real-time speed of a motor vehicle, obtains vehicle actual travel acceleration;
7) shift change controller carries out low-pass filtering treatment through vehicle actual travel acceleration filtration module to vehicle actual travel acceleration, and the low-pass filtering treatment algorithm is following:
Y
n＝aX
n+(1-a)Y
n-1
Wherein: X
n. this sampled value, Y
N-1. last time filtering output value, a. filter factor, Y
n. this filtering output value;
8) shift change controller utilizes current vehicle flat pavement running acceleration, current vehicle actual travel acceleration, a last moment vehicle flat pavement running acceleration and a last moment vehicle actual travel acceleration calculation to go out road grade and car load value through ramp and car load computing module:
Wherein: i. road grade value, g. shows gravity accleration (m/s
2), δ. the automobile correction coefficient of rotating mass,
Coefficient of rolling resistance, v. vehicle current vehicle speed (km/h), Δ m. car load (kg), quality (kg) when the m. vehicle is unloaded, a1
Flat, a1
Real. be current vehicle flat pavement running acceleration, current vehicle actual travel acceleration (m/s
2), a0
Flat, a0
Real. be a last moment vehicle flat pavement running acceleration, last vehicle actual travel acceleration (m/s constantly
2);
9) shift change controller upgrades a last moment vehicle flat pavement running acceleration and last vehicle actual travel acceleration constantly with current vehicle flat pavement running acceleration and current vehicle actual travel acceleration.
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