CN110406389B - Method, apparatus, computer device and medium for controlling vehicle driving smoothness - Google Patents

Method, apparatus, computer device and medium for controlling vehicle driving smoothness Download PDF

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Publication number
CN110406389B
CN110406389B CN201810403466.4A CN201810403466A CN110406389B CN 110406389 B CN110406389 B CN 110406389B CN 201810403466 A CN201810403466 A CN 201810403466A CN 110406389 B CN110406389 B CN 110406389B
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torque
preset
motor
current
vehicle
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CN110406389A (en
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黎润东
陈立华
彭君
苏建云
魏丹
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Gac Aion New Energy Vehicle Co ltd
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Guangzhou Automobile Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The present application relates to a method, apparatus, computer device and medium for controlling ride comfort of a vehicle. The method comprises the following steps: acquiring the current torque and the required torque of a vehicle motor; judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and when the judgment result is yes, controlling the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking; upon detecting that the updated current torque is greater than the engagement point preset value, controlling the motor torque to transition from the updated current torque to the requested torque. By adopting the method, the flexible combination of the vehicle transmission system can be realized, and the driving smoothness is greatly improved on the premise of not sacrificing the power response capability.

Description

Method, apparatus, computer device and medium for controlling vehicle driving smoothness
Technical Field
The present disclosure relates to the field of vehicle electrical control technologies, and in particular, to a method, an apparatus, a computer device, and a medium for controlling vehicle driving smoothness.
Background
With the stricter and stricter fuel consumption and emission standards, new energy vehicles of various structural types have become the research and development focus of various automobile manufacturers, wherein the electric motor becomes an essential component. The control of a general motor adopts an open-loop control mode of outputting a target torque by looking up a table through an accelerator and a vehicle speed, a 'man-vehicle' system is split by the open-loop control mode, the power transmission characteristic of a vehicle transmission system is not considered when a driver needs transient large torque output, large torque is output forcibly, and the strong transient characteristic of the torque output of the motor enables the vehicle to have excellent power response capability, but simultaneously, the impact among parts of the transmission system is also aggravated, so that the vehicle vibration is caused, and the driving smoothness is influenced. Therefore, how to coordinate the contradiction between the power response capability and the driving smoothness becomes one of the key technologies for developing new energy vehicles.
At present, the main methods for the contradiction between the power response capability and the driving smoothness are as follows: (1) the machining precision of the gear transmission system is improved, and the transmission clearance is reduced. The method has a certain effect on the contradiction between the harmonic power response capability and the driving smoothness, but the processing technology requirement and the processing cost are correspondingly increased, and meanwhile, the problem of abrasion and aging of a transmission system cannot be considered; (2) the priority power response capability reduces ride comfort. The method is mostly applied to commercial vehicles with low requirements on driving smoothness, such as electric buses and electric buses, and has the problems of braking and acceleration shaking; (3) ride comfort is prioritized and power response capability is reduced. The method is mostly seen in low-end passenger cars, and has the problem of serious accelerator response delay. How to improve the driving smoothness of the vehicle on the basis of not sacrificing the power response capability becomes a problem which needs to be solved urgently.
Disclosure of Invention
In view of the foregoing, there is a need to provide a control method, apparatus, computer device and medium for improving vehicle driving smoothness without sacrificing power response capability.
A method of controlling ride comfort of a vehicle, the method comprising:
acquiring the current torque and the required torque of a vehicle motor;
judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and when the judgment result is yes, controlling the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking;
controlling the motor torque to transition from the updated current torque to the requested torque when the updated current torque is detected to be greater than a joint preset value.
In one embodiment, the asymptotic change law includes: and determining a change rate according to the torque difference and a preset torque difference-change rate corresponding relation, wherein the torque difference is the difference between the current torque of the vehicle motor and the preset transmission system flexible combination torque target value.
In one embodiment, the preset flexible bonding condition comprises: the motor current torque is less than the engagement point preset value and the requested torque is greater than the requested torque preset value.
In one embodiment, after the step of controlling the torque of the electric motor to change from the current torque according to a preset driveline compliance combined torque target value by an asymptotic change law, the step of obtaining an updated current torque further comprises:
and when the updated current torque is detected to be smaller than or equal to the preset value of the joint point, returning to the step of controlling the torque of the motor to change from the current torque according to the preset target value of the flexible combination torque of the transmission system by an asymptotic change rule to obtain the updated current torque.
In one embodiment, the step of obtaining the current torque and the required torque of the vehicle motor includes:
acquiring the current torque, the current driving mode, the vehicle speed and the opening degree of an accelerator pedal of a vehicle motor;
and obtaining the required torque according to the current driving mode, the vehicle speed and the opening degree of the accelerator pedal.
A control device of vehicle ride comfort, the device comprising:
the torque acquisition module is used for acquiring the current torque and the required torque of a vehicle motor;
the first control module is used for judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and when the judgment result is yes, controlling the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking;
a second control module to control the motor torque to transition from the updated current torque to the requested torque when the updated current torque is detected to be greater than a joint preset value.
A computer device comprising a memory and a processor, the memory having stored thereon a computer program that when executed by the processor performs the steps of:
acquiring the current torque and the required torque of a vehicle motor;
judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and when the judgment result is yes, controlling the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking;
controlling the motor torque to transition from the updated current torque to the requested torque when the updated current torque is detected to be greater than a joint preset value.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring the current torque and the required torque of a vehicle motor;
judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and when the judgment result is yes, controlling the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking;
controlling the motor torque to transition from the updated current torque to the requested torque when the updated current torque is detected to be greater than a joint preset value.
According to the control method, the control device, the control computer equipment and the control medium for the vehicle driving smoothness, the current torque and the required torque of the vehicle motor are obtained, when the motor is detected to meet the preset flexible combination condition according to the current torque and the required torque, the torque of the motor is controlled to change according to the asymptotic change rule by using the preset transmission system flexible combination torque target value, namely the torque critical value generated by vehicle shaking until the motor torque is larger than the joint point preset value, namely when the transmission system reaches the KissPoint (joint point), the motor torque is controlled to transition from the motor torque reaching the KissPoint to the required torque, and the required torque is output. The flexible transition of 'transmission clearance-rigid connection' is realized by the transmission system, when the motor torque is in phase change, the motor is controlled to output small torque to realize the flexible combination of the transmission system, the driving smoothness of the vehicle is ensured, after the flexible combination of the transmission system is completed, the driver demand torque is output, the power response capability of the vehicle is ensured, and the driving smoothness is greatly improved on the premise of not sacrificing the power response capability.
Drawings
FIG. 1 is a schematic illustration of transmission gears in a vehicle deceleration state and an acceleration state according to one embodiment;
FIG. 2 is a flow chart illustrating a method for controlling ride comfort of a vehicle according to an exemplary embodiment;
FIG. 3 is a graphical illustration of torque difference versus time for one embodiment;
FIG. 4 is a flowchart illustrating a method for controlling ride comfort of a vehicle according to another embodiment;
FIG. 5 is a flowchart illustrating a method for controlling ride comfort of a vehicle according to yet another embodiment;
FIG. 6 is a block diagram showing the construction of a control apparatus for controlling the ride comfort of a vehicle according to an embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, when the vehicle is switched from a deceleration state to an acceleration state, the meshing surface of the transmission gear is changed from the meshing surface 1 to the meshing surface 2, and due to the inevitable gap between the transmission gears, if the driving motor outputs the torque to forcibly output the required torque, gear shock is caused, vehicle vibration is caused, and driving smoothness is affected.
In one embodiment, there is provided a method for controlling the driving smoothness of a vehicle, based on the problem that a large torque is forcibly output from a driving motor, causing a gear shock and causing a vehicle shake, as shown in fig. 2, comprising the steps of:
step S110: the current torque and the required torque of the vehicle motor are acquired.
Specifically, the motor torque, i.e., the output torque of the electric motor, is one of the basic parameters of the electric motor. In the present embodiment, step S110 includes step 112 and step 114.
Step 112: the current torque of the vehicle motor, the current driving mode, the vehicle speed, and the accelerator opening degree are acquired.
Step 114: and obtaining a driver demand matrix according to the current driving mode, the vehicle speed and the opening degree of an accelerator pedal.
Specifically, the driving modes include, but are not limited to, two different driving style modes of ECO and Normal, the economy is biased in the ECO mode, and the power is biased in the Normal mode, and the specific setting depends on different vehicle types. The pedal opening degree refers to the depth of a pedal, the size of the pedal indicates the torque request of a driver, special software in a VCU (Vehicle Control Unit) can convert the current driving mode, the Vehicle speed and the accelerator opening degree into the torque required by the driver, different torque requirements are corresponded under different engine rotating speeds and accelerator opening degrees, the basic rule is that the torque request is increased along with the increase of the pedal opening degree, and the torque directly reflects the power requirement of the driver.
Step S120: and judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque of the motor, and controlling the torque of the motor to change from the current torque according to a preset target value of the flexible combination torque of the transmission system in an asymptotic change rule to obtain an updated current torque when the judgment result is yes.
Specifically, the conventional system flexibly combines a torque target value to generate a torque critical value for vehicle shake according to the current torque T of the motor and the driver required torque TTargetThe change of the rigid transmission system identifies the required working condition, and judges whether to trigger the logic of 'flexible combination of the rigid transmission system' so as to realize flexible combination. When the required working condition meets the triggering of 'rigid transmission system flexible combination' logic, the torque T required by the driver is converted into the torque TTargetSplitting into flexible coupling torque T of transmission systemShiftAnd drive output torque TDriveTwo parts. Wherein the transmission system flexibly combines with the torque TShiftThe clearance of the transmission system is eliminated at the highest speed, and simultaneously, no rigid impact is generated, and the transmission system flexibly combines with the torque TShiftComprising a set of torque target values varying with an asymptotic variation law from the current torque of the motor, the driveline flexibly combining the torque TShiftThe maximum value is the critical value of the torque generated by vehicle shaking and the driving output torque TDriveThe torque of the motor is changed from the flexible combination-reaching torque to a target value set of the required torque after the flexible combination is reached, and the output torque T is drivenDriveThe target value is numerically equal to the driver required torque TTargetThis split is more of increasing the timing of the torque execution. If the current torque T of the motor is-50N, the required torque T isTargetTo 100N, the torque T will be requiredTargetThe method is divided into a traditional system flexible combination torque target value 3N, namely a vehicle shaking generation torque critical value is 3N, and a driving output torque target value is a required torque 100N, and the division is more time sequence for increasing torque execution.
Flexible combined torque TShiftThe size and the change rule of the torque moment play a key role in the combination speed and the combination effect of a transmission system, and the torque moment T is flexibly combinedShiftThe maximum value of the torque is a torque critical value generated by vehicle shaking, and then the value is used as a target value to generate an asymptotic change rule of 'fast first and slow last' through the change rate limitation, so that the flexible combination of a transmission system is realized. Further, the asymptotic variation law includes a law according to a difference between the torques and a preset torqueDetermining the change rate according to the difference value-change rate corresponding relation, wherein the torque difference value is the difference value between the current torque of the vehicle motor and a preset transmission system flexible combination torque target value; the approach characteristic of the target value is subjected to asymptotic change through a first-order low-pass filter, as shown in fig. 3, the larger the deviation of the current torque of the motor from the target value of the flexible coupling torque of the preset transmission system is, the larger the change rate is, and the smaller the deviation of the current torque of the motor from the target value of the flexible coupling torque of the preset transmission system is, the smaller the change rate is. And controlling the motor torque to change from-50N by an asymptotic change rule by taking 3N as a target value, and updating the motor torque in real time.
In one embodiment, the preset compliant engagement condition includes the motor current torque being less than an engagement point preset value and the requested torque being greater than the requested torque preset value.
Specifically, the motor current torque T is less than the engagement point preset value and the driver demand torque TTargetAnd when the torque is greater than the required torque preset value, triggering a 'rigid transmission system flexible combination' logic to enter a transmission system flexible combination process. The engagement point preset value and the required torque preset value are determined according to actual calibration, generally speaking, the engagement point preset value is slightly smaller than the required torque preset value, and the specific value is required to be determined according to actual vehicle performance.
In one embodiment, as shown in fig. 4, step S120 further includes returning to step S110 when the determination result is no.
Specifically, when the motor is detected to not meet the preset flexible combination condition according to the current torque and the required torque of the motor, namely, the triggering logic of 'flexible combination of rigid transmission system' is indicated to not be met, and the current torque and the required torque of the motor are continuously acquired for detection.
Step S130: when it is detected that the updated current torque is greater than the engagement point preset value, the motor torque is controlled to transition from the updated current torque to the required torque.
Specifically, the motor feeds back the updated current torque in real time, monitors whether the transmission system reaches KissPoint in real time along with the increase of the motor torque, and if the updated current torque T of the motor is greater than the preset value of the joint point, the updated current torque T of the motor can be usedThe transmission system is considered to reach KissPoint, namely KissPoint is reached when the torque of the motor is greater than a joint preset value in the process that the current torque-50N of the motor changes to the vehicle shaking generation torque critical value 3N according to the asymptotic change rule. And after the transmission system reaches KissPoint, the flexible combination state is immediately exited, and the torque of the motor is controlled to transition the driver required torque T from the torque of the motor reaching KissPoint according to a preset change ruleTargetI.e. 100N. According to different driving modes, an appropriate torque change rate is set to enable the motor torque reaching KissPoint to smoothly transit to the driving output torque TDrive. The different driving modes correspond to a rate of change of torque, and the torque change of the portion of torque uses slope filtering to achieve a smooth transition of torque. The slope filtering is to set different maximum allowable change slopes according to different current torque values, such as 1s change by 10N or 20N, specifically according to actual requirements. The user can set a preset change rule according to actual conditions to realize transition.
In one embodiment, as shown in fig. 4, after step S120, the method further includes returning to step S120 when the updated current torque is detected to be less than or equal to the preset value of the engagement point.
Specifically, the updated current torque is detected to be smaller than or equal to a joint preset value according to the received updated current torque fed back by the motor, which indicates that the transmission system has not yet reached kissip point, the torque of the motor is continuously controlled to change from the current torque according to an asymptotic change rule, the updated current torque is obtained, and whether the transmission system reaches kissp point is monitored in real time according to the updated current torque.
In one embodiment, as shown in fig. 5, the vehicle control unit VCU detects signals of the current torque, the vehicle speed, the accelerator pedal, the driving mode, and the like of the motor to identify the driving condition, and when the vehicle meets the condition of entering the flexible coupling state of the transmission system, the torque of the motor is controlled to gradually change in a linear manner from "fast first to slow last" so that the transmission system reaches kissip point (that is, the updated current torque is greater than the preset value of the coupling point), and exits the flexible coupling state after reaching kissip point, so as to output the torque required by the driver quickly.
In the method for the vehicle driving smoothness, a human-vehicle system is considered as an organic whole, and a concept of 'flexible combination of rigid transmission systems' is innovatively provided on the basis of not changing the structure and the processing cost of the transmission systems. The flexible transition of 'transmission clearance-rigid connection' is realized by the transmission system, when the torque of the motor is in phase change, the motor is controlled to output small torque to realize the flexible combination of the transmission system, the driving smoothness of the vehicle is ensured, and after the flexible combination of the transmission system is finished, the driver requirement torque is output to ensure the dynamic response capability of the vehicle. The time consumed in the flexible combination process is only millisecond level, the driving smoothness is greatly improved on the premise of not sacrificing the power response capability, and the contradiction between the vehicle power response capability and the driving smoothness is effectively solved. The driving smoothness is no longer the bottleneck of vehicle dynamic response calibration, so the vehicle dynamic response capability also obtains a lifting space, and in addition, the abrasion of a transmission system can be effectively reduced, and the service life is prolonged.
It should be understood that although the various steps in the flowcharts of fig. 2, 4 and 5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 4 and 5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided a control device for vehicle driving smoothness, comprising: a torque acquisition module 110, a first control module 120, and a second control module 130, wherein:
the torque acquisition module 110 is used for acquiring the current torque and the required torque of the motor.
The first control instruction sending module 120 is configured to judge whether a preset flexible combination condition is triggered according to the current torque and the required torque, and when the judgment result is yes, control the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, where the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking.
A second control command transmission module 130 for controlling the motor torque to transition from the updated current torque to the required torque when the updated current torque is detected to be greater than the engagement point preset value.
In one embodiment, the preset compliant coupling condition includes the current torque of the motor being less than the engagement point preset value and the requested torque being greater than the requested torque preset value.
In one embodiment, the asymptotic change law comprises: and determining the change rate according to the torque difference value and a preset torque difference value-change rate corresponding relation, wherein the torque difference value is the difference value between the current torque of the vehicle motor and a preset transmission system flexible combination torque target value.
In one embodiment, the first control module is further configured to control the torque obtaining module 110 to obtain the current torque and the required torque of the motor again when the determination result is negative.
In one embodiment, after the first control command sending module 120, a third control module is further included, and the third control module is configured to control the first control module 120 to control the torque of the motor to change from the current torque according to an asymptotic change law according to a preset target flexible driveline coupling torque value when it is detected that the updated current torque is less than or equal to the preset joint point value, so as to obtain an updated current torque.
In one embodiment, the torque acquisition module 110 includes a parameter acquisition unit and a requested torque determination unit. The parameter acquisition unit is used for acquiring the current torque, the current driving mode, the vehicle speed and the accelerator opening degree of a vehicle motor. The required torque determining unit is used for obtaining required torque according to the current driving mode, the vehicle speed and the opening degree of an accelerator pedal.
According to the control device for the vehicle driving smoothness, the torque acquisition module acquires the current torque and the required torque of the vehicle motor, the first control module judges whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, when the judgment result is yes, the torque of the motor is controlled to change according to an asymptotic change rule by using a preset transmission system flexible combination torque target value, namely a torque critical value generated by vehicle shaking, until the motor torque is larger than a joint point preset value, namely when the transmission system reaches KissPoint (joint point), the motor torque is controlled to transition from the motor torque reaching KissPoint to drive output torque, and the required torque is output. The flexible transition of 'transmission clearance-rigid connection' is realized by the transmission system, when the motor torque is in phase change, the motor is controlled to output small torque to realize the flexible combination of the transmission system, the driving smoothness of the vehicle is ensured, after the flexible combination of the transmission system is completed, the driver demand torque is output, the power response capability of the vehicle is ensured, and the driving smoothness is greatly improved on the premise of not sacrificing the power response capability.
For specific limitations of the control device regarding the driving smoothness of the vehicle, reference may be made to the above limitations of the control method regarding the driving smoothness of the vehicle, and details thereof are not repeated herein. The above-mentioned control device for controlling the driving smoothness of the vehicle may be implemented wholly or partially by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling ride comfort of a vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory and a processor, the memory having a computer program stored thereon, the processor when executing the computer program implementing the steps of: acquiring the current torque and the required torque of a vehicle motor; judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and when the judgment result is yes, controlling the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking; when it is detected that the updated current torque is greater than the engagement point preset value, the motor torque is controlled to transition from the updated current torque to the required torque.
In one embodiment, the asymptotic change law when the processor executes the computer program comprises: and determining the change rate according to the torque difference value and a preset torque difference value-change rate corresponding relation, wherein the torque difference value is the difference value between the current torque of the vehicle motor and a preset transmission system flexible combination torque target value.
In one embodiment, the predetermined compliance coupling condition includes the current torque of the motor being less than the engagement point predetermined value and the requested torque being greater than the requested torque predetermined value when the processor executes the computer program.
In one embodiment, the step of obtaining an updated current torque after the step of controlling the torque of the motor to change from the current torque according to an asymptotic change law based on the preset driveline compliance binding torque target value when the processor executes the computer program further comprises: and when the updated current torque is detected to be smaller than or equal to the preset value of the joint point, returning to the step of controlling the torque of the motor to change from the current torque according to the preset target value of the flexible combination torque of the transmission system by an asymptotic change rule to obtain the updated current torque.
In one embodiment, the step of obtaining the current torque and the required torque of the vehicle motor when the processor executes the computer program comprises: acquiring the current torque, the current driving mode, the vehicle speed and the opening degree of an accelerator pedal of a vehicle motor; and obtaining the required torque according to the current driving mode, the vehicle speed and the opening degree of an accelerator pedal.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring the current torque and the required torque of a vehicle motor; judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and when the judgment result is yes, controlling the torque of the motor to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule to obtain an updated current torque, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking; when it is detected that the updated current torque is greater than the engagement point preset value, the motor torque is controlled to transition from the updated current torque to the required torque.
In one embodiment, the computer program, when executed by the processor, comprises: and determining the change rate according to the torque difference value and a preset torque difference value-change rate corresponding relation, wherein the torque difference value is the difference value between the current torque of the vehicle motor and a preset transmission system flexible combination torque target value.
In one embodiment, the preset compliant joint condition includes the current torque of the motor being less than the engagement point preset value and the requested torque being greater than the requested torque preset value when the computer program is executed by the processor.
In one embodiment, the computer program, when executed by the processor, further includes, after the step of controlling the torque of the electric motor to change from the current torque according to an asymptotic change law based on the preset driveline compliance binding torque target value, the step of obtaining an updated current torque: and when the updated current torque is detected to be smaller than or equal to the preset value of the joint point, returning to the step of controlling the torque of the motor to change from the current torque according to the preset target value of the flexible combination torque of the transmission system by an asymptotic change rule to obtain the updated current torque.
In one embodiment, the computer program when executed by the processor, for obtaining a current torque and a requested torque of a vehicle motor comprises: acquiring the current torque, the current driving mode, the vehicle speed and the opening degree of an accelerator pedal of a vehicle motor; and obtaining the required torque according to the current driving mode, the vehicle speed and the opening degree of an accelerator pedal.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. A method of controlling ride comfort of a vehicle, the method comprising:
acquiring the current torque and the required torque of a vehicle motor;
judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, wherein the preset flexible combination condition comprises the following steps: the current torque of the motor is smaller than a joint preset value, the required torque is larger than the required torque preset value, when the judgment result is yes, the torque of the motor is controlled to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule, and an updated current torque is obtained, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking, the larger the deviation of the current torque and the preset transmission system flexible combination torque target value is, the larger the change rate is, the smaller the deviation of the current torque and the preset transmission system flexible combination torque target value is, and the smaller the change rate is;
controlling the motor torque to transition from the updated current torque to the requested torque through slope filtering when the updated current torque is detected to be greater than a joint preset value.
2. The method of claim 1, wherein the asymptotic change law comprises:
and determining a change rate according to the torque difference and a preset torque difference-change rate corresponding relation, wherein the torque difference is the difference between the current torque of the vehicle motor and the preset transmission system flexible combination torque target value.
3. The method of claim 1, wherein the step of controlling the torque of the electric motor to vary from the current torque according to a predetermined driveline compliance binding torque target value according to an asymptotic variation law, resulting in an updated current torque further comprises:
and when the updated current torque is detected to be smaller than or equal to the preset value of the joint point, returning to the step of controlling the torque of the motor to change from the current torque according to the preset target value of the flexible combination torque of the transmission system by an asymptotic change rule to obtain the updated current torque.
4. The method of claim 1, wherein the step of obtaining the current torque and the required torque of the vehicle motor comprises:
acquiring the current torque, the current driving mode, the vehicle speed and the opening degree of an accelerator pedal of a vehicle motor;
and obtaining the required torque according to the current driving mode, the vehicle speed and the opening degree of the accelerator pedal.
5. A control device of vehicle ride comfort, characterized by comprising:
the torque acquisition module is used for acquiring the current torque and the required torque of a vehicle motor;
the first control module is used for judging whether a preset flexible combination condition is triggered or not according to the current torque and the required torque, and the preset flexible combination condition comprises the following steps: the current torque of the motor is smaller than a joint preset value, the required torque is larger than the required torque preset value, when the judgment result is yes, the torque of the motor is controlled to change from the current torque according to a preset transmission system flexible combination torque target value in an asymptotic change rule, and an updated current torque is obtained, wherein the preset transmission system flexible combination torque target value is a torque critical value generated by vehicle shaking, the larger the deviation of the current torque and the preset transmission system flexible combination torque target value is, the larger the change rate is, the smaller the deviation of the current torque and the preset transmission system flexible combination torque target value is, and the smaller the change rate is;
a second control module to control the motor torque to transition from the updated current torque to the requested torque through slope filtering when the updated current torque is detected to be greater than a joint preset value.
6. The apparatus of claim 5, further comprising a third control module after the first control module, wherein the third control module is configured to control the first control module to control the torque of the motor to change from the current torque according to an asymptotic change law according to a preset target driveline compliance binding torque value when the updated current torque is detected to be less than or equal to a preset engagement point preset value, so as to obtain an updated current torque.
7. The apparatus according to claim 5, characterized in that the torque acquisition module includes a parameter acquisition unit and a required torque determination unit,
a parameter acquisition unit for acquiring a current torque, a current driving mode, a vehicle speed, and an accelerator pedal opening degree of a vehicle motor;
and the required torque determining unit is used for obtaining the required torque according to the current driving mode, the vehicle speed and the opening degree of an accelerator pedal.
8. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1 to 4.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
CN201810403466.4A 2018-04-28 2018-04-28 Method, apparatus, computer device and medium for controlling vehicle driving smoothness Active CN110406389B (en)

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