CN107444391B - Vehicle control method and device and automobile - Google Patents
Vehicle control method and device and automobile Download PDFInfo
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- CN107444391B CN107444391B CN201710627743.5A CN201710627743A CN107444391B CN 107444391 B CN107444391 B CN 107444391B CN 201710627743 A CN201710627743 A CN 201710627743A CN 107444391 B CN107444391 B CN 107444391B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Transmission Device (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a vehicle control method, a vehicle control device and an automobile, wherein the vehicle control method comprises the following steps: acquiring a current working mode of a vehicle; when the vehicle is in the snow mode at present, controlling the output torque of the engine according to a first preset ignition control curve MAP; when the vehicle is in the non-snowfield mode, controlling the output torque of the engine according to a second preset ignition control curve MAP; when the opening degrees of the accelerator pedals are the same, the torque output by the engine is controlled according to the first preset ignition control curve MAP and is smaller than the torque output by the engine according to the second preset ignition control curve MAP. According to the embodiment of the invention, the vehicle is not easy to slip in a snow mode by reducing the output of the torque, so that the vehicle is suitable for running under the working condition of snow, and the running safety of the vehicle on the snow road surface is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle control method and device and an automobile.
Background
The snow road surface is a common road condition in winter in northern areas of China, and when an automobile runs on the snow, the adhesion coefficient of the road is very low, the adhesive force of the available road is very small, and the vehicle is easy to slip, so that the power of the vehicle is lost, and great potential safety hazard is caused if a driver does not respond properly. In addition, the skid will also seriously aggravate the wear of the automobile tires and reduce the service life of the tires. In addition, when braking is performed on snow, the wheels are more likely to be locked and dragged to slip due to wet and slippery ground, and the vehicle braking performance is reduced.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a vehicle control method, a vehicle control device and a vehicle, which are used for realizing the purpose of adapting to the snow working condition, reducing the slip probability and improving the snow driving safety.
In order to solve the above technical problem, an embodiment of the present invention provides a control method for a vehicle, including:
acquiring a current working mode of a vehicle;
when the vehicle is in the snow mode at present, controlling the output torque of the engine according to a first preset ignition control curve MAP;
when the vehicle is in the non-snowfield mode, controlling the output torque of the engine according to a second preset ignition control curve MAP;
when the opening degrees of the accelerator pedals are the same, the torque output by the engine is controlled according to the first preset ignition control curve MAP and is smaller than the torque output by the engine according to the second preset ignition control curve MAP.
Further, the step of obtaining the current operating mode of the vehicle comprises:
acquiring a current zone bit of a mode switch;
when the mode switch is currently at a first preset zone bit, judging that the vehicle is currently in a snow mode;
and when the mode switch is currently at a second preset zone bit, judging that the vehicle is currently in a non-snowfield mode.
Further, the method further comprises:
when the vehicle is in the snow mode, controlling the vehicle to shift according to a first preset shifting curve;
when the vehicle is in the non-snow mode, controlling the vehicle to shift according to a second preset shifting curve;
wherein each shift point in the first preset shift curve is located before a corresponding shift point in the second preset shift curve.
Further, the method further comprises:
and when the vehicle is in the snow mode and the vehicle is in a starting state, controlling the vehicle to work according to a preset gear.
Further, the method further comprises:
when the vehicle is in the snow mode, setting a slip ratio control threshold value of an ABS (anti-lock braking system) of the vehicle to be a first preset value;
when the vehicle is in the non-snow mode, setting a slip ratio control threshold value of an ABS (anti-lock braking system) of the vehicle to be a second preset value;
wherein the first preset value is greater than the second preset value.
Further, the first preset value is greater than 30% and less than 40%.
According to another aspect of the present invention, there is also provided a control apparatus of a vehicle, including:
the acquisition module is used for acquiring the current working mode of the vehicle;
the control system comprises a first control module, a second control module and a control module, wherein the first control module is used for controlling the output torque of an engine according to a first preset ignition control curve MAP when the vehicle is in a snow mode at present;
the first control module is further used for controlling the output torque of the engine according to a second preset ignition control curve MAP when the vehicle is in the non-snowfield mode currently;
when the opening degrees of the accelerator pedals are the same, the torque output by the engine is controlled according to the first preset ignition control curve MAP and is smaller than the torque output by the engine according to the second preset ignition control curve MAP.
Further, the apparatus further comprises:
the second control module is used for controlling the vehicle to shift according to a first preset gear shifting curve when the vehicle is in the snow mode;
the second control module is further used for controlling the vehicle to shift according to a second preset gear shifting curve when the vehicle is in the non-snow mode;
wherein each shift point in the first preset shift curve is located before a corresponding shift point in the second preset shift curve.
Further, the apparatus further comprises:
the third control module is used for setting a slip ratio control threshold value of an ABS (anti-lock braking system) of the vehicle to be a first preset value when the vehicle is in the snow mode;
the third control module is further used for setting a slip ratio control threshold value of an ABS of the vehicle to be a second preset value when the vehicle is in the non-snow mode;
wherein the first preset value is greater than the second preset value.
According to another aspect of the present invention, an embodiment of the present invention further provides an automobile, including: a controller, a memory for storing a computer program operable on the controller, the controller implementing the steps in the method as described above when executing the computer program.
Compared with the prior art, the vehicle control method, the vehicle control device and the vehicle provided by the embodiment of the invention at least have the following beneficial effects:
according to the embodiment of the invention, the current working mode of the vehicle is obtained, when the vehicle is in a snow mode, the output torque of the engine is controlled according to the first preset ignition control curve MAP, under the condition that the opening degree of an accelerator pedal is the same, the output torque in the snow mode is smaller than the output torque in the non-snow mode, the vehicle is not easy to slip in the snow mode by reducing the output torque, the vehicle is adaptive to the snow working condition, and the safety of the vehicle in the snow road surface is improved.
Drawings
Fig. 1 is a first flowchart of a control method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a second flowchart of a control method of a vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method of the vehicle according to the embodiment of the invention;
fig. 4 is a fourth flowchart of a control method of the vehicle of the embodiment of the invention;
fig. 5 is a schematic configuration diagram of a control apparatus of a vehicle according to an embodiment of the invention;
FIG. 6 is a diagram showing a correspondence relationship between an engine output torque and an accelerator pedal opening;
FIG. 7 is a shift profile;
fig. 8 is a graph showing a relationship between a slip ratio and an adhesion coefficient.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Referring to fig. 1, an embodiment of the present invention provides a control method of a vehicle, including:
103, when the vehicle is in the non-snowfield mode currently, controlling the output torque of the engine according to a second preset ignition control curve MAP;
when the opening degrees of the accelerator pedals are the same, the torque output by the engine is controlled according to the first preset ignition control curve MAP and is smaller than the torque output by the engine according to the second preset ignition control curve MAP.
According to the embodiment of the invention, the current working mode of the vehicle is obtained, when the vehicle is in a snow mode, the output torque of the engine is controlled according to the first preset ignition control curve MAP, under the condition that the opening degree of an accelerator pedal is the same, the output torque in the snow mode is smaller than the output torque in the non-snow mode, the vehicle is not easy to slip in the snow mode by reducing the output torque, the vehicle is adaptive to the snow working condition, and the safety of the vehicle in the snow road surface is improved.
Wherein the snow mode is an operation mode used for driving on snow, and the non-snow mode is an operation mode used for driving on non-snow, and for non-snow, the operation mode may include: dry concrete pavement, dry asphalt pavement, wet asphalt pavement and the like, and the ground adhesion coefficient of non-snowfield is higher than that of snowfield. It should be noted that non-snow includes no ice.
Referring to fig. 6, in accordance with the relationship of the adhesion force and the driving force when the vehicle is running:
ft represents the driving force of the vehicle, Fz represents the tangential reaction force of the ground acting on the tire,
representing the coefficient of adhesion. When the automobile runs on a snowy road surface, the adhesive force provided by the ground is very small. The driving force easily breaks through the road adhesion limit to cause slippage. Based on this, the embodiment of the present invention controls the torque output from the engine using the first pre-ignition control curve MAP in the snow mode such that the torque output from the engine is smaller than the torque output from the engine using the second pre-ignition control curve MAP in the non-snow mode at the same pedal opening. In fig. 6, the dry asphalt pavement is a comparison object, and for other road conditions in the non-snowfield mode, the dry asphalt pavement is a second preset ignition control curve MAP, and the torques output by the engine under the same accelerator pedal opening degree are the same.
Referring to fig. 2, wherein step 101, the step of acquiring the current operating mode of the vehicle may include:
and 203, when the mode switch is currently at a second preset zone bit, judging that the vehicle is currently in a non-snowfield mode.
In this embodiment, a method for determining the current operating mode is provided, for example, a corresponding mode button or knob is provided on the vehicle, when the driver presses the button or knob, the flag bit is a first preset flag bit, which corresponds to the snow mode, and when the driver presses the button or turns the knob again, the flag bit is a second preset flag bit, which corresponds to the non-snow mode. The first preset flag may be 1, and the second preset flag may be 0.
It should be noted that, for obtaining the current working mode of the vehicle, the method is not limited to the above-mentioned mode of setting the flag bit, and the current road condition may also be judged by collecting the current slip rate, and when the current slip rate is greater than the threshold value or is within a certain preset interval, it is judged that the vehicle is currently a snow field, and the vehicle enters the snow field mode.
Referring to fig. 3, in order to more preferably travel on a snowy road surface, the method may further include:
wherein each shift point in the first preset shift curve is located before a corresponding shift point in the second preset shift curve.
Referring to fig. 7, in order to further reduce the occurrence of the slip, in the present embodiment, a Transmission Control Unit (TCU) is re-matched with a new shift curve, and the vehicle is controlled to shift in the snow mode by using a first preset shift curve, where each shift point in the first preset shift curve is located before a corresponding shift point in the second preset shift curve. For a typical vehicle, the actual gear in snow mode is higher than the actual gear in non-snow mode. Therefore, the output torque generated by controlling according to the first preset gear shifting curve is smaller, and the slip probability is effectively reduced.
In one embodiment, the gear shifting line in the snow mode is increased by 1 to 2 gears compared with the gear shifting line in the non-snow mode, so that the output of wheel-side torque is reduced, and the occurrence of slippage is reduced.
Wherein, in order to travel better on a snowy road surface, the method may further comprise:
and when the vehicle is in the snow mode and the vehicle is in a starting state, controlling the vehicle to work according to a preset gear.
The preset gear is preferably 2. When the vehicle starts, the torque output by the 1 gear is large, and the vehicle is very easy to slip under snowy road conditions, so that the 2 gear is adopted for starting, and the slip probability is effectively reduced. Meanwhile, 2 nd gear is more suitable for vehicle starting than 3 rd gear, and if 3 rd gear is adopted, the vehicle can not be started normally.
Referring to fig. 4, in order to better travel on a snowy road surface, the method may further include:
wherein the first preset value is greater than the second preset value.
For the ABS system, it is necessary to calibrate the optimum slip rate on snow mode. Referring to fig. 8, it is proved by related experiments that a large ground adhesion coefficient can be obtained when the slip ratio of the vehicle is a little larger under the snow condition. Therefore, the slip ratio control threshold value of the ABS of the vehicle is set to be a first preset value in the snow mode, and the first preset value is larger than a second preset value in the non-snow mode.
Wherein the first preset value is more than 30% and less than 40%. The second preset value in the non-snow mode may range from 15% to 20%, and the first preset value in the snow mode is preferably from 30% to 40%.
The method is widely applicable to automobiles with AMT (electrically controlled mechanical transmission), AT (automatic transmission) and DCT (double-clutch transmission). In addition, the CVT (continuously variable transmission) can also make the movable parts of the driving wheel and the driven wheel move axially by actively controlling the oil hydraulic pressure in the hydraulic oil cylinders of the driving wheel and the driven wheel, and change the mode that the working radius between the metal belt and the working wheel becomes smaller relative to the dry asphalt pavement, thereby achieving the same purpose. The method is also suitable for the electric automobile or the hybrid electric automobile.
Referring to fig. 5, according to another aspect of the present invention, an embodiment of the present invention further provides a control apparatus of a vehicle, including:
an obtaining module 501, configured to obtain a current working mode of a vehicle;
a first control module 502 for controlling engine output torque according to a first preset ignition control curve MAP when the vehicle is currently in a snow mode;
the first control module 502 is further configured to control an engine output torque according to a second preset ignition control curve MAP when the vehicle is currently in the non-snowfield mode;
when the opening degrees of the accelerator pedals are the same, the torque output by the engine is controlled according to the first preset ignition control curve MAP and is smaller than the torque output by the engine according to the second preset ignition control curve MAP.
Further, the obtaining module 501 includes:
the acquisition unit is used for acquiring the current zone bit of the mode switch;
the judging unit is used for judging that the vehicle is currently in a snow mode when the mode switch is currently at a first preset zone bit;
the judging unit is further configured to judge that the vehicle is currently in the non-snowfield mode when the mode switch is currently at a second preset zone bit.
Further, the apparatus further comprises:
the second control module is used for controlling the vehicle to shift according to a first preset gear shifting curve when the vehicle is in the snow mode;
the second control module is further used for controlling the vehicle to shift according to a second preset gear shifting curve when the vehicle is in the non-snow mode;
wherein each shift point in the first preset shift curve is located before a corresponding shift point in the second preset shift curve.
Further, the apparatus further comprises:
and the fourth control module is used for controlling the vehicle to work according to a preset gear when the vehicle is in a snow mode and the vehicle is in a starting state.
Further, the apparatus further comprises:
the third control module is used for setting a slip ratio control threshold value of an ABS (anti-lock braking system) of the vehicle to be a first preset value when the vehicle is in the snow mode;
the third control module is further used for setting a slip ratio control threshold value of an ABS of the vehicle to be a second preset value when the vehicle is in the non-snow mode;
wherein the first preset value is greater than the second preset value.
Further, the first preset value is greater than 30% and less than 40%.
According to another aspect of the present invention, an embodiment of the present invention further provides an automobile, including: a controller, a memory for storing a computer program operable on the controller, the controller implementing the steps in the method as described above when executing the computer program.
In summary, according to the embodiment of the invention, the current working mode of the vehicle is obtained, when the vehicle is in the snow mode, the output torque of the engine is controlled according to the first preset ignition control curve MAP, under the condition that the opening degree of an accelerator pedal is the same, the output torque in the snow mode is smaller than the output torque in the non-snow mode, the vehicle is not easy to slip in the snow mode by reducing the output torque, the vehicle is adaptive to the snow working condition, and the safety of the vehicle in the snow road surface is improved.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A control method of a vehicle, characterized by comprising:
acquiring a current working mode of a vehicle;
when the vehicle is in the snow mode at present, controlling the output torque of the engine according to a first preset ignition control curve MAP;
when the vehicle is in the non-snowfield mode, controlling the output torque of the engine according to a second preset ignition control curve MAP;
when the opening degrees of the accelerator pedals are the same, controlling the torque output by the engine according to the first preset ignition control curve MAP, wherein the torque output by the engine is smaller than the torque output by the engine according to the second preset ignition control curve MAP;
the method further comprises the following steps:
when the vehicle is in the snow mode, controlling the vehicle to shift according to a first preset shifting curve;
when the vehicle is in the non-snow mode, controlling the vehicle to shift according to a second preset shifting curve;
wherein each shift point in the first preset shift curve is located before a corresponding shift point in the second preset shift curve.
2. The control method of the vehicle according to claim 1, wherein the step of acquiring the current operating mode of the vehicle includes:
acquiring a current zone bit of a mode switch;
when the mode switch is currently at a first preset zone bit, judging that the vehicle is currently in a snow mode;
and when the mode switch is currently at a second preset zone bit, judging that the vehicle is currently in a non-snowfield mode.
3. The control method of a vehicle according to claim 1, characterized by further comprising:
and when the vehicle is in the snow mode and the vehicle is in a starting state, controlling the vehicle to work according to a preset gear.
4. The control method of a vehicle according to claim 1, characterized by further comprising:
when the vehicle is in the snow mode, setting a slip ratio control threshold value of an ABS (anti-lock braking system) of the vehicle to be a first preset value;
when the vehicle is in the non-snow mode, setting a slip ratio control threshold value of an ABS (anti-lock braking system) of the vehicle to be a second preset value;
wherein the first preset value is greater than the second preset value.
5. The control method of a vehicle according to claim 4, wherein the first preset value is more than 30% and less than 40%.
6. A control apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the current working mode of the vehicle;
the control system comprises a first control module, a second control module and a control module, wherein the first control module is used for controlling the output torque of an engine according to a first preset ignition control curve MAP when the vehicle is in a snow mode at present;
the first control module is further used for controlling the output torque of the engine according to a second preset ignition control curve MAP when the vehicle is in the non-snowfield mode currently;
when the opening degrees of the accelerator pedals are the same, controlling the torque output by the engine according to the first preset ignition control curve MAP, wherein the torque output by the engine is smaller than the torque output by the engine according to the second preset ignition control curve MAP;
the device further comprises:
the second control module is used for controlling the vehicle to shift according to a first preset gear shifting curve when the vehicle is in the snow mode;
the second control module is further used for controlling the vehicle to shift according to a second preset gear shifting curve when the vehicle is in the non-snow mode;
wherein each shift point in the first preset shift curve is located before a corresponding shift point in the second preset shift curve.
7. The control device of a vehicle according to claim 6, characterized by further comprising:
the third control module is used for setting a slip ratio control threshold value of an ABS (anti-lock braking system) of the vehicle to be a first preset value when the vehicle is in the snow mode;
the third control module is further used for setting a slip ratio control threshold value of an ABS of the vehicle to be a second preset value when the vehicle is in the non-snow mode;
wherein the first preset value is greater than the second preset value.
8. An automobile, comprising: a controller, a memory for storing a computer program operable on the controller, the controller when executing the computer program implementing the steps in the method of any one of claims 1 to 5.
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| CN201710627743.5A CN107444391B (en) | 2017-07-28 | 2017-07-28 | Vehicle control method and device and automobile |
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| CN201710627743.5A CN107444391B (en) | 2017-07-28 | 2017-07-28 | Vehicle control method and device and automobile |
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| CN107444391B true CN107444391B (en) | 2020-04-03 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730504B (en) * | 2018-05-31 | 2021-03-23 | 北京新能源汽车股份有限公司 | Gear switching control method and device and vehicle |
| CN109263643A (en) * | 2018-08-17 | 2019-01-25 | 上海汽车集团股份有限公司 | Vehicle snow orographic model automatic identifying method and device |
| JP7015005B2 (en) * | 2018-11-19 | 2022-02-02 | トヨタ自動車株式会社 | Vehicle braking force control device |
| CN111122167B (en) * | 2019-12-18 | 2022-08-02 | 盛瑞传动股份有限公司 | Method and device for simulating engine test of P2 hybrid vehicle |
| CN113619555B (en) * | 2021-07-28 | 2023-01-03 | 中汽创智科技有限公司 | Vehicle driving control method, device, system, storage medium and terminal equipment |
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| WO2015166166A1 (en) * | 2014-04-29 | 2015-11-05 | Renault S.A.S. | System for controlling the drivability mode of a hybrid motor vehicle |
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