CN110014850A - Filtering method, device and vehicle for driving motor in being travelled to vehicle deceleration - Google Patents
Filtering method, device and vehicle for driving motor in being travelled to vehicle deceleration Download PDFInfo
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- CN110014850A CN110014850A CN201910178757.2A CN201910178757A CN110014850A CN 110014850 A CN110014850 A CN 110014850A CN 201910178757 A CN201910178757 A CN 201910178757A CN 110014850 A CN110014850 A CN 110014850A
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- driving motor
- sampling period
- travel speed
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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
- B60L2240/12—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
-
- 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
Abstract
The present invention relates to a kind of filtering method, device and vehicles for driving motor in travelling to vehicle deceleration, are related to technical field of vehicle, mainly solving the technical problems that the driving experience of vehicle is poor.Filtering method includes: to obtain vehicle current travel speed and acceleration, the filtering time needed for being reduced to pre-set velocity as travel speed according to acceleration calculation vehicle；The first torque of driving motor sampling period current period and the second torque of sampling period history cycle are obtained, the demand torque of vehicle is determined according to the first torque, the second torque, sampling period, filtering time；Torque and travel speed determine the filter factor of driving motor different time in vehicle deceleration traveling according to demand.In vehicle deceleration traveling, the filter factor to driving motor filtering is variable coefficient, and the output torque of vehicle traction motor can be made to reach when the speed of vehicle is reduced to pre-set velocity and correspond to required output torque.Vehicle can realize stable ramp to stop, improve user and drive to experience.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of filter for driving motor in travelling to vehicle deceleration
Wave method, device and vehicle.
Background technique
Motor has gradually been popularized as the vehicle of driving source, is existed on the fuel engines of working characteristics and transmission
The difference of some essence.
For example, the output torque of motor has preferable quick response advantage, in the driving of vehicle, engine
Output torque can adjust filter coefficient setting by demand torque.In practice, by being carried out to motor output torque
Filtering, the stationarity being able to maintain in driving procedure, if not to the filtering of output torque, output torque is likely to result in vehicle
It is shaken in traveling, to influence the comfortableness and security of vehicle driving.
For example, vehicle can encounter the process of ramp to stop often in urban road, vehicle passes through in moderating process
Zero is decelerated to the fixed filter factor of output torque setting one in the ban, however, for the vehicle under different driving conditions,
After being decelerated to zero, the output torque of motor, which still will also export a longer period, can just be reduced to zero, and vehicle deceleration is caused to stop
Larger shake can occur for Che Hou, vehicle, cause the driving experience of vehicle poor.
Summary of the invention
In view of this, the present invention provide it is a kind of for the filtering method of driving motor in being travelled to vehicle deceleration, device and
Vehicle, mainly solving the technical problems that the driving experience of vehicle is poor.
In order to achieve the above objectives, present invention generally provides following technical solutions:
On the one hand, the embodiment of the present invention provides a kind of filtering method for driving motor in travelling to vehicle deceleration,
Include:
Vehicle current travel speed and acceleration are obtained, according to vehicle described in the acceleration calculation by the traveling speed
Filtering time needed for degree is reduced to pre-set velocity；
Obtain the driving motor sampling period current period the first torque and the sampling period history cycle
Two torques determine the vehicle according to first torque, second torque, the sampling period, the filtering time
Demand torque；
Driving motor different time in the vehicle deceleration traveling is determined according to the demand torque and the travel speed
Filter factor, and the driving motor is filtered according to the filter factor.
The object of the invention to solve the technical problems also can be used following technical measures and further realize.
Optionally, it is previously described for the filtering method of driving motor in travelling to vehicle deceleration, wherein the acquisition vehicle
Current travel speed and acceleration, comprising:
The travel speed of interval sampling period acquisition vehicle；
According to the vehicle row of the Vehicle Speed of the sampling period current period and the sampling period history cycle
It sails speed and the sampling period calculates the acceleration.
Optionally, it is previously described for the filtering method of driving motor in travelling to vehicle deceleration, wherein according to the demand
Torque and the travel speed determine the filter factor in the vehicle deceleration traveling in driving motor Reduced Speed Now, and according to institute
Filter factor is stated to filter the driving motor, specifically:
The interval sampling period determines the filtering of the vehicle traction motor according to the demand torque and the travel speed
Coefficient, and the driving motor is filtered according to the filter factor.
Optionally, it is previously described for the filtering method of driving motor in travelling to vehicle deceleration, wherein second torque
It is all according to first torque, second torque, the sampling for the torque in a upper period in the driving motor sampling period
Phase, the filtering time determine the demand torque of the vehicle, specifically:
yi=k1×xi+k2×yi-1, k1=Ts/(Ts+Tf),k2=1-k1；Wherein xiFor first torque, yiIt is described
The demand torque of vehicle, yi-1For second torque, TsFor the sampling period, TfFor the filtering time.
Optionally, it is previously described for the filtering method of driving motor in travelling to vehicle deceleration, wherein the sampling period
In 5-100ms.
Optionally, it is previously described for the filtering method of driving motor in travelling to vehicle deceleration, wherein according to the demand
Torque and the travel speed determine the filter factor of the vehicle traction motor, specifically:
The input parameter as the filter factor inquiry table prestored simultaneously by the demand torque and the travel speed, is looked into
Inquiry obtains the filter factor of the vehicle traction motor.
Optionally, it is previously described for the filtering method of driving motor in travelling to vehicle deceleration, wherein according to the filtering
Before coefficient filters the driving motor, further includes:
Monitor the on-position of motor vehicle braking system；
If the braking system is in on-position, the driving motor is filtered according to the filter factor.
On the other hand, the embodiment of the present invention provides a kind of filtering dress for driving motor in travelling to vehicle deceleration
It sets, comprising:
Computing unit, for obtaining the current travel speed of vehicle and acceleration, according to vehicle described in the acceleration calculation
Filtering time needed for being reduced to pre-set velocity as the travel speed；
Determination unit, for obtain the driving motor sampling period current period the first torque and the sampling period
Second torque of history cycle, it is true according to first torque, second torque, the sampling period, the filtering time
The demand torque of the fixed vehicle；
Filter unit drives for being determined in the vehicle deceleration traveling according to the demand torque and the travel speed
The filter factor of motor different time, and the driving motor is filtered according to the filter factor.
The object of the invention to solve the technical problems also can be used following technical measures and further realize.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the computing unit,
For
The travel speed of interval sampling period acquisition vehicle；
According to the vehicle row of the Vehicle Speed of the sampling period current period and the sampling period history cycle
It sails speed and the sampling period calculates the acceleration.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the filter unit,
For
The interval sampling period determines the filtering of the vehicle traction motor according to the demand torque and the travel speed
Coefficient, and the driving motor is filtered according to the filter factor.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the determination unit,
For as the torque that second torque was a upper period in the driving motor sampling period, yi=k1×xi+k2×yi-1, k1=
Ts/(Ts+Tf),k2=1-k1；Wherein xiFor first torque, yiFor the demand torque of the vehicle, yi-1It is turned round for described second
Square, TsFor the sampling period, TfFor the filtering time.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the pre-set velocity
It is zero.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the filter unit,
For
The input parameter as the filter factor inquiry table prestored simultaneously by the demand torque and the travel speed, is looked into
Inquiry obtains the filter factor of the vehicle traction motor.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein further include:
Monitoring unit, for monitoring the on-position of motor vehicle braking system；
The filter unit, if on-position is in for the braking system, according to the filter factor to described
Driving motor filtering.
By above-mentioned technical proposal, what technical solution of the present invention provided is used for the filter to driving motor in vehicle deceleration traveling
Wave method, device and vehicle at least have the advantage that
In technical solution provided in an embodiment of the present invention, vehicle can pass through the acceleration and vehicle of vehicle in running slowly
Travel speed, calculate filtering time required for vehicle deceleration to pre-set velocity, and determine according to filtering time parameter
Then the demand torque of vehicle is determined in the vehicle deceleration traveling according to the demand torque and the travel speed and is driven
The filter factor of motor different time, for being filtered to driving motor, compared with the existing technology, in vehicle deceleration traveling, to drive
The filter factor of dynamic motor filtering is variable coefficient, can make vehicle after having traveling degree to be reduced to pre-set velocity, can make vehicle
The speed that the output torque of driving motor reaches vehicle corresponds to required output torque when being reduced to pre-set velocity.Relative to existing
Technology, vehicle can realize stable ramp to stop, improve user and drive to experience.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is a kind of filtering method for driving motor in travelling to vehicle deceleration that the embodiment of the present invention provides
Flow diagram；
Fig. 2 is a kind of filtering specific for driving motor in travelling to vehicle deceleration that the embodiment of the present invention provides
The flow diagram of method；
Fig. 3 is a kind of filter for driving motor in travelling to vehicle deceleration that the embodiment of the present invention provides
Unit module schematic diagram；
Fig. 4 is a kind of filtering specific for driving motor in travelling to vehicle deceleration that the embodiment of the present invention provides
The unit module schematic diagram of device.
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to filtering method, the dress proposed according to the present invention for driving motor in vehicle deceleration traveling
It sets and vehicle its specific embodiment, structure, feature and its effect, detailed description is as follows.In the following description, different " one
What embodiment " or " embodiment " referred to is not necessarily the same embodiment.In addition, special characteristic, structure in one or more embodiments,
Or feature can be combined by any suitable form.
First aspect, Fig. 1 are a kind of filtering side for driving motor in travelling to vehicle deceleration provided by the invention
One embodiment of method, referring to Fig. 1, the filter for driving motor in being travelled to vehicle deceleration that one embodiment of the present of invention proposes
Wave method includes the following steps:
101, vehicle current travel speed and acceleration are obtained, according to vehicle described in the acceleration calculation by the row
Sail filtering time needed for speed is reduced to pre-set velocity；
Vehicle, which includes at least, driving motor, and driving motor can provide corresponding with filter factor according to filter factor for vehicle
Demand torque.But in implementation, the case where being also not limited to vehicle while including fuel engines and driving motor.
The travel speed of vehicle can be directly read by the vehicle electronic device of vehicle, can also be by the external electrical that communicates to connect
What sub- equipment etc. was directly read, but not limited to this.The acceleration of vehicle can also pass through the acceleration of the vehicle electronic device of vehicle
Degree sensor is directly read, and can also be directly read by the acceleration transducer etc. of the external electronic device communicated to connect, but not
It is confined to this.For example, specifically, the acceleration of vehicle is that the Vehicle Speed obtained by the interval sampling period calculates generation
Data.
Specifically, filtering time=(travel speed-pre-set velocity)/acceleration, or calculated by other functions
At.Pre-set velocity is the target velocity that vehicle deceleration reduces, and satisfaction is reduced under target velocity, to the output torque of driving motor
It control effectively.Pre-set velocity is usually a lesser speed values, such as the numerical value of 5km/h once, certainly, in implementation, in advance
If speed can be zero, it is possible to which the output torque of driving motor is simultaneously zero when regulation speed is reduced to zero.It is right
It answers, the filtering time is the ratio of the travel speed and the acceleration.
102, the first torque and the sampling period history cycle of the driving motor sampling period current period are obtained
The second torque, the vehicle is determined according to first torque, second torque, the sampling period, the filtering time
Demand torque；
First torque, the second torque can be directly read by the vehicle electronic device of vehicle.
Specifically, the embodiment of the present invention is carried out by taking following calculation method as an example, but not in the calculating process of demand torque
It is confined to this, wherein second torque was the torque in a upper period in the driving motor sampling period, was turned round according to described first
Square, second torque, the sampling period, the filtering time determine the demand torque of the vehicle, specifically:
yi=k1×xi+k2×yi-1, k1=Ts/(Ts+Tf),k2=1-k1；Wherein xiFor first torque, yiIt is described
The demand torque of vehicle, yi-1For second torque, TsFor the sampling period, TfFor the filtering time.
103, determine that driving motor is different in the vehicle deceleration traveling with the travel speed according to the demand torque
The filter factor of time, and the driving motor is filtered according to the filter factor.
In technical solution provided in an embodiment of the present invention, vehicle can pass through the acceleration and vehicle of vehicle in running slowly
Travel speed, calculate filtering time required for vehicle deceleration to pre-set velocity, and determine according to filtering time parameter
Then the demand torque of vehicle is determined in the vehicle deceleration traveling according to the demand torque and the travel speed and is driven
The filter factor of motor different time, for being filtered to driving motor, compared with the existing technology, in vehicle deceleration traveling, to drive
The filter factor of dynamic motor filtering is variable coefficient, can make vehicle after having traveling degree to be reduced to pre-set velocity, can make vehicle
The speed that the output torque of driving motor reaches vehicle corresponds to required output torque when being reduced to pre-set velocity.Relative to existing
Technology, vehicle can realize stable ramp to stop, improve user and drive to experience.
In practical application, in vehicle deceleration traveling, the filter factor of driving motor was carried out repeatedly according to the sampling period
Adjustment, the vehicle electronic device of vehicle successively remembers the travel speed in each sampling period, driving motor output torque
Record, it is described to obtain when the acceleration of vehicle is that the Vehicle Speed obtained by the interval sampling period calculates the data generated
Pick-up current travel speed and acceleration, comprising:
The travel speed of interval sampling period acquisition vehicle；
Current sample period obtains the travel speed of vehicle i.e. as current travel speed.
According to the vehicle row of the Vehicle Speed of the sampling period current period and the sampling period history cycle
It sails speed and the sampling period calculates the acceleration；
The calculating process of acceleration are as follows: acceleration=(Vehicle Speed-history cycle vehicle driving of current period
Speed)/history cycle apart from the preceding period time.For example, the Vehicle Speed of history cycle was a upper period in sampling period
Vehicle Speed, then, acceleration=(Vehicle Speed in the Vehicle Speed-of a current period upper period)/
Sampling period.Sampling period usually can be in 5-100ms, such as 10ms, 20ms, 30ms, 40ms or 50ms etc..
Corresponding, step 103 is are as follows: the interval sampling period is according to the demand torque and travel speed determination
The filter factor of vehicle traction motor, and the driving motor is filtered according to the filter factor.
I.e. each interval sampling period recalculate once to the filter factor of driving motor, in implementation, until row
It sails speed and drops and meet certain range of condition with the difference of pre-set velocity, specifically, or, up to travel speed drop and in advance
If the difference of speed is zero.Thus in vehicle deceleration process, so that the filter factor of driving motor is a variable coefficient.
Determine that the filter factor of the vehicle traction motor can be by way of prestoring filter factor inquiry table, according to institute
It states demand torque and the travel speed determines the filter factor of the vehicle traction motor, specifically:
The input parameter as the filter factor inquiry table prestored simultaneously by the demand torque and the travel speed, is looked into
Inquiry obtains the filter factor of the vehicle traction motor.
It include input and output parameter in filter factor inquiry table, input parameter has demand torque and traveling speed
Degree, output parameter have filter factor, and input and output parameter forms mapping relations, and input and output parameter formation is reflected
Penetrate relationship numerical value can by theoretical calculation, can also be obtained by many experiments or use in by user feedback adjustment
Data etc..For convenience of understanding, filter factor inquiry table can be understood by following tables 1, but not limited to this.Work as demand
Torque is -100 to -80Nm, and travel speed is in 30-50km/h, then filter factor then chooses B2.
Table 1
The second aspect, a kind of filtering for driving motor in being travelled to vehicle deceleration provided based on first aspect
Method, Fig. 2 are a kind of one embodiment of filtering method for driving motor in travelling to vehicle deceleration provided by the invention, please be joined
Fig. 2 is read, what one embodiment of the present of invention proposed is used for the filtering method to driving motor in vehicle deceleration traveling, including as follows
Step:
201, the on-position of motor vehicle braking system is monitored；
For different braking systems, the mode of the monitoring of on-position can be different, for example, being braked by driver's service brake
Mode, can by identify service brake whether be triggered, if being triggered, judge that the braking system is in on-position.For another example,
It, can be by the status signal of identification motor vehicle braking system, if motor vehicle braking system under motor vehicle braking system controls for automatic Pilot
Status signal be brake signal, if then judging, the braking system is in on-position.
If 202, the braking system is in on-position, vehicle current travel speed and acceleration are obtained, according to institute
State filtering time needed for vehicle described in acceleration calculation is reduced to pre-set velocity as the travel speed；
203, the first torque and the sampling period history cycle of the driving motor sampling period current period are obtained
The second torque, the vehicle is determined according to first torque, second torque, the sampling period, the filtering time
Demand torque；
204, determine that driving motor is different in the vehicle deceleration traveling with the travel speed according to the demand torque
The filter factor of time, and the driving motor is filtered according to the filter factor.
Embodiment provided by the invention, monitoring motor vehicle braking system are under on-position, i.e., it is believed that vehicle is in brake
Vehicle deceleration mode, by determining the filter factor of the vehicle traction motor according to the demand torque and the travel speed,
For filtering to driving motor, vehicle can realize stable ramp to stop, improve user and drive to experience.
Further, before according to the filter factor to driving motor filtering, may also include that
Judge whether the current travel speed is greater than pre-set velocity；
If current travel speed is greater than pre-set velocity, the driving motor is filtered according to the filter factor.
The speed of vehicle is then no longer filtered the dynamic regulation of coefficient after being reduced to pre-set velocity.
In terms of third, the embodiment of the present invention provides a kind of filtering dress for driving motor in travelling to vehicle deceleration
It sets, as shown in Figure 3, comprising:
Computing unit 10, for obtaining the current travel speed of vehicle and acceleration, according to the acceleration calculation
Filtering time needed for vehicle is reduced to pre-set velocity as the travel speed；
Determination unit 20, for obtaining the first torque and the sampling week of the driving motor sampling period current period
Second torque of phase history cycle, according to first torque, second torque, the sampling period, the filtering time
Determine the demand torque of the vehicle；
Filter unit 30 drives for being determined in the vehicle deceleration traveling according to the demand torque and the travel speed
The filter factor of dynamic motor different time, and the driving motor is filtered according to the filter factor.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the computing unit
10 are used for
The travel speed of interval sampling period acquisition vehicle；
According to the vehicle row of the Vehicle Speed of the sampling period current period and the sampling period history cycle
It sails speed and the sampling period calculates the acceleration.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the filter unit
30 are used for
The interval sampling period determines the filtering of the vehicle traction motor according to the demand torque and the travel speed
Coefficient, and the driving motor is filtered according to the filter factor.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the determination unit
20 for as the torque that second torque was a upper period in the driving motor sampling period, yi=k1×xi+k2×yi-1, k1
=Ts/(Ts+Tf),k2=1-k1；Wherein xiFor first torque, yiFor the demand torque of the vehicle, yi-1It is described second
Torque, TsFor the sampling period, TfFor the filtering time.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the pre-set velocity
It is zero.
Optionally, it is previously described for the filter of driving motor in travelling to vehicle deceleration, wherein the filter unit
30 are used for
The input parameter as the filter factor inquiry table prestored simultaneously by the demand torque and the travel speed, is looked into
Inquiry obtains the filter factor of the vehicle traction motor.
Optionally, as shown in figure 4, being previously described for the filter to driving motor in vehicle deceleration traveling, wherein also
Include:
40 monitoring unit, for monitoring the on-position of motor vehicle braking system；
If the filter unit 30 is in on-position for the braking system, according to the filter factor to described
Driving motor filtering.
Since the filter for driving motor in travelling to vehicle deceleration that the present embodiment is introduced is that can execute
The device for the filtering method of driving motor in being travelled to vehicle deceleration in the embodiment of the present invention, so it is real based on the present invention
It applies for the filtering method to driving motor in vehicle deceleration traveling described in example, those skilled in the art can be much of that
Solve the specific embodiment and its various change for the filter of driving motor in travelling to vehicle deceleration of the present embodiment
Change form, so being used for how realizing implementation of the present invention to the filter of driving motor in vehicle deceleration traveling for this at this
Multiple filtering methods for driving motor in vehicle deceleration traveling in example are no longer discussed in detail.As long as the affiliated skill in this field
Art personnel implement for device used by the filtering method to driving motor in vehicle deceleration traveling in the embodiment of the present invention,
Belong to the range to be protected of the application.
4th aspect, embodiment of the disclosure provide a kind of storage medium, and the storage medium includes the journey of storage
Sequence, wherein equipment where controlling the storage medium in described program operation executes above-mentioned filtering method.
Storage medium may include the non-volatile memory in computer-readable medium, random access memory (RAM)
And/or the forms such as Nonvolatile memory, if read-only memory (ROM) or flash memory (flashRAM), memory include at least one
Storage chip.
5th aspect, embodiment of the disclosure provide a kind of vehicle, and described device includes storage medium；And one or
The multiple processors of person, the storage medium are coupled with the processor, the processor is configured to executing the storage medium
The program instruction of middle storage；Above-mentioned filtering method is executed when described program instruction operation.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flashRAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, according to
According to technical spirit any simple modification, equivalent change and modification to the above embodiments of the invention, this hair is still fallen within
In the range of bright technical solution.
Claims (10)
1. a kind of filtering method for driving motor in being travelled to vehicle deceleration characterized by comprising
Vehicle current travel speed and acceleration are obtained, is dropped according to vehicle described in the acceleration calculation by the travel speed
Filtering time needed for down to pre-set velocity；
It obtains the first torque of the driving motor sampling period current period and the second of the sampling period history cycle is turned round
Square determines the demand of the vehicle according to first torque, second torque, the sampling period, the filtering time
Torque；
The filter of driving motor different time in the vehicle deceleration traveling is determined according to the demand torque and the travel speed
Wave system number, and the driving motor is filtered according to the filter factor.
2. filtering method according to claim 1, which is characterized in that described to obtain vehicle current travel speed and acceleration
Degree, comprising:
The travel speed of interval sampling period acquisition vehicle；
According to the Vehicle Speed of the sampling period current period and the vehicle driving of sampling period history cycle speed
Degree and the sampling period calculate the acceleration.
3. filtering method according to claim 2, which is characterized in that true according to the demand torque and the travel speed
The filter factor of driving motor different time in the fixed vehicle deceleration traveling, and according to the filter factor to the driving electricity
Machine filter wave, specifically:
The interval sampling period determines the filter factor of the vehicle traction motor according to the demand torque and the travel speed,
And the driving motor is filtered according to the filter factor.
4. filtering method according to claim 1, which is characterized in that second torque is driving motor sampling week
The torque in phase in the upper period is determined according to first torque, second torque, the sampling period, the filtering time
The demand torque of the vehicle, specifically:
yi=k1×xi+k2×yi-1, k1=Ts/(Ts+Tf),k2=1-k1；Wherein xiFor first torque, yiFor the vehicle
Demand torque, yi-1For second torque, TsFor the sampling period, TfFor the filtering time.
5. filtering method according to claim 2 or 3, which is characterized in that
The sampling period is in 5-100ms.
6. filtering method according to claim 1, which is characterized in that true according to the demand torque and the travel speed
The filter factor of the fixed vehicle traction motor, specifically:
The input parameter as the filter factor inquiry table prestored simultaneously by the demand torque and the travel speed, is inquired
To the filter factor of the vehicle traction motor.
7. any filtering method in -6 according to claim 1, which is characterized in that according to the filter factor to the drive
Before dynamic motor filtering, further includes:
Monitor the on-position of motor vehicle braking system；
If the braking system is in on-position, the driving motor is filtered according to the filter factor.
8. a kind of filter for driving motor in being travelled to vehicle deceleration characterized by comprising
Computing unit, for obtaining the current travel speed of vehicle and acceleration, according to vehicle described in the acceleration calculation by
Filtering time needed for the travel speed is reduced to pre-set velocity；
Determination unit, for obtain the driving motor sampling period current period the first torque and the sampling period history
Second torque in period determines institute according to first torque, second torque, the sampling period, the filtering time
State the demand torque of vehicle；
Filter unit, for determining driving motor in the vehicle deceleration traveling according to the demand torque and the travel speed
The filter factor of different time, and the driving motor is filtered according to the filter factor.
9. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require any one of 1 to 8 described in filtering method.
10. a kind of vehicle, which is characterized in that described device includes storage medium；And one or more processor, the storage
Medium is coupled with the processor, the processor is configured to executing the program instruction stored in the storage medium；It is described
Filtering method described in any one of perform claim requirement 1 to 8 when program instruction is run.
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| CN201910178757.2A CN110014850A (en) | 2019-03-11 | 2019-03-11 | Filtering method, device and vehicle for driving motor in being travelled to vehicle deceleration |
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| CN201910178757.2A CN110014850A (en) | 2019-03-11 | 2019-03-11 | Filtering method, device and vehicle for driving motor in being travelled to vehicle deceleration |
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| CN114241780A (en) * | 2021-11-29 | 2022-03-25 | 深圳市锐明技术股份有限公司 | Vehicle model identification method and device, electronic equipment and readable storage medium |
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Application publication date: 20190716 |