CN108454462B - Vehicle control method and device and vehicle with same - Google Patents

Vehicle control method and device and vehicle with same Download PDF

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CN108454462B
CN108454462B CN201810311295.2A CN201810311295A CN108454462B CN 108454462 B CN108454462 B CN 108454462B CN 201810311295 A CN201810311295 A CN 201810311295A CN 108454462 B CN108454462 B CN 108454462B
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vehicle
acceleration
torque
motor
acquiring
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CN108454462A (en
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唐彬
朱磊
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Guo Zhijun Automobile Co ltd
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Guoji Zhijun Beijing Automotive Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/647—Surface situation of road, e.g. type of paving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/18—Driver interactions by enquiring driving style
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a vehicle control method, a vehicle control device and a vehicle with the same, wherein the method comprises the following steps: acquiring habit parameters of a target user within a preset time period; acquiring a reference required acceleration under any pedal opening, any motor rotating speed and any road surface gradient, and acquiring a finished automobile required acceleration according to a habitual parameter and the reference required acceleration; and converting the required acceleration into the motor end required torque, and carrying out PID (proportion integration differentiation) adjustment on the motor end required torque by taking the difference value of the actual acceleration and the required acceleration as a feedback quantity, so as to obtain the motor end torque actually required. The method can timely adjust the power performance of the whole vehicle according to the driving habits and road conditions of a driver, effectively improve the real-time performance of control, improve the intelligence and applicability of the vehicle, and improve the driving experience of a user.

Description

Vehicle control method and device and vehicle with same
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and device and a vehicle with the same.
Background
In the related art, the vehicle dynamics setting is realized through an external vehicle mode switch (Norma/Eco/Sport), and a driver can set vehicle modes according to own preference, wherein each mode corresponds to a vehicle dynamics distribution principle.
However, the dynamic distribution of the related art cannot be adjusted in real time according to the requirements of the driver, the real-time performance is poor, and the intelligence of the vehicle is poor; and when accelerating, still can receive road surface kind and slope influence, the suitability is poor, greatly reduced the driving experience.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a vehicle control method, which can effectively improve the real-time performance of control, improve the intelligence and applicability of a vehicle, and improve the driving experience of a user.
A second object of the present invention is to provide a control device for a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a control method for a vehicle, including: acquiring habit parameters of a target user within a preset time period; acquiring a reference required acceleration under any pedal opening, any motor rotating speed and any road surface gradient, and acquiring the required acceleration of the whole vehicle according to the habit parameters and the reference required acceleration; converting the required acceleration into a required torque of a motor end; and carrying out PID (proportion integration, derivative) regulation on the motor end required torque by taking the difference value of the actual acceleration and the required acceleration as a feedback quantity so as to obtain the motor end torque actually required.
According to the control method of the vehicle, the power performance of the whole vehicle can be timely adjusted according to the driving habits and road conditions of the driver, so that the purpose of enabling the power performance of the vehicle to automatically adapt to the driving habits of the driver is achieved, the real-time performance of control is effectively improved, the intelligence and the applicability of the vehicle are further improved, and the driving experience of a user is improved.
In addition, the control method of the vehicle according to the above embodiment of the invention may also have the following additional technical features:
further, in an embodiment of the present invention, before the acquiring the habit parameters of the target user within the preset time period, the method further includes: detecting the identity of the target user; and acquiring the habit parameters of the target user according to the identity.
Further, in an embodiment of the present invention, the habit parameters include one or more of a triggering frequency of an accelerator pedal within the preset time period, an accumulated time of triggering the accelerator pedal within the preset time period, and an accumulated time of vehicle driving in each preset speed interval.
Further, in one embodiment of the present invention, the motor end required torque formula is:
wherein i is a reduction ratio, and η is transmission efficiency.
Further, in one embodiment of the present invention, the actual demanded motor-end torque formula is:
Ta＝(C·A·V2/21.15+f·M·g·cosθ+M·g·sinθ+δ·H·Ab)·r/(i·η)+T(PID)，
wherein C is the air resistance coefficient, A is the windward area (square meter), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the radius of the wheel, and M isWeight in kg, g is the acceleration of gravity (m/s)2) Theta is road surface gradient (degree), delta is automobile rotating mass conversion coefficient, H is habitual parameter, AbThe reference required acceleration (m/s) of any pedal opening, any motor rotating speed and any road surface gradient2) I is the reduction ratio, η is the transmission efficiency, and T (PID) is the torque of the closed loop link.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a control apparatus for a vehicle, including: the first acquisition module is used for acquiring habit parameters of a target user within a preset time period; the second acquisition module is used for acquiring the reference required acceleration under any pedal opening, any motor rotating speed and any road surface gradient and obtaining the required acceleration of the whole vehicle according to the habit parameters and the reference required acceleration; the calculation module is used for converting the required acceleration into a required torque of the motor end; and the adjusting module is used for carrying out PID adjustment on the motor end required torque by taking the difference value of the actual acceleration and the required acceleration as a feedback quantity so as to obtain the motor end torque required actually.
The control device of the vehicle can timely adjust the power performance of the whole vehicle according to the driving habits and road conditions of the driver, so that the purpose of enabling the power performance of the vehicle to automatically adapt to the driving habits of the driver is achieved, the real-time performance of control is effectively improved, the intelligence and the applicability of the vehicle are further improved, and the driving experience of a user is improved.
In addition, the control device of the vehicle according to the above embodiment of the invention may further have the following additional technical features:
further, in an embodiment of the present invention, the first obtaining module is further configured to detect an identity of the target user, and obtain the habit parameter of the target user according to the identity.
Further, in an embodiment of the present invention, the habit parameters include one or more of a triggering frequency of an accelerator pedal within the preset time period, an accumulated time of triggering the accelerator pedal within the preset time period, and an accumulated time of vehicle driving in each preset speed interval.
Further, in one embodiment of the present invention, the motor end required torque formula is:
Figure BDA0001622429180000031
wherein i is a reduction ratio, and η is transmission efficiency;
further, in one embodiment of the present invention, the actual required motor end torque is:
Ta＝(C·A·V2/21.15+f·M·g·cosθ+M·g·sinθ+δ·H·Ab)·r/(i·η)+T(PID)，
wherein C is an air resistance coefficient, A is a windward area (square meter), V is a vehicle speed (km/h), f is a rolling resistance coefficient, r is a vehicle wheel radius, M is a load mass (kg), and g is a gravity acceleration (M/s)2) Theta is road surface gradient (degree), delta is automobile rotating mass conversion coefficient, H is habitual parameter, AbThe reference required acceleration (m/s) of any pedal opening, any motor rotating speed and any road surface gradient2) I is the reduction ratio, η is the transmission efficiency, and T (PID) is the torque of the closed loop link.
In order to achieve the above object, a third aspect of the present invention proposes a vehicle including the control apparatus of the vehicle described above. This vehicle can be according to the in good time whole car dynamic performance of regulation of driver's driving habit to the realization lets the purpose of the automatic adaptation driver driving habit of vehicle dynamic nature, effectively improves the real-time of control, and then improves the intelligence and the suitability of vehicle, promotes user's driving and experiences.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of a vehicle according to one embodiment of the invention;
FIG. 2 is a flow chart of a method of controlling a vehicle according to an embodiment of the present invention; and
fig. 3 is a schematic configuration diagram of a control apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method and apparatus of a vehicle and a vehicle having the same according to an embodiment of the present invention will be described below with reference to the accompanying drawings, and first, a control method of a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the control method of the vehicle includes the steps of:
in step S101, habit parameters of a target user within a preset time period are acquired.
For example, the preset time may be the last 10 days, or may be a month, and a specific preset time period, which may be set by a person skilled in the art according to actual situations, and is not limited specifically herein.
In an embodiment of the present invention, before acquiring the habit parameters of the target user within the preset time period, the method further includes: detecting the identity of a target user; and acquiring habit parameters of the target user according to the identity.
Specifically, in the embodiment of the present invention, the driving habits of a specific driver (for example, the specific algorithm may be ID (identification) in a recent period of time) may be recorded in real time through a specific algorithm, for example, the driving habit parameters of the user a need to be acquired, so that when the habit parameters are acquired by a vehicle, the identity of the user needs to be detected first, and if the habit parameters are detected as the user a, the habit parameters are acquired; if the habit parameters are not acquired by the user A, the habit parameters cannot be acquired, so that the accuracy of acquiring the habit parameters of the user can be ensured.
Further, in one embodiment of the present invention, the habit parameters include one or more of a triggering frequency of the accelerator pedal within a preset time period, a cumulative time of triggering the accelerator pedal within the preset time period, and a cumulative time of vehicle driving in each preset speed interval.
For example, as shown in fig. 2, the habit parameter may be the frequency of pressing the accelerator pedal for a period of time, wherein pressing means that the driver quickly presses the accelerator pedal; or the accumulated time of deep stepping on the accelerator pedal within a period of time, the accumulated time of the vehicle running in each speed interval within a period of time and the like, and the driving habit is expressed by a quantized parameter H, wherein the parameter H is adjusted once at intervals of a period of time in the driving process of the time, and the change range of H is set (0.7-1.3).
In step S102, a reference required acceleration at any pedal opening, at any motor speed, and at any road surface gradient is obtained, and a required acceleration of the entire vehicle is obtained according to the habit parameters and the reference required acceleration.
Specifically, as shown in fig. 2, the embodiment of the invention can calculate the reference required acceleration Ab (m/s) at an arbitrary pedal opening, an arbitrary motor rotation speed, and an arbitrary road surface gradient by the open-loop formula2) (ii) a The vehicle acceleration Ad of the driver demand is adjusted by the driver habit parameter H, and the formula is as follows:
Ad＝H·Ab。
in step S103, the required acceleration is converted into the motor-side required torque.
It can be understood that the embodiment of the invention obtains the actual acceleration of the vehicle by differentiating the speed of the whole vehicle, then obtains the wheel torque according to the acceleration calculation, and then converts the wheel torque into the motor end torque, wherein the motor end torque is the motor end required torque.
Specifically, in the embodiment of the present invention, the vehicle speed of the whole vehicle is subjected to differential processing to obtain the actual acceleration Aa of the whole vehicle, and the acceleration is converted into the wheel-side torque T, where T mainly includes four parts: the formula of wind resistance, rolling resistance, slope resistance, acceleration resistance moment and wheel side torque T is as follows:
T＝(C·A·V2/21.15+f·M·g·cosθ+M·g·sinθ+δ·Ad)·r。
wherein C is an air resistance coefficient, A is a windward area (square meter), V is a vehicle speed (km/h), f is a rolling resistance coefficient, r is a vehicle wheel radius, M is a load mass (kg), and g is a gravity acceleration (M/s)2) Theta is the road surface gradient (degree), and delta is the automobile rotating mass conversion coefficient.
Further, the wheel end torque is converted into the motor end required torque TtThe formula is as follows:
Figure BDA0001622429180000051
wherein i is a reduction ratio, and η is transmission efficiency.
In step S104, PID adjustment of the motor-side required torque is performed by using the difference between the actual acceleration and the required acceleration as a feedback amount to obtain the motor-side torque that is actually required.
It can be understood that the motor end required torque is substituted into the motor end torque formula actually required to obtain the motor end torque actually required, the vehicle acceleration, the wheel side torque and the motor end required torque are substituted into the motor end torque formula actually required to obtain the final required torque formula, and the power parameters of the vehicle are adjusted according to the obtained final required torque. And the final required torque is the actually required motor end torque.
Specifically, as shown in fig. 2, the actual acceleration a is used as the basisaAnd obtaining PID (proportion integration differentiation) adjustment torque by the difference value of the acceleration Ad of the whole vehicle required, and combining the motor end required torque to obtain the motor end torque required actually. The embodiment of the invention changes the actually required motor end torque TaExpressed in an open-loop plus closed-loop manner, wherein, in one embodiment of the invention, the actual demanded motor-end torque formula is:
Ta＝Tt+T(PID)，
wherein, TtFor open loop torque, T (PID) is closed loop torque.
Note that T istThe physical meaning of the open-loop link is as follows: theoretically to achieve the required acceleration AdRequired motor end torque; t (pid) is a closed-loop link whose physical meaning is: when torque TtThe actual acceleration A of the vehicle cannot be guaranteedaTo reach AdWhen (i.e. A)a≠Ad) The driver demand torque is corrected by t (pid) with the feedback factor: a. thea-Ad。
Further, in an embodiment of the present invention, the above formulas are integrated to obtain the final required torque, that is, the actually required motor end torque formula is:
Ta＝(C·A·V2/21.15+f·M·g·cosθ+M·g·sinθ+δ·H·Ab)·r/(i·η)+T(PID)，
wherein C is an air resistance coefficient, A is a windward area (square meter), V is a vehicle speed (km/h), f is a rolling resistance coefficient, r is a vehicle wheel radius, M is a load mass (kg), and g is a gravity acceleration (M/s)2) Theta is road surface gradient (degree), delta is automobile rotating mass conversion coefficient, H is habitual parameter, AbThe reference required acceleration (m/s) of any pedal opening, any motor rotating speed and any road surface gradient2) I is the reduction ratio, η is the transmission efficiency.
In summary, the actual acceleration A of the vehicle can be ensured after the above derivationaAcceleration A meeting driver's demandd. The method provided by the embodiment of the invention not only can reduce the influence of the road surface type and the road surface gradient on the acceleration performance of the electric automobile, but also can timely adjust the dynamic property of the automobile according to the driving habits of the driver so as to meet the individual requirements of different drivers on the acceleration performance of the automobile and obtain better driving feeling.
According to the control method of the vehicle, the power performance of the whole vehicle can be timely adjusted according to the driving habits and road conditions of the driver, so that the purpose that the power performance of the vehicle automatically adapts to the driving habits of the driver is achieved, the real-time performance of control is effectively improved, the intelligence and the applicability of the vehicle are further improved, and the driving experience of a user is improved.
Next, a control device of a vehicle proposed according to an embodiment of the invention is described with reference to the drawings.
FIG. 3 is a control device of a vehicle according to an embodiment of the present invention
As shown in fig. 3, the control device 10 for a vehicle includes: a first acquisition module 100, a second acquisition module 200, a calculation module 300, and an adjustment module 400.
The first obtaining module 100 is configured to obtain a habit parameter of a target user within a preset time period. The second obtaining module 200 is configured to obtain a reference required acceleration at any pedal opening, any motor rotation speed, and any road surface gradient, and obtain a finished automobile acceleration according to the habit parameters and the reference required acceleration. The calculating module 300 is configured to obtain an actual acceleration according to the speed differential of the entire vehicle, and obtain a wheel-side torque according to the actual acceleration to obtain a motor-end torque. The adjustment module 400 is used to perform PID adjustment of the motor-side torque to obtain the actual required motor-side torque. The device 10 provided by the embodiment of the invention can timely adjust the power performance of the whole vehicle according to the driving habits and road conditions of a driver, effectively improve the real-time performance of control, improve the intelligence and applicability of the vehicle and improve the driving experience of a user.
Further, in an embodiment of the present invention, the first obtaining module 100 is further configured to detect an identity of the target user, and obtain the habit parameter of the target user according to the identity.
Further, in one embodiment of the present invention, the habit parameters include one or more of a triggering frequency of the accelerator pedal within a preset time period, a cumulative time of triggering the accelerator pedal within the preset time period, and a cumulative time of vehicle driving in each preset speed interval.
Further, in one embodiment of the present invention, the motor end required torque formula is:
Figure BDA0001622429180000061
wherein i is a reduction ratio, and η is transmission efficiency;
further, in one embodiment of the present invention, the actual required motor end torque is:
Ta＝(C·A·V2/21.15+f·M·g·cosθ+M·g·sinθ+δ·H·Ab)·r/(i·η)+T(PID)，
wherein C is an air resistance coefficient, A is a windward area (square meter), V is a vehicle speed (km/h), f is a rolling resistance coefficient, r is a vehicle wheel radius, M is a load mass (kg), and g is a gravity acceleration (M/s)2) Theta is road surface gradient (degree), delta is automobile rotating mass conversion coefficient, H is habitual parameter, AbThe reference required acceleration (m/s) of any pedal opening, any motor rotating speed and any road surface gradient2) I is the reduction ratio, η is the transmission efficiency.
It should be noted that the foregoing explanation of the embodiment of the control method for the vehicle is also applicable to the control device for the vehicle in this embodiment, and the details are not repeated here.
According to the control device of the vehicle, the power performance of the whole vehicle can be timely adjusted according to the driving habits and road conditions of the driver, so that the purpose that the power performance of the vehicle automatically adapts to the driving habits of the driver is achieved, the real-time performance of control is effectively improved, the intelligence and the applicability of the vehicle are further improved, and the driving experience of a user is improved.
In addition, the embodiment of the invention also provides a vehicle, and the vehicle comprises the control device of the vehicle. This vehicle can be according to the in good time whole car dynamic performance of regulation of driver's driving habit to the realization lets the purpose of the automatic adaptation driver driving habit of vehicle dynamic nature, effectively improves the real-time of control, and then improves the intelligence and the suitability of vehicle, promotes user's driving and experiences.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (8)

1. A control method of a vehicle, characterized by comprising the steps of:
acquiring habit parameters of a target user in a preset time period, wherein before acquiring the habit parameters of the target user in the preset time period, the method further comprises the following steps: detecting the identity of the target user; acquiring habit parameters of the target user according to the identity;
acquiring the reference demand acceleration of any pedal opening, any motor rotating speed and any road surface gradient, and obtaining the whole vehicle demand acceleration according to the habit parameters and the reference demand acceleration, specifically: calculating the reference required acceleration A of any pedal opening, any motor rotating speed and any road surface gradient through an open-loop formulabThe vehicle acceleration Ad required by the driver is adjusted by the parameter H, wherein Ad is H.AbThe parameter H is a quantitative representation of a habit parameter, and the variation range of the parameter H is 0.7-1.3;
converting the whole vehicle demand acceleration into a motor end demand torque, specifically: differentiating the speed of the whole vehicle to obtain the actual acceleration of the vehicle, calculating to obtain wheel torque according to the required acceleration of the whole vehicle, and converting the wheel torque into the required torque of the motor end; and
and carrying out PID (proportion integration differentiation) regulation on the motor end required torque by taking the difference value of the actual acceleration and the whole vehicle required acceleration as a feedback quantity so as to obtain the motor end torque required actually.
2. The control method of a vehicle according to claim 1, wherein the habit parameters include one or more of a triggering frequency of an accelerator pedal within the preset time period, a cumulative time for triggering the accelerator pedal within the preset time period, and a cumulative time for the vehicle to travel at each preset speed interval.
3. The control method of a vehicle according to claim 1, wherein the motor-side demand torque formula is:
Figure FDA0002387114220000011
wherein i is the reduction ratio, η is the transmission efficiency, and T is the wheel torque.
4. The control method of the vehicle according to claim 1 or 3, characterized in that the actually required motor-end torque formula is:
Ta＝(C·A·V2/21.15+f·M·g·cosθ+M·g·sinθ+δ·H·Ab)·r/(i·η)+T(PID)，
wherein C is an air resistance coefficient, A is a windward area (square meter), V is a vehicle speed (km/H), f is a rolling resistance coefficient, r is a wheel radius, M is a load mass (kg), g is a gravity acceleration (M/s2), theta is a road surface gradient (degree), delta is an automobile rotating mass conversion coefficient, H is a habitual parameter, A is a wind resistance coefficient, R is a load mass (kg), g is abThe reference required acceleration (m/s) of any pedal opening, any motor rotating speed and any road surface gradient2) I is the reduction ratio, η is the transmission efficiency, and T (PID) is the torque of the closed loop link.
5. A control apparatus of a vehicle, characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring habit parameters of a target user in a preset time period, detecting an identity of the target user and acquiring the habit parameters of the target user according to the identity;
the second acquisition module is used for acquiring the reference demand acceleration of any pedal opening, any motor rotating speed and any road surface gradient, and acquiring the finished automobile demand acceleration according to the habit parameters and the reference demand acceleration, specifically: calculating the reference required acceleration A of any pedal opening, any motor rotating speed and any road surface gradient through an open-loop formulabThe vehicle acceleration Ad required by the driver is adjusted by the parameter H, wherein Ad is H.AbThe parameter H is a quantitative representation of a habit parameter, and the variation range of the parameter H is 0.7-1.3;
and the calculation module is used for converting the whole vehicle required acceleration into a motor end required torque, and specifically: differentiating the speed of the whole vehicle to obtain the actual acceleration of the vehicle, calculating to obtain wheel torque according to the required acceleration of the whole vehicle, and converting the wheel torque into the required torque of the motor end; and
and the adjusting module is used for carrying out PID (proportion integration differentiation) adjustment on the motor end required torque by taking the difference value of the actual acceleration and the whole vehicle required acceleration as a feedback quantity so as to obtain the motor end torque required actually.
6. The control apparatus of a vehicle according to claim 5, wherein the habit parameters include one or more of a frequency of triggering of an accelerator pedal for the preset time period, a cumulative time of triggering an accelerator pedal for the preset time period, and a cumulative time of vehicle travel for each preset speed interval.
7. The control apparatus of a vehicle according to claim 5, wherein said motor-side demand torque formula is:
Figure FDA0002387114220000021
wherein i is a reduction ratio, η is transmission efficiency, and T is wheel torque;
the actually required motor end torque formula is as follows:
Ta＝(C·A·V2/21.15+f·M·g·cosθ+M·g·sinθ+δ·H·Ab)·r/(i·η)+T(PID)，
wherein C is an air resistance coefficient, A is a windward area (square meter), V is a vehicle speed (km/h), f is a rolling resistance coefficient, r is a vehicle wheel radius, M is a load mass (kg), and g is a gravity acceleration (M/s)2) Theta is road surface gradient (degree), delta is automobile rotating mass conversion coefficient, H is habitual parameter, AbThe reference required acceleration (m/s) of any pedal opening, any motor rotating speed and any road surface gradient2) I is the reduction ratio, η is the transmission efficiency, and T (PID) is the torque of the closed loop link.
8. A vehicle, characterized by comprising: the control device of the vehicle according to any one of claims 5 to 7.
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