CN106143142A - The adaptive accelerator control method of weight - Google Patents
The adaptive accelerator control method of weight Download PDFInfo
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- CN106143142A CN106143142A CN201610759317.2A CN201610759317A CN106143142A CN 106143142 A CN106143142 A CN 106143142A CN 201610759317 A CN201610759317 A CN 201610759317A CN 106143142 A CN106143142 A CN 106143142A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to accident or emergency, e.g. deceleration, tilt of vehicle
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The present invention relates to a kind of adaptive accelerator control method of weight, solve the deficiencies in the prior art, technical scheme is: be applicable to electric automobile or mixed electrical automobile, accelerator open degree synopsis and/or accelerator open degree comparison formula is set up for automobile gross weight, obtain current automobile gross weight, draw current responsive corrections value according to current automobile gross weight inquiry accelerator open degree synopsis or accelerator open degree comparison formula, throttle response is set according to the actual aperture of throttle and responsive corrections value.In the present invention, add the air hose of L-shaped, so arrange, once throttle and brake are got wrong, the generation of mistake can be stoped from hardware aspect by the resistance of air when of bringing to a halt, meanwhile, set rational electromagnetic valve aperture can ensure that foot when trample throttle feel be to maintain consistent, it is possible to reach to control safety consistent with feel.
Description
Technical field
The present invention relates to the control method of a kind of throttle system, particularly to a kind of adaptive Throttle Opening Control side of weight
Method.
Background technology
Application number: CN201510525267.7, publication date on 21 2nd, 2015, disclose a kind of in preventing mis-accelerator pressing
Automobile new hand's mode control method, it is only necessary to the ECU Throttle Opening Control part of existing vehicle is carried out demarcation and can realize anti-error
Step on function, easy to use and do not change vehicle self structure and operational approach, it is beneficial to existing vehicle is popularized.The present invention is main
Including step: A, user open new hand's mode switch, start new hand's pattern, carry out next step；B, electronic control unit ECU pair
Efp aperture and rate of change are monitored, if efp aperture in time period T from 0 be changed to 90% or
Rate of change is more than 10%/ms, then electronic control unit ECU stops responding efp request；C, user close newly
Hands mode switch, exits new hand's pattern, and electronic control unit ECU responds efp request again.
Application number: CN201510099838.5, publication date on June 17th, 2015, discloses a kind of gas controlling party
Method, it is provided that pedal control system and steering wheel control system control gas；When driver stirs the oil on the left of steering wheel
Door toggle and when not treading on an accelerator pedal, processed the signal of toggle position sensor by EGAS control unit, and act on electricity
Motivation, thus the aperture regulating throttle mechanisms carrys out regulation speed size；Trample gas pedal as driver and do not use throttle
During toggle, EGAS control unit processes the signal of pedal position sensor, and acts on motor, thus regulates throttle mechanisms
Aperture carry out regulation speed size；When driver's accelerator pedal simultaneously is with when stirring throttle toggle, and EGAS control unit is only located
The signal of reason pedal position sensor, and shield the signal of toggle position sensor, throttle is only controlled by pedal control system；
Thus it is greatly improved driver comfort and safety.
But in prior art, carload changes, trample throttle amplitude identical time, automobile engine output is permanent
Fixed, the final response of automobile but there occurs change, although accelerator open degree and automobile engine output are the most corresponding, and this is
The problem the most always existed, but for driver, driving experience has also suffered from certain impact.
Summary of the invention
It is an object of the invention to solve above-mentioned prior art accelerator open degree and automobile engine output is unique
Correspondence, the most once carload change, trample throttle amplitude identical time, automobile engine output is constant, and automobile is
Response but there occurs change eventually, although this is the problem the most always existed, but for driver, drives body
Test the problem having also suffered from certain impact, it is provided that a kind of adaptive accelerator control method of weight.
The technical solution adopted for the present invention to solve the technical problems is: a kind of adaptive accelerator control method of weight,
It is applicable to electric automobile or mixed electrical automobile, below gas pedal, is equipped with a L-shaped air hose, is equipped in L-shaped air hose
Piston rod, the upper end of described air hose is fixed towards gas pedal, the upper end of described piston rod with described gas pedal lower surface
Connecting, the lower end of described L-shaped air hose offers two passages, and the aperture sum of two passages is less than the upper end of air hose
Diameter, one of them described passage is equipped Safety Redundancy electromagnetic valve, described Safety Redundancy electromagnetic valve is with automobile ECU even
Connect, comprise the following steps:
Step one: set up accelerator open degree synopsis and/or accelerator open degree comparison formula for automobile gross weight, read standard configuration
Illuminated, acquisition automobile are demarcated gravimetric value by parameter and the accelerator open degree automobile electric output power preset, and are set with and trample limit speed
Degree, if throttle speed of action is more than trampling limit velocity, then stops to each tire output, and sends control to automobile ECU
After signal processed, Safety Redundancy electromagnetic valve completely closes, after automobile ECU detects the complete stop motion of automobile, and Safety Redundancy electricity
Magnet valve reopens completely, and the limit velocity of trampling of setting exists adjusting range, tramples limit velocity size in adjusting range
Relevant to the proportional example of aperture of described Safety Redundancy electromagnetic valve, Safety Redundancy electromagnetic valve according to set trample limit velocity become
It is changed to the electromagnetic valve aperture of correspondence；
Step 2: obtain current real-time bus gross weight；
Step 3: if current real-time bus gross weight demarcates gravimetric value less than or equal to described automobile, perform step 4, otherwise perform
Step 5；
Step 4: automobile calculates standard electric output according to real-time accelerator open degree, each tire of automobile is according to power-division ratios
Export with standard electric output, then repeated execution of steps two；
Step 5: the numeric ratio that automobile demarcates gravimetric value and current real-time bus gross weight according to automobile obtains responsive corrections value,
Automobile calculates standard electric output according to real-time accelerator open degree, and each tire of automobile exports with standard electric according to power-division ratios
Power, is then multiplied by responsive corrections value and exports as final automobile electric output power, then re-execute step 2.
In the present invention, adding the air hose of L-shaped, so arrange, once throttle and brake are got wrong, carry out bringing to a halt time
Time can stop the generation of mistake by the resistance of air from hardware aspect, and meanwhile, setting rational electromagnetic valve aperture can protect
Card when trample throttle foot feel be to maintain consistent, it is possible to reach to control safety consistent with feel.
As preferably, the power-division ratios of two tires of described vehicle front is standard configuration parameter, by wheel certainly
The weight meter of band calculates current real-time bus gross weight and position of centre of gravity, extracts real time barycentre position and the center of gravity position preset
The offset vector put, if offset vector keeps in the given time, then acquisition current offset vector is as value of calculation, horizontal with automobile
Axle be X-axis automotive ordinate axis be Y-axis decompose current offset vector, according to current X-axis offset vector decomposition value direct proportion correction front-wheel
The tire power-division ratios of two wheels.
As preferably, in described step 2, after automobile starting, just carry out an automobile at interval of a scheduled time T
Condition detection, detection data include vehicle speed measurement VtWith the output drawn by the electric drive power superposition of each driving motor to horse
The total electric drive power P reachedt, the pitching angle Theta of headstock tailstock longitudinal direction line and horizontal planetDefeated with the electricity for predetermined value
Go out merit conversion efficiency C to mechanical power；Automobile calculates draw current vehicle weight according to total electric drive power and change speed；
If the angle of pitch of car is zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2Carry out according to following formula
Calculate:
M(t+t+1)/2= 2×P(t+t+1)/2×T×C/(Vt+1 2-Vt 2)。
If the angle of pitch of car is not zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2According to following calculation
Formula calculates:
M(t+t+1)/2= 2×P(t+t+1)/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta(t+t+1)/2))。
In described step one, gravimetric value demarcated by automobile, has the most been imported among control system when car dispatches from the factory, standard
Car weight is pushed by wireless cloud and is modified；
In described step one, automobile is demarcated standard body weight values+curb weight value+default fuel tank that gravimetric value is driver and is carried
Fuel weight value.
As preferably, shoot the rubbing surface of automobile tire, carry out gray processing process successively and except distortion processes, according to automobile
The decorative pattern depth of the rubbing surface of tire determines the coefficient of friction meansigma methods of current automobile tire, puts down the coefficient of friction of automobile tire
Average carries out segmentation, and the coefficient of friction meansigma methods of every section of automobile tire is all to there being a coefficient of friction correction value, in step 5
In, if automobile is the threshold value that cornering operation and coefficient of friction meansigma methods are less than setting, then at automobile according to standard electric output
After be multiplied by coefficient of friction correction value after be multiplied by responsive corrections value again and export as final automobile electric output power, then repeat
Perform step 2.
As preferably, setting up frictional force synopsis, in frictional force synopsis, model and the Query Value of each automobile tire are equal
To there being a friction force value, the first rubbing surface shooting automobile tire, after carrying out gray processing process and processing except distortion, record
On current automobile tire rubbing surface, the color distortion value of several points is as difference reference value, after automobile starting, shoots automobile
The rubbing surface of tire, after carrying out gray processing process and processing except distortion, records several points on current automobile tire rubbing surface
Color distortion value, as comparison in difference value, rubs as Query Value inquiry according to the reduced value of comparison in difference value with difference reference value
Power synopsis, it is thus achieved that the friction force value of the rubbing surface of current automobile tire.
As preferably, described accelerator open degree synopsis includes several current weight setting values, and each current weight sets
Value is all to there being a responsive corrections value, and the quantity of described current weight setting value sets manually, and current weight value is by being subordinate to
Genus degree function calculates the degree of membership obtained in current weight setting value, is multiplied by each weight setpoint value by degree of membership corresponding
The mode superposition of responsive corrections value obtains final responsive corrections value.
As preferably, in performing described step 5, the acceleration transducer in automobile obtains current acceleration changing value
As accelerating value of feedback, acceleration, as accelerating standard value, is fed back by the acceleration change standard value preset in standard configuration parameter
Value contrasts with accelerating standard value, if accelerating value of feedback more than accelerating standard value, reduces when next time calculates responsive corrections value
Responsive corrections value；If accelerating value of feedback less than accelerating standard value, reduce responsive corrections value when next time calculates responsive corrections value.
As preferably, to there being a standard response time in described acceleration standard value, if accelerating value of feedback equal to accelerating
Standard value, and accelerate feedback response time then employing when next time calculates responsive corrections value less than standard response time of value of feedback
Dynamic response correction value, the most first reduces the response that the responsive corrections value calculated returns to calculate after a given time and repaiies
On the occasion of.
As preferably, described preset time is 0.8 second, reduces the amplitude of current responsive corrections value equal to the feedback response time
With the ratio of standard response time 1/5th.
The mode that have employed accelerator open degree synopsis or comparison formula in the present invention carrys out corresponding current automobile gross weight, solves
When the load-carrying difference of automobile, the problem that throttle response can change；Reach to arrange car according to live load information
Throttle response, throttle response can keep constant or similar effect under different load-carryings.Can basis when of use
Demand is from the scope of application of Row sum-equal matrix accelerator open degree synopsis, such as during in fine motion scope with close to the limit range that aperture is maximum
The form using accelerator open degree synopsis obtains responsive corrections value, and uses comparison public affairs accelerator open degree reaches intermediate range when
The mode of formula obtains responsive corrections value, the purpose of do so primarily to improve experience and the safety of user,
Such as, in the case of heavy weight, sound is obtained close to the form of employing accelerator open degree synopsis when the limit range that aperture is maximum
Answer correction value, the maximum improving responsive corrections value can be limited, it is therefore prevented that situation about exporting at full capacity for a long time, more may be used simultaneously
To offset, windage etc. is original ignores increasing of factor, reaches higher accuracy, meet throttle response constant in the case of protect
Demonstrate,proved safety, certain the application limited and must make in two ways, in fact only with accelerator open degree synopsis or
It is all feasible only with accelerator open degree comparison formula, such as, uses and also have through the accelerator open degree synopsis that correction is repeated several times
The most comfortable driving experience may be obtained so that accelerator open degree change and regular gasoline car closer to.In the present invention, throttle
Aperture comparison formula can be deduced by the basis of T1/W1=T2/ (W1+W2), turns round according to the unloaded output that existing T1 is initial
Square, W1 is empty-weight, and T2 is for export moment of torsion in real time, and W2 is loading capacity, the simplest accelerator open degree comparison that the present invention uses
Formula: responsive corrections value=real-time weight/initial setting weight.Certainly, in the present invention, accelerator open degree comparison formula can be by user
Just write amendment in conjunction with practical situation, including the setting of initial setting weight, temperature parameter, the introducing of windage, all can carry out in real time
Set.
As preferably, below gas pedal, it is equipped with a L-shaped air hose, in L-shaped air hose, is equipped with piston rod, institute
Stating the upper end of air hose towards gas pedal, the upper end of described piston rod is fixing with described gas pedal lower surface to be connected, described L
The lower end of shape air hose offers two passages, and the aperture sum of two passages is less than the diameter of the upper end of air hose, its
In be equipped with Safety Redundancy electromagnetic valve on a described passage, described Safety Redundancy electromagnetic valve is connected with automobile ECU, described
In step one, the limit velocity of trampling of setting there are adjusting range, trample limit velocity in adjusting range size with described
The proportional example of aperture of Safety Redundancy electromagnetic valve be correlated with, Safety Redundancy electromagnetic valve according to set trample limit velocity be transformed to right
The aperture answered.
As preferably, in described step 2, after automobile starting, just carry out an automobile at interval of a scheduled time T
Condition detection, detection data include vehicle speed measurement VtWith the output drawn by the electric drive power superposition of each driving motor to horse
The total electric drive power P reachedt, the pitching angle Theta of headstock tailstock longitudinal direction line and horizontal planetDefeated with the electricity for predetermined value
Go out merit conversion efficiency C to mechanical power；Automobile calculates draw current vehicle weight according to total electric drive power and change speed；
If the angle of pitch of car is zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2Carry out according to following formula
Calculate:
M(t+t+1)/2= 2×P(t+t+1)/2×T×C/(Vt+1 2-Vt 2)。
If the angle of pitch of car is not zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2According to following calculation
Formula calculates:
M(t+t+1)/2= 2×P(t+t+1)/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta(t+t+1)/2))。
In described step one, gravimetric value demarcated by automobile, has the most been imported among control system when car dispatches from the factory, standard
Car weight is pushed by wireless cloud and is modified；
In described step one, automobile is demarcated standard body weight values+curb weight value+default fuel tank that gravimetric value is driver and is carried
Fuel weight value.
As preferably, shoot the rubbing surface of automobile tire, carry out gray processing process successively and except distortion processes, according to automobile
The decorative pattern depth of the rubbing surface of tire determines the coefficient of friction meansigma methods of current automobile tire, puts down the coefficient of friction of automobile tire
Average carries out segmentation, and the coefficient of friction meansigma methods of every section of automobile tire is all to there being a coefficient of friction correction value, in step 5
In, if automobile is the threshold value that cornering operation and coefficient of friction meansigma methods are less than setting, then at automobile according to standard electric output
After be multiplied by coefficient of friction correction value after be multiplied by responsive corrections value again and export as final automobile electric output power, then repeat
Perform step 2.
As preferably, setting up frictional force synopsis, in frictional force synopsis, model and the Query Value of each automobile tire are equal
To there being a friction force value, the first rubbing surface shooting automobile tire, after carrying out gray processing process and processing except distortion, record
On current automobile tire rubbing surface, the color distortion value of several points is as difference reference value, after automobile starting, shoots automobile
The rubbing surface of tire, after carrying out gray processing process and processing except distortion, records several points on current automobile tire rubbing surface
Color distortion value, as comparison in difference value, rubs as Query Value inquiry according to the reduced value of comparison in difference value with difference reference value
Power synopsis, it is thus achieved that the friction force value of the rubbing surface of current automobile tire.
Frictional force is too small when, have the when that the sensing of automobile starting speed and acceleration being with new tire bigger not
With, therefore for automobile tire frictional force less when increase power output, improve automobile tire stress, can be by automobile
Driving experience is maintained at a suitable scope.
As preferably, described accelerator open degree synopsis includes several current weight setting values, and each current weight sets
Value is all to there being a responsive corrections value, and the quantity of described current weight setting value sets manually, and current weight value is by being subordinate to
Genus degree function calculates the degree of membership obtained in current weight setting value, is multiplied by each weight setpoint value by degree of membership corresponding
The mode superposition of responsive corrections value obtains final responsive corrections value.
As preferably, in performing described step 5, the acceleration transducer in automobile obtains current acceleration changing value
As accelerating value of feedback, acceleration, as accelerating standard value, is fed back by the acceleration change standard value preset in standard configuration parameter
Value contrasts with accelerating standard value, if accelerating value of feedback more than accelerating standard value, reduces when next time calculates responsive corrections value
Responsive corrections value；If accelerating value of feedback less than accelerating standard value, reduce responsive corrections value when next time calculates responsive corrections value.
As preferably, to there being a standard response time in described acceleration standard value, if accelerating value of feedback equal to accelerating
Standard value, and accelerate feedback response time then employing when next time calculates responsive corrections value less than standard response time of value of feedback
Dynamic response correction value, the most first reduces the response that the responsive corrections value calculated returns to calculate after a given time and repaiies
On the occasion of.
As preferably, the power-division ratios of each tire of described automobile is standard configuration parameter, the weight carried by wheel
Gauge calculates current real-time bus gross weight and position of centre of gravity, and extraction real time barycentre position is inclined with the position of centre of gravity preset
Moving vector, if offset vector keeps in the given time, then acquisition current offset vector is as value of calculation, with automobile transverse axis as X
Axle automotive ordinate axis is that Y-axis decomposes current offset vector, according to the tire power of the current offset resolution of vectors each wheel of value correction
Distribution ratio.
As preferably, in the tire power-division ratios of all wheels, 98% is distribution definite value, and the tire power of all wheels divides
In proportioning, 2% is distribution regulated value, distributes regulated value and be allocated according to the allocation proportion of distribution definite value in default setting, root
Only distribution regulated value is carried out when being allocated according to the tire power-division ratios of the current offset resolution of vectors each wheel of value correction
Distribution；X-axis and Y-axis are fixing axle, calculate in current offset vector component X-axis accounting in X-axis in X-axis, calculate and working as
Front offset vector is component Y-axis accounting in Y-axis in Y-axis,
Vehicle right and left both sides are equal to towards the regulated value sum of distribution in real time of wheel before and after position of centre of gravity side:
X-axis accounting × 2 × distribution regulated value；
In vehicle right and left both sides, in real time distribution regulated value sum towards position of centre of gravity side front and back wheel is not equal to:
Distribution regulated value-(X-axis accounting × 2 × distribution regulated value)；
Before and after automobile, in both sides, in real time distribution regulated value sum towards the left and right wheels of position of centre of gravity side is equal to:
Y-axis accounting × 2 × distribution regulated value；
Before and after automobile, in both sides, in real time distribution regulated value sum towards position of centre of gravity side left and right wheels is not equal to:
Distribution regulated value-(Y-axis accounting × 2 × distribution regulated value)；
The realtime power distribution ratio of each wheel of automobile equal in real time distribution regulated value and distribution definite value and.
The present invention is so arranged, and mainly prevents too much power to distribute, and causes excessive or too small power to be distributed, this
Sample influences whether the stability that vehicle is overall, although the most also can there to be compensation in counterweight, but once carry out turning
Curved or brake, can large effect to vehicle safety and maneuverability.The present invention provides certain compensation, it is possible to for
The change of center of gravity compensates, and the biggest distribution definite value ensure that safety and the maneuverability of automobile entirety.
The substantial effect of the present invention is: the present invention have employed accelerator open degree synopsis or comparison formula mode come right
Automobile gross weight before should, solves when the load-carrying difference of automobile, the problem that throttle response can change；Reach basis
Live load information arranges the throttle response of vehicle, and throttle response can keep constant or similar effect under different load-carryings
Really.
Detailed description of the invention
Below by specific embodiment, technical scheme is described in further detail.
Embodiment 1:
A kind of adaptive accelerator control method of weight, it is adaptable to electric automobile or mixed electrical automobile, sets up for automobile gross weight
Accelerator open degree synopsis and/or accelerator open degree comparison formula, it is thus achieved that current automobile gross weight,
Current responsive corrections is drawn according to current automobile gross weight inquiry accelerator open degree synopsis or accelerator open degree comparison formula
Value, arranges throttle response according to the actual aperture of throttle and responsive corrections value.
Comprise the following steps:
Step one: read standard configuration parameter and illuminated, acquisition automobile are demarcated by the accelerator open degree automobile electric output power preset
Gravimetric value；
Step 2: obtain current real-time bus gross weight；
Step 3: if current real-time bus gross weight demarcates gravimetric value less than or equal to described automobile, perform step 4, otherwise perform
Step 5；
Step 4: automobile calculates standard electric output according to real-time accelerator open degree, each tire of automobile is according to power-division ratios
Export with standard electric output, then repeated execution of steps two；
Step 5: the numeric ratio that automobile demarcates gravimetric value and current real-time bus gross weight according to automobile obtains responsive corrections value,
Automobile calculates standard electric output according to real-time accelerator open degree, and each tire of automobile exports with standard electric according to power-division ratios
Power, is then multiplied by responsive corrections value and exports as final automobile electric output power, then re-execute step 2.
Automobile is equipped with a L-shaped air hose below gas pedal, is equipped with piston rod, described sky in L-shaped air hose
The upper end of trachea is towards gas pedal, and the upper end of described piston rod is fixing with described gas pedal lower surface to be connected, and described L-shaped is empty
The lower end of trachea offers two passages, and the aperture sum of two passages is less than the diameter of the upper end of air hose, Qi Zhongyi
Being equipped with Safety Redundancy electromagnetic valve on individual described passage, described Safety Redundancy electromagnetic valve is connected with automobile ECU, in step one
In, the limit velocity of trampling of setting there are adjusting range, tramples limit velocity size in adjusting range superfluous with described safety
The proportional example of aperture of remaining electromagnetic valve is correlated with, and Safety Redundancy electromagnetic valve is trampled limit velocity and is transformed to corresponding opening according to setting
Degree.
In step one, if throttle speed of action is more than trampling limit velocity, then stop to each tire output, and
After automobile ECU sends control signal, Safety Redundancy electromagnetic valve completely closes, when automobile ECU detects that automobile stops fortune completely
After Dong, Safety Redundancy electromagnetic valve reopens completely.
In described step 2, the weight meter carried by wheel calculates current real-time bus gross weight.
In described step 2, after automobile starting, just carry out the detection of condition of the vehicle at interval of a scheduled time T,
Detection data include vehicle speed measurement VtWith total to motor of output drawn by the electric drive power superposition of each driving motor
Electric drive power Pt, the pitching angle Theta of headstock tailstock longitudinal direction line and horizontal planetWith the electric output work for predetermined value to machine
Conversion efficiency C of tool merit；Automobile calculates draw current vehicle weight according to total electric drive power and change speed.
If the angle of pitch of car is zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2According to following formula
Calculate:
M(t+t+1)/2= 2×P(t+t+1)/2×T×C/(Vt+1 2-Vt 2)。
If the angle of pitch of car is not zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2According to following calculation
Formula calculates:
M(t+t+1)/2= 2×P(t+t+1)/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta(t+t+1)/2))。
In described step one, gravimetric value demarcated by automobile, has the most been imported among control system when car dispatches from the factory, standard
Car weight is pushed by wireless cloud and is modified.
In described step one, standard body weight values+curb weight value+default fuel tank that gravimetric value is driver demarcated by automobile
Carry fuel weight value.
The rubbing surface of shooting automobile tire, carries out gray processing process and successively except distortion processes, and concrete mode is: sets up and rubs
Wiping power synopsis, in frictional force synopsis, the model of each automobile tire and Query Value are all to having a friction force value, for the first time
The rubbing surface of shooting automobile tire, after carrying out gray processing process and processing except distortion, if recording on current automobile tire rubbing surface
The color distortion value of dry point is as difference reference value, after automobile starting, and the rubbing surface of shooting automobile tire, carry out gray processing
After processing and processing except distortion, record on current automobile tire rubbing surface color distortion values of several points as comparison in difference
Value, inquires about frictional force synopsis according to the reduced value of comparison in difference value with difference reference value as Query Value, it is thus achieved that current automobile
The friction force value of the rubbing surface of tire.
The decorative pattern depth of the rubbing surface according to automobile tire determines the coefficient of friction meansigma methods of current automobile tire, to automobile
The coefficient of friction meansigma methods of tire carries out segmentation, and the coefficient of friction meansigma methods of every section of automobile tire is all to there being a coefficient of friction
Correction value, in step 5, if automobile be cornering operation and coefficient of friction meansigma methods less than the threshold value set, then automobile according to
It is multiplied by responsive corrections value after being multiplied by coefficient of friction correction value after standard electric output again to enter as final automobile electric output power
Row output, then repeated execution of steps two.
Described accelerator open degree synopsis includes several current weight setting values, and each current weight setting value is all to having
One responsive corrections value, the quantity of described current weight setting value sets manually, if current weight is positioned at two current weight
Between setting value, then the response calculating current weight corresponding according to current weight ratio between two current weight setting values is repaiied
On the occasion of.
Such as current weight is T2, needs to obtain responsive corrections value X2, and have recorded weight T1 in accelerator open degree synopsis
Corresponding responsive corrections value X1 and weight T3 correspondence responsive corrections value X3, if T1 < T2 < T3, then X2=(T2/ (T1+T3)) ×
(X1+X3).
In performing described step 5, it is anti-as accelerating that the acceleration transducer in automobile obtains current acceleration changing value
Feedback value, the acceleration change standard value preset in standard configuration parameter, as accelerating standard value, will be accelerated value of feedback and accelerate mark
Quasi-value contrasts, if accelerating value of feedback more than accelerating standard value, reduces responsive corrections when next time calculates responsive corrections value
Value；If accelerating value of feedback less than accelerating standard value, reduce responsive corrections value when next time calculates responsive corrections value.Described acceleration
To there being a standard response time in standard value, if accelerating value of feedback equal to accelerating standard value, and accelerate the feedback of value of feedback
Response time then uses dynamic response correction value less than standard response time when next time calculates responsive corrections value, the most first reduces meter
The responsive corrections value drawn returns to the responsive corrections value calculated after a given time.Described preset time is 0.8 second,
Reduce the amplitude of current responsive corrections value equal to feedback response time and 1/5th of the ratio of standard response time.
The power-division ratios of each tire of described automobile is standard configuration parameter, and the weight meter carried by wheel is calculated
Go out current real-time bus gross weight and position of centre of gravity, extract the offset vector of real time barycentre position and the position of centre of gravity preset, if
Offset vector keeps in the given time, then acquisition current offset vector is as value of calculation, with automobile transverse axis for X-axis automotive ordinate axis
Current offset vector is decomposed, according to the tire power-division ratios of the current offset resolution of vectors each wheel of value correction for Y-axis.
In the tire power-division ratios of all wheels, 98% is distribution definite value, in the tire power-division ratios of all wheels 2%
For distribution regulated value, default setting distributes regulated value and is allocated according to the allocation proportion of distribution definite value, according to current inclined
Only distribution regulated value is allocated when the tire power-division ratios of the shifting resolution of vectors each wheel of value correction is allocated.
The power-division ratios of each tire of described automobile is standard configuration parameter, and the weight meter carried by wheel is calculated
Go out current real-time bus gross weight and position of centre of gravity, extract the offset vector of real time barycentre position and the position of centre of gravity preset, if
Offset vector keeps in the given time, then acquisition current offset vector is as value of calculation, and with automobile transverse axis as X-axis, automobile is indulged
Axle is that Y-axis decomposes current offset vector, according to the tire power-division ratios of the current offset resolution of vectors each wheel of value correction.
X-axis and Y-axis are fixing axle, calculate in current offset vector component X-axis accounting in X-axis in X-axis, calculate
Current offset vector is component Y-axis accounting in Y-axis in Y-axis,
Vehicle right and left both sides are equal to towards the regulated value sum of distribution in real time of wheel before and after position of centre of gravity side:
(X-axis accounting+0.5) × distribution regulated value；
In vehicle right and left both sides, in real time distribution regulated value sum towards position of centre of gravity side front and back wheel is not equal to:
Distribution regulated value-(X-axis accounting+0.5) × distribution regulated value；
Before and after automobile, in both sides, in real time distribution regulated value sum towards the left and right wheels of position of centre of gravity side is equal to:
(Y-axis accounting+0.5) × distribution regulated value；
Before and after automobile, in both sides, in real time distribution regulated value sum towards position of centre of gravity side left and right wheels is not equal to:
Distribution regulated value-(Y-axis accounting+0.5) × distribution regulated value)；
The realtime power distribution ratio of each wheel of automobile equal in real time distribution regulated value and distribution definite value and.
Concrete example is as follows: unit's point i.e. X-axis and the center of Y-axis are set in the center of automobile, left front, right before, left back
Four tires rear with the right side are recorded as LA, LB, LC and LD, it is assumed that become center of gravity after load-carrying and are positioned at the right front portion that automobile is overall, deduct sky
Especially by calculating after the side-play amount itself having during load, the X position of position of centre of gravity is at the 50% of X-axis forward, and center of gravity
The Y location of position is at the 50% of Y-axis forward, then it is known that X-axis accounting is 0.5/2=0.25, and Y-axis accounting is also 0.5/
2=0.25, distribution regulated value is 2(%), then LA+LB=1.5, LC+LD=0.5, LB+LD=1.5, LA+LC=0.5 and, center of gravity position
In the overall right front portion of automobile so the distribution regulated value that left back portion obtains is 0, can draw accordingly, the distribution of distribution regulated value
Scheme is: LA:0.5, LB:1, LC:0, LD:0.5.
Being set with in step one and trample limit velocity, if when trampling throttle, throttle speed of action is more than trampling the limit
Speed, then stop to each tire output, and send control signal to automobile ECU.
The mode that have employed accelerator open degree synopsis or comparison formula in the present invention carrys out corresponding current automobile gross weight, solves
When the load-carrying difference of automobile, the problem that throttle response can change；Reach to arrange car according to live load information
Throttle response, throttle response can keep constant or similar effect under different load-carryings.Can basis when of use
Demand is from the scope of application of Row sum-equal matrix accelerator open degree synopsis, such as during in fine motion scope with close to the limit range that aperture is maximum
The form using accelerator open degree synopsis obtains responsive corrections value, and uses comparison public affairs accelerator open degree reaches intermediate range when
The mode of formula obtains responsive corrections value, the purpose of do so primarily to improve experience and the safety of user,
Such as, in the case of heavy weight, sound is obtained close to the form of employing accelerator open degree synopsis when the limit range that aperture is maximum
Answer correction value, the maximum improving responsive corrections value can be limited, it is therefore prevented that situation about exporting at full capacity for a long time, more may be used simultaneously
To offset, windage etc. is original ignores increasing of factor, reaches higher accuracy, meet throttle response constant in the case of protect
Demonstrate,proved safety, certain the application limited and must make in two ways, in fact only with accelerator open degree synopsis or
It is all feasible only with accelerator open degree comparison formula, such as, uses and also have through the accelerator open degree synopsis that correction is repeated several times
The most comfortable driving experience may be obtained so that accelerator open degree change and regular gasoline car closer to.In the present invention, throttle
Aperture comparison formula can be deduced by the basis of T1/W1=T2/ (W1+W2), turns round according to the unloaded output that existing T1 is initial
Square, W1 is empty-weight, and T2 is for export moment of torsion in real time, and W2 is loading capacity, the simplest accelerator open degree comparison that the present invention uses
Formula: responsive corrections value=real-time weight/initial setting weight.Certainly, in the present invention, accelerator open degree comparison formula can be by user
Just write amendment in conjunction with practical situation, including the setting of initial setting weight, temperature parameter, the introducing of windage, all can carry out in real time
Set.
Embodiment 2:
The present embodiment is substantially the same manner as Example 1, and the difference in embodiment 2 is: two tires of described vehicle front
Power-division ratios be standard configuration parameter, the weight meter carried by wheel calculate current real-time bus gross weight and weight
Heart position, extracts the offset vector of real time barycentre position and the position of centre of gravity preset, if offset vector keeps in the given time,
Then acquisition current offset vector is as value of calculation, decomposes current offset vector, root for X-axis automotive ordinate axis for Y-axis with automobile transverse axis
Tire power-division ratios according to current X-axis offset vector decomposition value direct proportion two wheels of correction front-wheel.The tire of all wheels
In power-division ratios, 94% is distribution definite value, and in the tire power-division ratios of all wheels, 6% is distribution regulated value, at default setting
Middle distribution regulated value is allocated, according to the current offset resolution of vectors each wheel of value correction according to the allocation proportion of distribution definite value
Tire power-division ratios only distribution regulated value is allocated when being allocated.If when automobile turning, inclined according to current X-axis
Move the tire power-division ratios of resolution of vectors value inverse proportion two wheels of correction trailing wheel.
Embodiment 3:
Substantially the same manner as Example 1, difference is: in step 5, if accelerator open degree is in set point, obtains current
Throttle trample speed, if throttle tramples speed more than setting value, use the mode of comparison formula to obtain responsive corrections value,
If throttle is trampled speed and is less than or equal to setting value, use the mode of comparison accelerator open degree synopsis to obtain responsive corrections value.
Embodiment 4:
Substantially the same manner as Example 1, difference is: recorded vehicle sets the accelerator open degree data of quantity, and calculation of throttle is opened
Degree meansigma methods, chooses all data less than calculation of throttle aperture meansigma methods 80% in the accelerator open degree data of record and calculates flat
Average as fine motion value range, is chosen all higher than calculation of throttle aperture meansigma methods 80% in the accelerator open degree data of record
Data calculating meansigma methods is as limit range value, when accelerator open degree value is less than or equal to fine motion value range or when accelerator open degree value is more than
The mode using accelerator open degree synopsis equal to limit range value obtains responsive corrections value, when accelerator open degree value is more than fine motion model
Enclose value and when accelerator open degree value uses the mode of comparison formula to obtain responsive corrections value less than limit range value.
Embodiment described above is the one preferably scheme of the present invention, not makees the present invention any pro forma
Limit, on the premise of without departing from the technical scheme described in claim, also have other variant and remodeling.
Claims (9)
1. the adaptive accelerator control method of weight, it is adaptable to electric automobile or mixed electrical automobile, it is characterised in that:
Below gas pedal, it is equipped with a L-shaped air hose, in L-shaped air hose, is equipped with piston rod, described air hose upper
Holding towards gas pedal, the upper end of described piston rod is fixing with described gas pedal lower surface to be connected, under described L-shaped air hose
End offers two passages, and the aperture sum of two passages is less than the diameter of the upper end of air hose, and one of them is described logical
Being equipped with Safety Redundancy electromagnetic valve on pore, described Safety Redundancy electromagnetic valve is connected with automobile ECU,
Comprise the following steps:
Step one: set up accelerator open degree synopsis and/or accelerator open degree comparison formula for automobile gross weight, read standard configuration
Illuminated, acquisition automobile are demarcated gravimetric value by parameter and the accelerator open degree automobile electric output power preset, and are set with and trample limit speed
Degree, if throttle speed of action is more than trampling limit velocity, then stops to each tire output, and sends control to automobile ECU
After signal processed, Safety Redundancy electromagnetic valve completely closes, after automobile ECU detects the complete stop motion of automobile, and Safety Redundancy electricity
Magnet valve reopens completely, and the limit velocity of trampling of setting exists adjusting range, tramples limit velocity size in adjusting range
Relevant to the proportional example of aperture of described Safety Redundancy electromagnetic valve, Safety Redundancy electromagnetic valve according to set trample limit velocity become
It is changed to the electromagnetic valve aperture of correspondence；
Step 2: obtain current real-time bus gross weight；
Step 3: if current real-time bus gross weight demarcates gravimetric value less than or equal to described automobile, perform step 4, otherwise perform
Step 5；
Step 4: automobile calculates standard electric output according to real-time accelerator open degree, each tire of automobile is according to power-division ratios
Export with standard electric output, then repeated execution of steps two；
Step 5: the numeric ratio that automobile demarcates gravimetric value and current real-time bus gross weight according to automobile obtains responsive corrections value,
Automobile calculates standard electric output according to real-time accelerator open degree, and each tire of automobile exports with standard electric according to power-division ratios
Power, is then multiplied by responsive corrections value and exports as final automobile electric output power, then re-execute step 2.
The adaptive accelerator control method of weight the most according to claim 1, it is characterised in that: the two of described vehicle front
The power-division ratios of individual tire is standard configuration parameter, and the weight meter carried by wheel calculates current real-time bus gross weight
Amount and position of centre of gravity, extract the offset vector of real time barycentre position and the position of centre of gravity preset, if offset vector is in the scheduled time
Interior holding, then acquisition current offset vector is as value of calculation, decomposes current offset for X-axis automotive ordinate axis for Y-axis with automobile transverse axis
Vector, according to the tire power-division ratios of current X-axis offset vector decomposition value direct proportion two wheels of correction front-wheel.
The adaptive accelerator control method of weight the most according to claim 1, it is characterised in that:
In described step 2, after automobile starting, just carry out the detection of condition of the vehicle, detection at interval of a scheduled time T
Data include vehicle speed measurement VtDrive with total electricity of the output drawn by the electric drive power superposition of each driving motor to motor
Kinetic power Pt, the pitching angle Theta of headstock tailstock longitudinal direction line and horizontal planetWith the electric output work for predetermined value to mechanical power
Conversion efficiency C；Automobile calculates draw current vehicle weight according to total electric drive power and change speed；
If the angle of pitch of car is zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2Carry out according to following formula
Calculate:
M(t+t+1)/2= 2×P(t+t+1)/2×T×C/(Vt+1 2-Vt 2)；
If the angle of pitch of car is not zero, the real-time car quality between t and t+1 moment is M(t+t+1)/2Enter according to following formula
Row calculates:
M(t+t+1)/2= 2×P(t+t+1)/2×T× C/(Vt+1 2-Vt 2)×(1-Sin(Theta(t+t+1)/2))；
In described step one, gravimetric value demarcated by automobile, has the most been imported among control system when car dispatches from the factory, standard car weight
Pushed by wireless cloud and be modified；
In described step one, automobile is demarcated standard body weight values+curb weight value+default fuel tank that gravimetric value is driver and is carried
Fuel weight value.
The adaptive accelerator control method of weight the most according to claim 1, it is characterised in that:
The rubbing surface of shooting automobile tire, carries out gray processing process and except distortion processes, successively according to the rubbing surface of automobile tire
The decorative pattern depth determine the coefficient of friction meansigma methods of current automobile tire, the coefficient of friction meansigma methods of automobile tire is carried out point
Section, the coefficient of friction meansigma methods of every section of automobile tire is all to there being a coefficient of friction correction value, in step 5, if automobile is
Cornering operation and coefficient of friction meansigma methods less than the threshold value set, are then multiplied by friction system after automobile is according to standard electric output
It is multiplied by responsive corrections value again after number correction value to export as final automobile electric output power, then repeated execution of steps two.
The adaptive accelerator control method of weight the most according to claim 4, it is characterised in that:
Setting up frictional force synopsis, in frictional force synopsis, the model of each automobile tire and Query Value are all to there being a friction
Force value, the first rubbing surface shooting automobile tire, after carrying out gray processing process and processing except distortion, record current automobile tire and rub
On wiping face, the color distortion value of several points is as difference reference value, after automobile starting, the rubbing surface of shooting automobile tire, enters
After row gray processing processes and processes except distortion, record on current automobile tire rubbing surface color distortion values of several points as difference
Different fiducial value, inquires about frictional force synopsis according to the reduced value of comparison in difference value with difference reference value as Query Value, it is thus achieved that when
The friction force value of the rubbing surface of front automobile tire.
The adaptive accelerator control method of weight the most according to claim 1, it is characterised in that:
Described accelerator open degree synopsis includes several current weight setting values, and each current weight setting value is all to there being one
Responsive corrections value, the quantity of described current weight setting value sets manually, and current weight value is calculated by membership function and obtains
Obtain degree of membership in current weight setting value, be multiplied by the side of responsive corrections value corresponding to each weight setpoint value by degree of membership
Formula superposition obtains final responsive corrections value.
The adaptive accelerator control method of weight the most according to claim 1, it is characterised in that: performing described step 5
In, the acceleration transducer acquisition current acceleration changing value in automobile, as accelerating value of feedback, is preset in standard configuration parameter
Acceleration change standard value as accelerate standard value, by accelerations value of feedback with accelerate standard value contrast, if acceleration feed back
Value then reduces responsive corrections value more than accelerating standard value when next time calculates responsive corrections value；If accelerating value of feedback less than accelerating mark
Quasi-value then reduces responsive corrections value when next time calculates responsive corrections value.
The adaptive accelerator control method of weight the most according to claim 7, it is characterised in that: in described acceleration standard value
To there being a standard response time, if accelerating value of feedback equal to accelerating standard value, and accelerate the feedback response time of value of feedback
Then use dynamic response correction value when next time calculates responsive corrections value less than standard response time, the most first reduction calculates
Responsive corrections value returns to the responsive corrections value calculated after a given time.
The adaptive accelerator control method of weight the most according to claim 8, it is characterised in that: described preset time is
0.8 second, reduce the amplitude of current responsive corrections value equal to feedback response time and 1/5th of the ratio of standard response time.
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| CN114061977A (en) * | 2021-11-15 | 2022-02-18 | 合众新能源汽车有限公司 | Accelerator pedal calibration method |
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