CN109878345A - Vehicle torque control method for coordinating, device and automobile - Google Patents
Vehicle torque control method for coordinating, device and automobile Download PDFInfo
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- CN109878345A CN109878345A CN201910191030.8A CN201910191030A CN109878345A CN 109878345 A CN109878345 A CN 109878345A CN 201910191030 A CN201910191030 A CN 201910191030A CN 109878345 A CN109878345 A CN 109878345A
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- 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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The present invention provides a kind of vehicle torque control method for coordinating, device and automobiles, the vehicle torque control method for coordinating is applied to the entire car controller of distributed driving vehicle, the distribution, which drives, is configured with preparatory emergency braking system AEBS on vehicle, operator demand's torque is determined first, according to the AEBS status information uploaded and operator demand's torque, longitudinal direction of car aggregate demand torque is determined；Then the ditribution coefficiency between the corresponding motor of wheel is obtained, the corresponding initial demand torque of each motor is determined according to ditribution coefficiency and longitudinal direction of car aggregate demand torque；It finally calculates each motor corresponding compensation torque for maintaining intact stability demand and final demand torque is determined according to compensation torque and initial demand torque.Which can guarantee that vehicle had both been able to satisfy active safety requirement, the requirement of control stability and driving performance reduces components expense, and then reduces vehicle cost without configuring ESP system.
Description
Technical field
The present invention relates to vehicle torsional moment control technology fields, more particularly, to a kind of vehicle torque control method for coordinating, dress
It sets and automobile.
Background technique
AEBS (Advanced Emergency Braking System, preparatory emergency braking system) is a kind of automatic
Road vehicle security system, which monitors preceding vehicle by sensor, by opposite between detection and target vehicle
Speed and distance calculate imminent situation.Depending on the relative velocity and distance of vehicle and front vehicles, AEBS can pass through sending
Danger warning even actively carries out emergency braking to achieve the purpose that avoid collision or mitigate its influence automatically.
Under normal circumstances, it is very easy to cause the horizontal sliding of vehicle when emergency brake of vehicle, vehicle body occurs unexpected
Unsteady motion, the traffic safety of driver is impacted.It, can active control if AEBS system is at the emergency braking stage
The hydraulic or Pneumatic braking system of vehicle applies the emergency brake power to vehicle, to guarantee body gesture when emergency brake of vehicle
Stability, vehicle need to configure ESP (Electronic Stability Program, electronic stability program) system simultaneously and guarantee vehicle
Safety be vehicle body stability when keeping emergency brake of vehicle, general vehicle carries out vehicle body by configuring ESP system
Stability control.
Therefore, in order to ensure that roadability when emergency braking, the vehicle for being equipped with AEBS system need to generally configure ESP simultaneously
System meets vehicle handling stability requirement, but this also increases vehicle costs.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of vehicle torque control method for coordinating, device and automobile, it will
AEBS is applied to distributed driving vehicle, carries out torque coordination by entire car controller, can be under the premise of guaranteeing AEBS function, nothing
ESP system need to be configured i.e. and can guarantee that vehicle had both been able to satisfy active safety requirement, the requirement of control stability and driving performance, effectively
Reduce vehicle cost.
In a first aspect, being applied to distributed driving the embodiment of the invention provides a kind of vehicle torque control method for coordinating
The entire car controller of vehicle, distributed drive are configured with preparatory emergency braking system on vehicle, which comprises
It is identified according to accelerator pedal aperture, brake pedal aperture, speed and gear and determines operator demand's torque；
The status information uploaded according to the preparatory emergency braking system and operator demand's torque determine that vehicle is vertical
To aggregate demand torque；The status information includes activation mark, emergency braking mark and preparatory emergency braking system demand torque；
The ditribution coefficiency between the corresponding motor of wheel is obtained, according to the ditribution coefficiency and the longitudinal direction of car
Aggregate demand torque determines the corresponding initial demand torque of each motor；
Calculate each motor it is corresponding maintain intact stability demand compensation torque, according to the compensation torque with
The initial demand torque, determines final demand torque.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
The status information uploaded according to the preparatory emergency braking system and operator demand's torque are stated, determines that longitudinal direction of car always needs
The torque is asked to include:
According to the status information that the preparatory emergency braking system uploads, the effect of the preparatory emergency braking system is determined
Stage, the active phase include prompt stage, drop torsion stage, partial brake stage and emergency braking stage；
According to the active phase, the preparatory emergency braking system demand torque and operator demand's torque, really
Determine longitudinal direction of car aggregate demand torque.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides second of first aspect
Possible embodiment, wherein in the status information uploaded according to the preparatory emergency braking system, determine described preparatory
Before the active phase of emergency braking system, further includes:
According to default condition for validity, the effective of the preparatory emergency braking system demand torque in the status information is verified
Property, it is preset with effect condition wherein described and includes:
The preparatory emergency braking system is without preset failure；
Check results to the preparatory emergency braking system demand torque are effective；
The preparatory emergency braking system demand torque is in default value interval.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein the status information uploaded according to the preparatory emergency braking system determines described tight in advance
The active phase of anxious braking system includes:
Determine whether the preparatory emergency braking system is active according to activation mark；
If the preparatory emergency braking system is active, emergency braking mark is obtained, and according to described tight
Anxious braking mark determines whether the active phase of the preparatory emergency braking system is the emergency braking stage；
If the active phase non-emergent deboost phase of the preparatory emergency braking system, obtaining preparatory emergency braking system
System demand torque；
If the preparatory emergency braking system demand torque is less than positive torque threshold value and is greater than negative sense torque threshold,
The active phase for determining the preparatory emergency braking system is the prompt stage；
If the preparatory emergency braking system demand torque is more than or equal to positive torque threshold value, it is determined that described tight in advance
The active phase of anxious braking system is the drop torsion stage；
If the preparatory emergency braking system demand torque is less than or equal to negative sense torque threshold, it is determined that described tight in advance
The active phase of anxious braking system is the partial brake stage；
Wherein, the positive torque threshold value is greater than the negative sense torque threshold.
The possible embodiment of with reference to first aspect the first, the embodiment of the invention provides the 4th kind of first aspect
Possible embodiment, wherein it is described according to the active phase, the preparatory emergency braking system demand torque and described drive
The person's of sailing demand torque determines that longitudinal direction of car aggregate demand torque includes:
When the active phase is prompt stage or emergency braking stage, using operator demand's torque as vehicle
Longitudinal aggregate demand torque；
When the active phase is the drop torsion stage, whether being less than for the preparatory emergency braking system demand torque judged
The absolute value of operator demand's torque；If it is lower, being indulged using the preparatory emergency braking system demand torque as vehicle
To aggregate demand torque；If it is larger than or equal to using operator demand's torque as longitudinal direction of car aggregate demand torque；
When the active phase is the partial brake stage, whether the preparatory emergency braking system demand torque is judged
Greater than the absolute value of operator demand's torque；If it does, using the preparatory emergency braking system demand torque as vehicle
Longitudinal aggregate demand torque；If it is less than being equal to, using operator demand's torque as longitudinal direction of car aggregate demand torque.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, wherein institute
Stating motor includes that the corresponding left front motor of front axle left wheel, the corresponding right front motor of the right wheel of front axle, rear axle left wheel are corresponding
Motor after left back motor and the corresponding right side of rear axle rear wheel；
The ditribution coefficiency include front axle ditribution coefficiency between left front motor and right front motor, left back motor and
Reared torque distribution coefficient and antero posterior axis ditribution coefficiency behind the right side between motor；
The ditribution coefficiency obtained between the corresponding motor of wheel includes:
Based on Ackermann's function Ackermann steering geometry principle, the steering wheel angle uploaded according to sensor module, a left side
Front motor revolving speed and right front motor revolving speed, calculate the front axle ditribution coefficiency；
Based on Ackermann's function Ackermann steering geometry principle, the steering wheel angle uploaded according to sensor module, a left side
Motor speed and motor speed behind the right side afterwards, calculate the reared torque distribution coefficient；
Receive the antero posterior axis ditribution coefficiency inputted according to priori.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiments of first aspect, wherein institute
It states and calculates the corresponding compensation torque for maintaining intact stability demand of each motor, including；
The theoretical value of yaw velocity is calculated, and obtains the actual value of the current yaw velocity of sensor module upload；
It is corresponding to be calculated according to the theoretical value and the actual value for each motor based on proportional integration Principles of Regulation
Maintenance intact stability demand compensation torque.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible embodiments of first aspect, wherein institute
It states according to the compensation torque and the initial demand torque, determines that final demand torque includes:
The corresponding compensation torque of each motor and the initial demand torque are subjected to sum operation, obtain each wheel pair
The final demand torque answered.
Second aspect, the embodiment of the present invention also provide a kind of vehicle torque cooperative control device, are applied to distributed driving
The entire car controller of vehicle, distributed drive are configured with preparatory emergency braking system on vehicle, described device includes:
Operator torque's determining module, it is true for being identified according to accelerator pedal aperture, brake pedal aperture, speed and gear
Determine operator demand's torque；
Braking torque determining module, status information and the driving for being uploaded according to the preparatory emergency braking system
Member's demand torque, determines longitudinal direction of car aggregate demand torque；The status information includes that activation identifies, emergency braking identifies and preparatory
Emergency braking system demand torque；
Initial torque distribution module, for obtaining the ditribution coefficiency between the corresponding motor of wheel, according to the torque
Distribution coefficient and the longitudinal direction of car aggregate demand torque determine the corresponding initial demand torque of each motor；
Final torque distribution module is turned round for calculating the corresponding compensation for maintaining intact stability demand of each motor
Square determines final demand torque according to the compensation torque and the initial demand torque.
The third aspect, the embodiment of the present invention also provide a kind of automobile, including automobile body and are mounted on the automobile body
On entire car controller, battery management system, high-tension battery packet, preparatory emergency braking system, sensor module, and with the vapour
The driving device and brake that the wheel of vehicle ontology is correspondingly arranged；Wherein the driving device includes the motor and electricity interconnected
Machine controller；
The entire car controller includes the vehicle torque cooperative control device as described in second aspect, the entire car controller
Connect respectively with the battery management system, the preparatory emergency braking system, the electric machine controller, the sensor module
It connects；
The sensor module, for acquiring vehicle traveling information, the vehicle traveling information include accelerator pedal aperture,
Brake pedal aperture and speed；
The high-tension battery packet is connect with the battery management system, for powering for the driving device；
The brake is connect with the preparatory emergency braking system, for braking to each motor.
The embodiment of the present invention bring it is following the utility model has the advantages that
In embodiments of the present invention, which is applied to the full-vehicle control of distributed driving vehicle
Device, which, which drives, is configured with preparatory emergency braking system AEBS on vehicle, first according to accelerator pedal aperture, brake pedal
Aperture, speed and gear, which identify, determines operator demand's torque, according to the AEBS status information uploaded and operator demand's torque,
Determine longitudinal direction of car aggregate demand torque；Wherein status information includes activation mark, emergency braking mark and AEBS demand torque；So
The ditribution coefficiency between the corresponding motor of wheel is obtained afterwards, is determined according to ditribution coefficiency and longitudinal direction of car aggregate demand torque
The corresponding initial demand torque of each motor；The corresponding compensation for maintaining intact stability demand of each motor is finally calculated to turn round
Square determines final demand torque according to compensation torque and initial demand torque.Which configures on distribution driving vehicle
AEBS, by entire car controller to the demand torque from driver, the demand torque from AEBS, maintenance intact stability demand
These three source of torque of compensation torque carry out coordinated torque control, that is, can guarantee vehicle be both able to satisfy active safety requirement, manipulate
The requirement of stability and driving performance reduces components expense, and then reduce vehicle cost without configuring ESP system.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification and attached drawing
Specifically noted structure is achieved and obtained.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the vehicle structure schematic diagram of automobile provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of vehicle torque control method for coordinating provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of another vehicle torque control method for coordinating provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of vehicle torque cooperative control device provided in an embodiment of the present invention.
Icon:
100- automobile body；110- entire car controller；120- battery management system；130- high-tension battery packet；140-AEBS；
150- sensor module；160- brake；201- front axle left wheel；The left front motor of 171-；The right wheel of 202- front axle；Before 172- is right
Motor；203- rear axle left wheel；The left back motor of 173-；204- rear axle rear wheel；Motor after 174- is right；The left front motor control of 181-
Device；The right front motor controller of 182-；The left back electric machine controller of 183-；Electric machine controller after 184- is right；11- operator torque determines
Module；12- braking torque determining module；The initial torque distribution module of 13-；The final torque distribution module of 14-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
At present to guarantee roadability when emergency braking, the vehicle for being equipped with AEBS system need to generally configure ESP simultaneously
System meets vehicle handling stability requirement, but this also increases vehicle costs.Based on this, the embodiment of the present invention is provided
A kind of vehicle torque control method for coordinating, device and automobile, AEBS is applied to distributed driving vehicle, by entire car controller
Torque coordination is carried out, can guarantee that vehicle had both been able to satisfy actively without configuring ESP system i.e. under the premise of guaranteeing AEBS function
The requirement of safety requirements, control stability and driving performance effectively reduces vehicle cost.
To be carried out to the vehicle structure of automobile disclosed in the embodiment of the present invention first convenient for understanding the present embodiment
It introduces.Automobile in the present invention is distributed driving automobile, is driven using distribution, and be fitted without ESP system.Wherein it is distributed
Formula driving is a kind of advanced technology of the power system of electric automobile of great application potential, is had in terms of dynamic property and economy
Great advantage.Simultaneously because its system controllable degrees of freedom is high, system operatio stability is strong, and energy-saving potential is high, is convenient for modularization
The technical characterstics such as configuration cause the extensive concern of each automobile manufacturing company in the whole world.
As shown in Figure 1, the automobile include automobile body 100 and the entire car controller being mounted on automobile body 100 110,
Battery management system 120, high-tension battery packet 130, AEBS 140, sensor module 150, and corresponding with the wheel of automobile body set
The driving device and brake 160 set；Wherein driving device includes the motor and electric machine controller interconnected.
In a possible embodiment, above-mentioned entire car controller 110 and battery management system 120, electric machine controller, AEBS
140, sensor module 150 passes through CAN (Controller Area Network, controller local area network) bus (Fig. 1 respectively
In indicated by solid line) connection.
Wherein, motor includes electricity before the corresponding left front motor 171 of front axle left wheel 201, the corresponding right side of the right wheel 202 of front axle
Motor 174 after the corresponding left back motor 173 of machine 172, rear axle left wheel 203 and the corresponding right side of rear axle rear wheel 204.Motor control
Device includes the right front motor controller for controlling the left front electric machine controller 181 of left front motor 171, the right front motor 172 of control
182, electric machine controller 184 behind the right side of motor 174 after controlling the left back electric machine controller 183 of left back motor 173, controlling the right side.
Each electric machine controller receives the torque command from entire car controller for being responsible for, directly drives corresponding electricity
Machine, and then drive vehicle.
Sensor module 150 can also be connect with electric machine controller.Wherein sensor module include steering wheel angle sensor,
Radar, yaw-rate sensor, the corresponding speed probe of each motor and vehicle speed sensor, accelerator pedal displacement sensing
Device, brake pedal displacement sensor etc., vehicle traveling information include steering wheel angle, fault distance, yaw velocity, Ge Ge electricity
Revolving speed, speed, accelerator pedal aperture, brake pedal aperture of machine etc..Specifically, sensor module is for acquiring vehicle driving letter
Breath is responsible for each controller (including entire car controller and electric machine controller) and provides the real time information of control object.
High-tension battery packet 130 is connect with battery management system, for being supplied under battery management system control for driving device
Electricity also integrally provides drive energy for vehicle.In a possible embodiment, the high-tension battery packet is by high-voltage line (by point in Fig. 1
Changing line indicates) it is that driving device is powered.
Brake is connect with AEBS, for braking to each motor.In a possible embodiment, each brake with
AEBS is connected by brake piping (being represented by the dotted line in Fig. 1), mainly for detection of speed opposite with front truck and distance, AEBS
The control of brake piping valve, the upload of AEBS status information when demand torque calculating, emergency braking.
Above-mentioned entire car controller maintains the compensation of intact stability demand to turn round for calculating operator demand's torque, calculating
Square the validity for verifying AEBS system requirements torque, coordinates each system torque, and the final demand torque of vehicle is distributed to each
A motor.
For the function of specifically describing entire car controller, it is configured with AEBS above-mentioned, and the distributed of ESP system is not installed and is driven
On the basis of electrical automobile, the embodiment of the invention provides a kind of vehicle torque control method for coordinating, are applied to above-mentioned distributed drive
Entire car controller in motor-car.
Referring to fig. 2, above-mentioned vehicle torque control method for coordinating includes:
Step S201 is identified according to accelerator pedal aperture, brake pedal aperture, speed and gear and is determined that operator demand turns round
Square.
It is stepped on using vehicle speed sensor acquisition speed, accelerator pedal displacement sensor acquisition accelerator pedal aperture, using braking
Plate displacement sensor acquires brake pedal aperture.Its middle gear is identified for indicating gear locating for current vehicle, such as 1 grade, 2
Shelves, park position etc..
In a possible embodiment, it is identified according to accelerator pedal aperture, brake pedal aperture, speed and gear, using looking into
Table mode obtains operator demand's torque, and physical relationship is expressed as follows:
Tdriver=f (AccPedal, BrkPedal, Velocity, GearMark) (1)
In formula, TdriverIndicate operator demand's torque；AccPedal indicates accelerator pedal aperture；BrkPedal indicates system
Dynamic pedal opening；Velocity indicates speed；GearMark indicates gear mark.
Step S202 determines that longitudinal direction of car aggregate demand is turned round according to the AEBS status information uploaded and operator demand's torque
Square.
Wherein, status information includes activation mark, emergency braking mark and AEBS demand torque.Wherein AEBS demand torque
It is to be calculated by AEBS.
Step S203 obtains the ditribution coefficiency between the corresponding motor of wheel, vertical according to ditribution coefficiency and vehicle
The corresponding initial demand torque of each motor is determined to aggregate demand torque.
Wherein ditribution coefficiency torque corresponding to each motor is related.In a possible embodiment, torque distribution system
Reared torque point behind several front axle ditribution coefficiencies including between left front motor and right front motor, left back motor and the right side between motor
Distribution coefficient and antero posterior axis ditribution coefficiency.
Step S204 calculates the corresponding compensation torque for maintaining intact stability demand of each motor, according to compensation torque
With initial demand torque, final demand torque is determined.
Due to the distributed driving vehicle for configuration AEBS, there are three torque demand sources: the demand from driver
Torque, the demand torque from AEBS and the demand torque for maintaining intact stability.In the technical program, vehicle is driven in distribution
On after configuration AEBS, by entire car controller to the demand torque from driver, the demand torque from AEBS, maintenance vehicle
These three source of torque of the compensation torque of durability requirements carry out coordinated torque control, that is, can guarantee that vehicle is both able to satisfy active safety
It is required that the requirement of control stability and driving performance, without configuring ESP system, reduce components expense, so reduce vehicle at
This.Simultaneously as without configuring ESP system, that is, reduce in conventional configuration communication packet entire car controller, AEBS system and
Passing time and number between ESP system, can accelerate motor response speed, give full play to the structure of distributed electrical drive system
Type advantage.
Fig. 2 shows a kind of vehicle torque control method for coordinating on the basis of, the embodiment of the invention provides another kinds
The flow diagram of vehicle torque control method for coordinating.Referring to Fig. 3, which includes:
Step S301 is identified according to accelerator pedal aperture, brake pedal aperture, speed and gear and is determined that operator demand turns round
Square.
Whether effective step S302 verifies AEBS demand torque according to condition for validity.
Pass through the validation verification of the AEBS demand torque in the status information that uploads to AEBS, it is ensured that AEBS torque
Information is absolutely correct effectively, improves vehicle safety.
In a possible embodiment, the condition for validity of above-mentioned AEBS demand torque comprises at least one of the following:
(1) AEBS is without preset failure；
In a possible embodiment, it can classify previously according to the severity of failure to the failure of AEBS, such as may be used
To be divided into minor failure, moderate failure and catastrophe failure, which is catastrophe failure.
It (2) is effective to the check results of AEBS demand torque；
In possible embodiment, can according to verification summation checksum security algorithm, to AEBS demand torque into
Row verification, obtains check results.
(3) AEBS demand torque is in default value interval.Wherein the default value range is related personnel according to priori
Experience setting.
When AEBS demand torque is unsatisfactory for any one condition of above-mentioned (1) to (3), it is determined that AEBS demand torque is invalid.
Further, when AEBS demand torque is invalid, step S303, step S306 are successively executed；When AEBS demand is turned round
When square is effective, step S304 is executed.
Step S303, control AEBS stop calculating AEBS demand torque, determine that longitudinal direction of car aggregate demand torque is equal to and drive
Member's demand torque.
Step S304 determines the active phase of AEBS according to the status information that AEBS is uploaded.
Wherein, above-mentioned active phase includes prompt stage, drop torsion stage, partial brake stage and emergency braking stage.Its
The middle prompt stage refer to current vehicle at a distance from preceding vehicle in safe range, such as 100 meters or more, AEBS will not lead at this time
Actuation line control brake is crossed to be braked；The drop torsion stage refers to current vehicle at a distance from preceding vehicle in controlled range
Interior, such as 50 meters to 100 meters, at this time if the acceleration of current vehicle is greater than preset threshold, AEBS can be controlled by actuation line
Brake is braked, with regulation speed in controlled range.The part system stage refer to current vehicle and preceding vehicle away from
From within the scope of partial brake, such as 10 meters to 50 meters, AEBS needs to carry out electric braking at this time；The emergency braking stage, which refers to, works as front truck
At a distance from preceding vehicle in risk range, within 10 meters, need to force at this time electric under high pressure.
In a possible embodiment, above-mentioned steps S304 includes:
(a1) it is identified according to activation and determines whether AEBS is active.
In a possible embodiment, indicate that AEBS is active when activation is identified as 1, just at work；When sharp
It is living to be identified as 0 and indicate that AEBS is in unactivated state, it at work or is not in the lock state.
(a2) if AEBS is active, emergency braking mark is obtained, and identify and determine according to emergency braking
Whether the active phase of AEBS is the emergency braking stage.
In a possible embodiment, indicate that AEBS is in the emergency braking stage when emergency braking is identified as 1；When urgent system
It is dynamic to be identified as 0 and indicate that AEBS is in the non-emergent deboost phase.
(a3) if the active phase of the AEBS non-emergent deboost phase, obtains AEBS demand torque.
(a4) if AEBS demand torque is less than positive torque threshold value and is greater than negative sense torque threshold, it is determined that the work of AEBS
It is the prompt stage with the stage；Wherein, positive torque threshold value is greater than negative sense torque threshold.
(a5) if AEBS demand torque is more than or equal to positive torque threshold value, it is determined that the active phase of AEBS is that drop turns round rank
Section.
(a6) if AEBS demand torque is less than or equal to negative sense torque threshold, it is determined that the active phase of AEBS is that part is made
The dynamic stage.
Step S305 determines longitudinal direction of car aggregate demand according to active phase, AEBS demand torque and operator demand's torque
Torque.
Specifically, different active phases is according to AEBS system, to determine longitudinal direction of car aggregate demand torque.Possible
Embodiment in, above-mentioned steps S305 includes:
(b1) it when active phase is prompt stage or emergency braking stage, is indulged using operator demand's torque as vehicle
To aggregate demand torque.It can indicate are as follows:
Tlong=Tdriver (2)
Wherein, TlongIndicate longitudinal direction of car aggregate demand torque.
It is further to note that when AEBS system is in the emergency braking stage, at this time vehicle braking force entirely from
Hydraulic or air-pressure brake pipeline.
(b2) when active phase is the drop torsion stage, the smaller in AEBS demand torque and operator demand's torque is selected
As longitudinal direction of car aggregate demand torque.It can indicate are as follows:
Tlong=min (Tdriver,TAEBS) (3)
Wherein, TAEBSIndicate AEBS demand torque.
In specific implementation, whether judge preparatory emergency braking system demand torque is less than the exhausted of operator demand's torque
To value；If it is lower, using preparatory emergency braking system demand torque as longitudinal direction of car aggregate demand torque；If it is larger than or equal to,
Using operator demand's torque as longitudinal direction of car aggregate demand torque.
(b3) it when active phase is the partial brake stage, selects in AEBS demand torque and operator demand's torque absolutely
It is worth the greater as longitudinal direction of car aggregate demand torque.It can indicate are as follows:
Tlong=max (Tdriver,|TAEBS|) (4)
Wherein, TAEBSIndicate AEBS demand torque.
In specific implementation, whether judge preparatory emergency braking system demand torque is greater than the exhausted of operator demand's torque
To value；If it does, using preparatory emergency braking system demand torque as longitudinal direction of car aggregate demand torque；If it is less than being equal to,
Using operator demand's torque as longitudinal direction of car aggregate demand torque.
Step S306, judges whether vehicle is in steering state.
Specifically, it can determine whether vehicle is in steering by the steering wheel angle that steering wheel angle sensor acquires
State.If being in steering state, step S307, step S309 are successively executed；If being not on steering state, execute
Step S308.
Step S307 calculates front axle ditribution coefficiency and reared torque distribution coefficient.
In a possible embodiment, step S307 includes:
(c1) it is based on Ackermann's function Ackermann steering geometry principle, is turned according to the steering wheel that sensor module uploads
Angle, left front motor speed and right front motor revolving speed calculate front axle ditribution coefficiency.Again due to the front axle ditribution coefficiency with
The distribution torque of left front motor is related to the distribution torque of right front motor, can specifically indicate are as follows:
Wherein, λ1Indicate front axle ditribution coefficiency, TFr_leftIndicate the distribution torque of left front motor, TFr_rightIndicate right
The distribution torque of front motor,Indicate left front motor speed,Indicate right front motor revolving speed, αsteerwheelExpression side
To disk corner,Indicate the calculation formula being fitted according to Ackermann steering geometry principle, it can
To obtain from the prior art.
(c2) it is based on Ackermann's function Ackermann steering geometry principle, is turned according to the steering wheel that sensor module uploads
Motor speed behind angle, left back motor speed and the right side calculates reared torque distribution coefficient.
Again since the reared torque distribution coefficient is related to the distribution torque of motor after the distribution torque of left back motor and the right side,
It can specifically indicate are as follows:
Wherein, λ2Indicate reared torque distribution coefficient, TRe_leftIndicate the distribution torque of left back motor, TRe_rightIndicate right
The distribution torque of motor afterwards,Indicate left back motor speed,Motor speed after indicating right,Indicate the calculation formula being fitted according to Ackermann steering geometry principle, it can be from existing skill
It is obtained in art.
Step S308 determines that front axle ditribution coefficiency and reared torque distribution coefficient are 0.5.
Wherein, steering wheel angle torque is 0 when without turning to, and utilizes Ackermann's function Ackermann steering geometry principle
Front axle ditribution coefficiency=0.5 being calculated.Front axle torque can certainly be distributed directly when steering wheel angle is 0
Distribution coefficient and reared torque distribution coefficient are 0.5, and the two is consistent.
Step S309 obtains antero posterior axis ditribution coefficiency.
In a possible embodiment, the antero posterior axis ditribution coefficiency λ inputted according to priori can directly be received3,
Under normal circumstances:
λ3=0.5 (7)
It should be noted that each electricity can be obtained according to the formula (5) to (7) in above-mentioned steps S307, step S308
The corresponding distribution torque of machine, i.e., initial demand torque:
The initial demand torque of left front motor: TFr_left=λ3λ1Tlong (8)
The initial demand torque of right front motor: TFr_right=λ3(1-λ1)Tlong (9)
The initial demand torque of left back motor: TRe_left=(1- λ3)λ2Tlong (10)
The initial demand torque of motor behind the right side: TRe_right=(1- λ3)(1-λ2)Tlong (11)
Step S310, judges whether vehicle is in instability status.
Specifically, it can judge whether vehicle is in unstability shape according to the yaw velocity that yaw-rate sensor acquires
State.
If being in instability status, step S311, step S313 are successively executed；If being not on instability status,
Execute step S312.
Step S311 calculates the corresponding compensation torque for maintaining intact stability demand of each motor.
In a possible embodiment, above-mentioned steps S311 includes:
(d1) theoretical value of yaw velocity is calculated, and obtains the reality of the current yaw velocity of sensor module upload
Value.
Specifically, the calculation method of the theoretical value of yaw velocity can obtain from the prior art.Yaw velocity
Actual value is acquired by yaw-rate sensor.
(d2) proportional integration PI (proportional integral) Principles of Regulation are based on, according to theoretical value and actual value,
Calculate the corresponding compensation torque for maintaining intact stability demand of each motor.
Specifically, the calculation formula for compensating torque is as follows:
Δ T=kp(ωyaw_ideal-ωyaw_current)+ki∫(ωyaw_ideal-ωyaw_current)dt (12)
Wherein, Δ T indicates the compensation torque of intact stability demand, kpIndicate the scale parameter that PI is adjusted, kiIndicate PI tune
The integral parameter of section, ωyaw_idealIndicate the theoretical value of yaw velocity, ωyaw_currentIndicate the reality of current yaw velocity
Value.
Wherein, for each motor, scale parameter kpWith integral parameter kiIt is different.By the corresponding ratio ginseng of each motor
Number kpWith integral parameter kiIt substitutes into formula (12), can be obtained the corresponding compensation torque Δ T of left front motorFr_left, right front motor pair
The compensation torque Δ T answeredFr_right, the corresponding compensation torque Δ T of left back motorRe_rightAnd the corresponding compensation torque of left back motor
ΔTRe_left。
Step S312 determines that the corresponding compensation torque for maintaining intact stability demand of each motor is 0.
Step S313 determines final demand torque.
In a possible embodiment, above-mentioned steps S313 includes: by the corresponding compensation torque of each motor and initial demand
Torque carries out sum operation, obtains the corresponding final demand torque of each wheel.
It should be noted that corresponding compensation torque is 0 if vehicle is not on instability status.
The final demand torque of left front motor: TFr_left'=λ3λ1Tlong+ΔTFr_left (13)
The final demand torque of right front motor: TFr_right'=λ3(1-λ1)Tlong+ΔTFr_right (14)
The final demand torque of left back motor: TRe_left'=(1- λ3)λ2Tlong+ΔTRe_left (15)
The final demand torque of motor behind the right side: TRe_right'=(1- λ3)(1-λ2)Tlong+ΔTRe_right (16)
After obtaining the corresponding final demand torque of each motor, corresponding final demand torque is sent out by entire car controller
It send to corresponding each electric machine controller, to realize that the torque to motor distributes.
In conclusion at least there is following advantage in the embodiment of the present invention:
1) AEBS is configured on distribution driving vehicle, is keeping both AEBS and distributed driving function and advantage
In the case of, the demand that vehicle configures ESP system is reduced, hardware cost is reduced.
2) entire car controller directly coordinates the demand torque in three different torques sources, guarantees active safety, the behaviour of vehicle
Handing stability and driving performance are met the requirements.
3) entire car controller directly coordinates the torque in each torque demand source, and communication packet is in vehicle control in reduction conventional configuration
Passing time and number between device processed, AEBS system and ESP system, can accelerate motor response speed, give full play to distribution
The configuration advantage of formula power drive system.
4) vehicle configuration is not necessarily to ESP system, reduces components amount controller, reduces each when the calibration of real vehicle function
Combined debugging and nominal time between controller (entire car controller and electric machine controller), shorten product to a certain extent and grind
Send out the period.
It is directed to above-mentioned vehicle torque control method for coordinating, coordinates to control the embodiment of the invention also provides a kind of vehicle torque
Device processed, applied to the entire car controller of distributed driving vehicle, configured with urgent system in advance on the distributed driving vehicle
Dynamic system AEBS.Referring to fig. 4, which includes:
Operator torque's determining module 11, for being identified according to accelerator pedal aperture, brake pedal aperture, speed and gear
Determine operator demand's torque；
Braking torque determining module 12, status information and operator demand's torque for being uploaded according to AEBS, determines vehicle
Longitudinal aggregate demand torque；The status information includes activation mark, emergency braking mark and AEBS demand torque；
Initial torque distribution module 13, for obtaining the ditribution coefficiency between the corresponding motor of wheel, according to torque point
Distribution coefficient and longitudinal direction of car aggregate demand torque determine the corresponding initial demand torque of each motor；
Final torque distribution module 14 is turned round for calculating the corresponding compensation for maintaining intact stability demand of each motor
Square determines final demand torque according to compensation torque and initial demand torque.
Vehicle torque cooperative control device and automobile provided in an embodiment of the present invention are turned round with vehicle provided by the above embodiment
Square control method for coordinating technical characteristic having the same reaches identical technology effect so also can solve identical technical problem
Fruit.
The computer program product of vehicle torque control method for coordinating, including storage are carried out provided by the embodiment of the present invention
The computer readable storage medium of the executable non-volatile program code of processor, the instruction that said program code includes can
For executing previous methods method as described in the examples, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
And the specific work process of automobile, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
The flow chart and block diagram in the drawings show multiple embodiment method and computer program products according to the present invention
Architecture, function and operation in the cards.In this regard, each box in flowchart or block diagram can represent one
A part of module, section or code, a part of the module, section or code include it is one or more for realizing
The executable instruction of defined logic function.It should also be noted that in some implementations as replacements, function marked in the box
It can also can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be substantially parallel
Ground executes, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram
And/or the combination of each box in flow chart and the box in block diagram and or flow chart, it can the function as defined in executing
Can or the dedicated hardware based system of movement realize, or can come using a combination of dedicated hardware and computer instructions real
It is existing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.Unless specifically stated otherwise, otherwise exist
Component described in these embodiments and opposite step, numerical expression and the numerical value of step are not limit the scope of the invention.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of vehicle torque control method for coordinating, which is characterized in that applied to the entire car controller of distributed driving vehicle, institute
It states on distributed driving vehicle configured with preparatory emergency braking system, which comprises
It is identified according to accelerator pedal aperture, brake pedal aperture, speed and gear and determines operator demand's torque；
The status information uploaded according to the preparatory emergency braking system and operator demand's torque, determine that longitudinal direction of car is total
Demand torque；The status information includes activation mark, emergency braking mark and preparatory emergency braking system demand torque；
The ditribution coefficiency between the corresponding motor of wheel is obtained, according to the ditribution coefficiency and the total need of the longitudinal direction of car
Torque is asked to determine the corresponding initial demand torque of each motor；
The corresponding compensation torque for maintaining intact stability demand of each motor is calculated, according to the compensation torque and described
Initial demand torque determines final demand torque.
2. the method according to claim 1, wherein the shape uploaded according to the preparatory emergency braking system
State information and operator demand's torque determine that longitudinal direction of car aggregate demand torque includes:
According to the status information that the preparatory emergency braking system uploads, the effect rank of the preparatory emergency braking system is determined
Section, the active phase include prompt stage, drop torsion stage, partial brake stage and emergency braking stage；
According to the active phase, the preparatory emergency braking system demand torque and operator demand's torque, vehicle is determined
Longitudinal aggregate demand torque.
3. according to the method described in claim 2, it is characterized in that, being uploaded described according to the preparatory emergency braking system
Status information, before the active phase for determining the preparatory emergency braking system, further includes:
According to default condition for validity, the validity of the preparatory emergency braking system demand torque in the status information is verified,
Described in preset condition for validity include:
The preparatory emergency braking system is without preset failure；
Check results to the preparatory emergency braking system demand torque are effective；
The preparatory emergency braking system demand torque is in default value interval.
4. according to the method described in claim 2, it is characterized in that, the shape uploaded according to the preparatory emergency braking system
State information determines that the active phase of the preparatory emergency braking system includes:
Determine whether the preparatory emergency braking system is active according to activation mark；
If the preparatory emergency braking system is active, emergency braking mark is obtained, and according to the urgent system
Dynamic mark determines whether the active phase of the preparatory emergency braking system is the emergency braking stage；
If the active phase non-emergent deboost phase of the preparatory emergency braking system, obtaining preparatory emergency braking system is needed
Seek torque；
If the preparatory emergency braking system demand torque is less than positive torque threshold value and is greater than negative sense torque threshold, it is determined that
The active phase of the preparatory emergency braking system is the prompt stage；
If the preparatory emergency braking system demand torque is more than or equal to positive torque threshold value, it is determined that the system urgent in advance
The active phase of dynamic system is the drop torsion stage；
If the preparatory emergency braking system demand torque is less than or equal to negative sense torque threshold, it is determined that the system urgent in advance
The active phase of dynamic system is the partial brake stage；
Wherein, the positive torque threshold value is greater than the negative sense torque threshold.
5. according to the method described in claim 2, it is characterized in that, it is described according to the active phase, the system urgent in advance
Dynamic system requirements torque and operator demand's torque, determine that longitudinal direction of car aggregate demand torque includes:
When the active phase is prompt stage or emergency braking stage, indulged using operator demand's torque as vehicle
To aggregate demand torque；
When the active phase is the drop torsion stage, judge that whether being less than for the preparatory emergency braking system demand torque is described
The absolute value of operator demand's torque；If it is lower, the preparatory emergency braking system demand torque is total as longitudinal direction of car
Demand torque；If it is larger than or equal to using operator demand's torque as longitudinal direction of car aggregate demand torque；
When the active phase is the partial brake stage, whether being greater than for the preparatory emergency braking system demand torque judged
The absolute value of operator demand's torque；If it does, being indulged using the preparatory emergency braking system demand torque as vehicle
To aggregate demand torque；If it is less than being equal to, using operator demand's torque as longitudinal direction of car aggregate demand torque.
6. the method according to claim 1, wherein the motor includes the corresponding left front electricity of front axle left wheel
Electricity behind the corresponding right front motor of the right wheel of machine, front axle, the corresponding left back motor of rear axle left wheel and the corresponding right side of rear axle rear wheel
Machine；
After the ditribution coefficiency includes front axle ditribution coefficiency, left back motor and the right side between left front motor and right front motor
Reared torque distribution coefficient and antero posterior axis ditribution coefficiency between motor；
The ditribution coefficiency obtained between the corresponding motor of wheel includes:
Based on Ackermann's function Ackermann steering geometry principle, the steering wheel angle uploaded according to sensor module, left front electricity
Machine revolving speed and right front motor revolving speed, calculate the front axle ditribution coefficiency；
Based on Ackermann's function Ackermann steering geometry principle, the steering wheel angle uploaded according to sensor module, left back electricity
Motor speed after machine revolving speed and the right side, calculates the reared torque distribution coefficient；
Receive the antero posterior axis ditribution coefficiency inputted according to priori.
7. the method according to claim 1, wherein described, to calculate the corresponding maintenance vehicle of each motor steady
The compensation torque of qualitative demand, including；
The theoretical value of yaw velocity is calculated, and obtains the actual value of the current yaw velocity of sensor module upload；
The corresponding dimension of each motor is calculated according to the theoretical value and the actual value based on proportional integration Principles of Regulation
Hold the compensation torque of intact stability demand.
8. the method according to claim 1, wherein described turn round according to the compensation torque with the initial demand
Square determines that final demand torque includes:
The corresponding compensation torque of each motor and the initial demand torque are subjected to sum operation, it is corresponding to obtain each wheel
Final demand torque.
9. a kind of vehicle torque cooperative control device, which is characterized in that applied to the entire car controller of distributed driving vehicle, institute
It states on distributed driving vehicle configured with preparatory emergency braking system, described device includes:
Operator torque's determining module, for being driven according to the mark determination of accelerator pedal aperture, brake pedal aperture, speed and gear
The person's of sailing demand torque；
Braking torque determining module, status information and driver's need for being uploaded according to the preparatory emergency braking system
Torque is sought, determines longitudinal direction of car aggregate demand torque；The status information includes that activation identifies, emergency braking identifies and urgent in advance
Braking system demand torque；
Initial torque distribution module is distributed for obtaining the ditribution coefficiency between the corresponding motor of wheel according to the torque
Coefficient and the longitudinal direction of car aggregate demand torque determine the corresponding initial demand torque of each motor；
Final torque distribution module, for calculating the corresponding compensation torque for maintaining intact stability demand of each motor,
According to the compensation torque and the initial demand torque, final demand torque is determined.
10. a kind of automobile, which is characterized in that including automobile body and the entire car controller being mounted on the automobile body, electricity
Pond management system, high-tension battery packet, preparatory emergency braking system, sensor module, and it is corresponding with the wheel of the automobile body
The driving device and brake of setting；Wherein the driving device includes the motor and electric machine controller interconnected；
The entire car controller includes vehicle torque cooperative control device as claimed in claim 9, the entire car controller with
The battery management system, the preparatory emergency braking system, the electric machine controller, the sensor module are separately connected；
The sensor module, for acquiring vehicle traveling information, the vehicle traveling information includes accelerator pedal aperture, braking
Pedal opening and speed；
The high-tension battery packet is connect with the battery management system, for powering for the driving device；
The brake is connect with the preparatory emergency braking system, for braking to each motor.
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