CN110588363A - Method and device for restraining starting shake of electric automobile and storage medium - Google Patents
Method and device for restraining starting shake of electric automobile and storage medium Download PDFInfo
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- CN110588363A CN110588363A CN201810606125.7A CN201810606125A CN110588363A CN 110588363 A CN110588363 A CN 110588363A CN 201810606125 A CN201810606125 A CN 201810606125A CN 110588363 A CN110588363 A CN 110588363A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000000452 restraining effect Effects 0.000 title abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000008859 change Effects 0.000 claims abstract description 19
- 230000004044 response Effects 0.000 claims abstract description 5
- 230000002829 reductive effect Effects 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 7
- 230000003247 decreasing effect Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
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Classifications
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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
- 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
- B60L15/2072—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 for drive off
-
- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- 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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the transmission technology of an electric automobile, in particular to a method for restraining starting jitter of the electric automobile, a device for implementing the method and a computer storage medium. The method for restraining the starting shake of the electric automobile according to one aspect of the invention comprises the following steps: in response to the occurrence of an event causing a gap between the transmission gears, the output torque of the motor undergoes a change that becomes larger or smaller from a starting point and returns to the starting point according to the type of the event, thereby suppressing a judder at the time of starting of the electric vehicle by reducing the gap between the transmission gears.
Description
Technical Field
The invention relates to the transmission technology of an electric automobile, in particular to a method for restraining starting jitter of the electric automobile, a device for implementing the method and a computer storage medium.
Background
An electric vehicle is a vehicle that runs using a vehicle-mounted power supply as power and a motor to drive wheels. Due to the characteristics of energy conservation and environmental protection, the electric automobile has a wide prospect. An electric vehicle generally includes an electric drive and control unit, a transmission unit, a travel unit, a steering unit, a brake unit, and the like. The electric drive and control unit includes a motor, a battery, and a motor speed control device that provides the electric vehicle with the required kinetic energy for travel. The transmission unit is used for transmitting the output torque of the motor to the driving shaft so as to drive the wheels to rotate.
Electric vehicles often shake at low frequencies (e.g., below 10 Hz) during start-up, which can be a poor experience for the user. It is believed that since such shudder is often associated with inherent characteristics of the vehicle (e.g., backlash in transmission gears, etc.), it is necessary to proceed from the vehicle infrastructure level to make this possible, but this increases design difficulty and manufacturing costs. In addition, the transmission gear clearance may vary from start to start, further increasing the difficulty of solving the problem.
Disclosure of Invention
The invention aims to provide a method for restraining starting jitter of an electric automobile, which has the advantages of simple control, compatibility with the basic architecture of the existing automobile and the like.
The method for restraining the starting shake of the electric automobile according to one aspect of the invention comprises the following steps:
in response to the occurrence of an event causing a gap between the transmission gears, the output torque of the motor undergoes a change that becomes larger or smaller from a starting point and returns to the starting point according to the type of the event, thereby suppressing a judder at the time of starting of the electric vehicle by reducing the gap between the transmission gears.
Preferably, in the above method, the type of the event comprises at least one of: the method comprises the following steps of parking the electric automobile, switching the electric automobile from a D gear to an R gear and switching the electric automobile from deceleration to acceleration on a slope.
Preferably, in the above method, the type of the event is determined according to a brake pedal opening, an accelerator pedal opening, a driving speed, a driving gradient, and a gear of the electric vehicle.
Preferably, in the above method, the type of the event is parking of the electric vehicle, and the variation pattern of the output torque of the motor is: after the electric vehicle running speed is reduced to a value of 0 or close to 0, the output torque is gradually increased from a low point to a first set value, then is maintained around the first set value for a preset period of time, and finally is gradually decreased from the first set value to the low point.
Preferably, in the above method, the event is a type of switching the electric vehicle from the D range to the R range, and the variation pattern of the output torque of the motor is: after the electric vehicle is switched from the D range to the R range, the output torque is gradually reduced from a high point to a second set value, then is maintained around the second set value for a preset period of time, and finally is gradually increased from the second set value to the high point.
Preferably, in the above method, the type of the event is that the electric vehicle is switched from deceleration to acceleration on a slope, and the variation pattern of the output torque of the motor is: the output torque is gradually increased from a low point to the third set value when the electric vehicle running speed is reduced to 0 or a value close to 0, and is gradually decreased from the third set value to the low point when the electric vehicle running speed reaches the predetermined value.
Another object of the present invention is to provide a device for suppressing starting judder of an electric vehicle, which has the advantages of simple control and compatibility with the existing vehicle basic architecture.
An apparatus for suppressing starting judder of an electric vehicle according to an aspect of the present invention includes:
and the control module is used for responding to the occurrence of an event causing the clearance between the transmission gears, and enabling the output torque of the motor to undergo a change from a starting point to be larger or smaller and return to the starting point according to the type of the event, so that the shake of the electric automobile in the starting process is restrained by reducing the clearance between the transmission gears.
According to a further aspect of the invention, an apparatus for suppressing start-up judder in an electric vehicle comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the program is executed to implement the method as described above.
A computer-readable storage medium according to a further aspect of the invention, on which a computer program is stored which, when being executed by a processor, carries out the method as described above.
According to the invention, the gap between the transmission gears is reduced by controlling the output torque of the motor, thereby achieving the purpose of inhibiting the shake of the electric automobile when starting. Since the desired function can be realized only by modifying the control program of the vehicle control unit or the motor controller, the manufacturing cost is reduced and the development period is shortened. In addition, the change mode of the output torque can be conveniently realized by modifying the control program, so that good expansibility and performance upgrading potential can be provided at a lower cost level.
Drawings
The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings, in which like or similar elements are designated with like reference numerals. The drawings comprise:
fig. 1 shows an exemplary connection of an electric drive and control unit to a transmission unit in an electric vehicle.
Fig. 2 is a flowchart of a method for suppressing start shake of an electric vehicle according to an embodiment of the present invention.
3A-3C show timing diagrams of motor output torque corresponding to various event types.
Fig. 4 is a schematic block diagram of an apparatus for suppressing start shake of an electric vehicle according to another embodiment of the present invention.
Fig. 5 is a schematic block diagram of an apparatus for suppressing start shake of an electric vehicle according to still another embodiment of the present invention.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments described above are intended to provide a full and complete disclosure of the present invention to more fully convey the scope of the invention to those skilled in the art.
In the present specification, words such as "comprise" and "comprises" mean that, in addition to elements and steps directly and unequivocally stated in the specification and claims, the technical solution of the present invention does not exclude other elements and steps not directly or unequivocally stated.
Terms such as "first" and "second" do not denote an order of the elements in time, space, size, etc., but rather are used to distinguish one element from another.
"coupled" should be understood to include the situation where electrical energy or electrical signals are transferred directly between two units or indirectly through one or more third units.
According to one aspect of the present invention, when an event causing a gap between the transmission gears occurs, the output torque of the motor of the electric vehicle may be subjected to a change that becomes larger or smaller from a starting point (e.g., zero torque) and returns to the starting point, which can reduce the gap between the transmission gears, thereby achieving the purpose of suppressing the rattling at the time of starting the electric vehicle.
The event described herein refers to various types of events that cause the transmission gear backlash to occur, including, but not limited to, parking of the electric vehicle, switching of the electric vehicle from D range to R range, switching of the electric vehicle from deceleration to acceleration on a slope, and the like.
According to another aspect of the invention, the pattern of change in output torque varies with the type of event. For example, for the event type of parking the electric vehicle, the variation process of the output torque of the motor may be as follows: after the electric vehicle running speed is reduced to a speed value at or near 0, the output torque is gradually increased from a low point (e.g., zero torque) to a first set value, then is maintained around the first set value for a preset time period, and finally is gradually decreased from the first set value to the low point. For another example, for the event type of the electric vehicle switching from the D gear to the R gear, the variation process of the output torque of the motor may be as follows: after the electric vehicle is shifted from the D range to the R range, the output torque is gradually reduced from a high point (e.g., zero torque) to a second set value, then is maintained around the second set value for a preset period of time, and finally is gradually increased from the second set value to the high point. For example, for the type of event that the electric vehicle switches from deceleration to acceleration on a slope, the variation process of the output torque of the motor may be: the output torque is gradually increased from a low point (e.g., zero torque) to the third set value when the traveling speed of the electric vehicle is decelerated to 0 or one speed value close to 0, and is gradually decreased from the third set value to the low point when the traveling speed of the electric vehicle reaches a predetermined value.
It is to be noted that the above-described variation pattern of the output torque is merely exemplary, and various variation patterns capable of causing the output torque to undergo a variation process from a starting point to become larger or smaller and back to the starting point are available. The curves of the variation patterns include, but are not limited to, trapezoidal, triangular, and arc shapes, for example.
Fig. 1 shows an exemplary connection of an electric drive and control unit to a transmission unit in an electric vehicle. As shown in fig. 1, the electric driving and controlling unit 110 includes a motor 111, a battery 112, and a motor speed control device 113, wherein electric energy of the battery 112 is transmitted to the motor 111 to rotate the motor, and the motor speed control device 113 is used to control the rotation of the motor. The transmission unit 120 includes a transmission gear 121. As shown in fig. 1, the transmission gear 121 is coupled to an output shaft of the motor 111, so that an output torque of the motor is transmitted to a driving shaft, and the wheel is rotated.
Fig. 2 is a flowchart of a method for suppressing start shake of an electric vehicle according to an embodiment of the present invention. It should be noted that the method of the present embodiment may be implemented by using various processing devices, preferably, the device is a vehicle controller or a motor controller of an electric vehicle. The method of the present embodiment is described below, taking a vehicle controller or a motor controller as an example, in conjunction with an electric vehicle having the structure shown in fig. 1.
As shown in fig. 2, in step 201, a vehicle control unit or a motor controller acquires data about a driving speed of an electric vehicle. In this embodiment, the vehicle controller or the motor controller may communicate with the speed sensor via the CAN bus to obtain the speed signal.
Then, step 203 is entered, the vehicle controller or the motor controller determines whether the electric vehicle decelerates to 0 (or a speed value close to 0), if so, step 205 is entered, otherwise, step 201 is returned to.
In step 205, the vehicle controller or the motor controller further obtains other operating state parameters of the vehicle. In this embodiment, these status parameters may be obtained by sensors on the vehicle, including, for example, one or more of the following: brake pedal opening, accelerator pedal opening, travel grade, gear and the like.
Subsequently, step 207 is entered, and the vehicle controller or the motor controller matches the operating state parameters of the vehicle (such as the driving speed, the brake pedal opening, the accelerator pedal opening, the driving gradient, the gear position, etc.) with the templates of various event types. Table 1 exemplarily shows templates corresponding to various event types.
TABLE 1
| Speed of travel | Opening degree of brake pedal | Opening degree of accelerator pedal | Gear or gear change | Gradient of travel | |
| Parking device | 0 or Vmin | >20％ | 0％ | D | <4％ |
| Shifting | 0 or Vmin | >20％ | 0％ | D→R | <4％ |
| Ramp speed change | 0 or Vmin | >20％ | 0％ | D | ≥4％ |
According to the template shown in Table 1, when running on a flat road surface (running gradient)<4%) and a speed value V at or close to 0minWhen the opening degree of a brake pedal is more than 20 percent, the opening degree of an accelerator pedal is 0, and the gear is in a D gear, the electric automobile can be determined to be in a parking event; when driving on a flat road (gradient of travel)<4%) and a speed value V at or close to 0minWhen the opening degree of a brake pedal is greater than 20%, the opening degree of an accelerator pedal is 0, and the gear is switched from the D gear to the R gear, the electric automobile can be determined to be switched from the D gear to the R gear; a speed value V when driving on a slope (gradient ≧ 4%) and the driving speed is 0 or close to 0minWhen the opening degree of the brake pedal is more than 20 percent, the opening degree of the accelerator pedal is 0, and the gear is in the D gear, the electric automobile can be determined to be possible or occurring an event of switching from deceleration to acceleration on a slope.
Then, step 209 is entered, the vehicle controller or the motor controller determines whether an event type matching the template exists, if so, step 211 is entered, otherwise, step 201 is returned.
In step 211, the vehicle controller or the motor controller finds a change pattern of the corresponding output torque according to the event type matched with the template and controls the output torque of the motor according to the change pattern.
Taking the various event types shown in Table 1 as examples, the output torque of the motor may vary in the manner shown in FIG. 3A for a park event. Referring to fig. 3A, at a time a1, the driving speed of the electric vehicle on a flat road surface is reduced to 0, the brake pedal opening is greater than 20%, the accelerator pedal opening is 0 (not shown) and the gear is in the D range, and the vehicle controller or the motor controller determines that a parking event occurs, so that under the control of the vehicle controller or the motor controller, the output torque of the motor is gradually increased from 0Nm during a preset time period t1 from the time a1, and the output torque is substantially maintained (e.g., 2Nm) during a subsequent preset time period t2, and then, during the next preset time period t3, the output torque is gradually reduced until 0Nm (time a 2). After the output torque of the motor undergoes the change process shown in fig. 3A, the gap of the transmission gear is reduced, so that the shaking phenomenon is slowed down or even disappears when the electric vehicle starts next time. In this embodiment, the predetermined time periods t1-t3 may be different from each other, or may be partially or completely the same. Further, although in the case shown in fig. 3A, the starting position of the preset time period t1 is time a, this is not essential, but the starting position may also lag time a, i.e., some time after the parking event determination condition is satisfied.
For an event of switching from D range to R range, the output torque of the motor may vary in the form shown in fig. 3B. Referring to fig. 3B, at a time B1, the driving speed of the electric vehicle on a flat road surface is reduced to 0, the brake pedal opening is greater than 20%, the accelerator pedal opening is 0 (not shown) and the gear is switched from the D range to the R range, and the vehicle controller or the motor controller determines that an event of switching from the D range to the R range occurs, so that under the control of the vehicle controller or the motor controller, the output torque of the motor is gradually reduced from 0Nm during a preset time period t4 from the time B1, and the output torque is substantially maintained (for example, -2Nm) during a subsequent preset time period t5, and then, during the next preset time period t6, the output torque is gradually increased to 0Nm (time B2). After the output torque of the motor undergoes the variation process shown in fig. 3B, the backlash of the transmission gear caused by the gear shift will be reduced, so that the hunting phenomenon will be slowed down or even disappear when the electric vehicle is started next time. Similarly, in the embodiment, the preset time periods t4-t6 may be different from each other, or may be partially or completely the same.
It is to be noted that, in the case shown in fig. 3B, the electric vehicle has already undergone a parking event at a time B' prior to the time B1, and in response to this event, under the control of the vehicle controller or the motor controller, the motor output torque undergoes a change similar to that shown in fig. 3A. That is, in the present embodiment, the motor output torque can respond independently for each event.
When the vehicle runs on a slope, due to the action of gravity and possible slope slipping during starting of the slope, a non-constant gap exists between transmission gears when the motor starts to rotate, and therefore shaking is aggravated. This play can be reduced by varying the output torque of the motor in the form shown in fig. 3C. Referring to fig. 3C, at a time C1, the driving speed of the electric vehicle on the slope is reduced to 0, the brake pedal opening is greater than 20%, the accelerator pedal opening is 0 (not shown) and the gear is in the D range, the vehicle controller or the motor controller determines that an event of switching from deceleration to acceleration on the slope may occur or is about to occur, and thus the output torque of the motor is gradually increased from 0Nm during a preset time period t7 from the time C under the control of the vehicle controller or the motor controller and is substantially maintained (for example, 2Nm) after the preset time period t7 is over. Next, the electric vehicle starts accelerating, and when the running speed reaches a predetermined value Vc (time C2 in the drawing), the output torque of the motor is gradually reduced to 0Nm (time C3) within a preset time period t8 under the control of the vehicle controller or the motor controller. After the output torque of the motor undergoes the change process shown in fig. 3C, the starting shake of the electric vehicle will be reduced. Likewise, in the present embodiment, the preset time periods t7 and t8 may be the same or different.
After step 211 is performed, the method flow shown in fig. 2 returns to step 201.
It is to be noted that the event type, the determination condition or template of the event type, and the corresponding output torque variation pattern in the present embodiment are all exemplified. The principles of the present invention are equally applicable to various other events that produce transmission gear lash (e.g., switching from R range to D range), and various patterns of variation that can cause the output torque to undergo a course of variation that becomes larger or smaller from a starting point and reverts to the starting point when the event occurs can be used to reduce the transmission gear lash.
Fig. 4 is a schematic block diagram of an apparatus for suppressing start shake of an electric vehicle according to another embodiment of the present invention.
The apparatus 40 shown in fig. 4 comprises a memory 410, a processor 420 and a computer program 430 stored on the memory 410 and executable on the processor 420, wherein execution of the computer program 430 may implement the method for providing vehicle navigation services described above with reference to fig. 1, 2, 3A-3C.
In the present embodiment, the device 50 for suppressing the start shake of the electric vehicle may be a vehicle controller or a motor controller of the electric vehicle.
Fig. 5 is a schematic block diagram of an apparatus for suppressing start shake of an electric vehicle according to still another embodiment of the present invention.
The device 50 for suppressing the shaking at the start of the electric vehicle shown in fig. 5 includes a control module 510 for, in response to the occurrence of an event causing a gap between transmission gears, subjecting the output torque of the motor to a change that becomes larger or smaller from a starting point and returns to the starting point according to the type of the event, thereby suppressing the shaking at the start of the electric vehicle by reducing the gap between the transmission gears.
According to another aspect of the invention, there is also provided a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, is adapted to carry out the method for providing navigation services as described above with reference to fig. 1, 2, 3A-3C.
The embodiments and examples set forth herein are presented to best explain the embodiments in accordance with the present technology and its particular application and to thereby enable those skilled in the art to make and utilize the invention. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purpose of illustration and example only. The description as set forth is not intended to cover all aspects of the invention or to limit the invention to the precise form disclosed.
In view of the foregoing, the scope of the present disclosure is to be determined by the following claims.
Claims (10)
1. A method for suppressing start rattle of an electric vehicle including a motor and a transmission gear coupled to an output shaft of the motor, comprising the steps of:
in response to the occurrence of an event causing a gap between the transmission gears, the output torque of the motor undergoes a change that becomes larger or smaller from a starting point and returns to the starting point according to the type of the event, thereby suppressing a judder at the time of starting of the electric vehicle by reducing the gap between the transmission gears.
2. The method of claim 1, wherein the type of event comprises at least one of: the method comprises the following steps of parking the electric automobile, switching the electric automobile from a D gear to an R gear and switching the electric automobile from deceleration to acceleration on a slope.
3. The method of claim 1, wherein the type of the event is determined according to a brake pedal opening, an accelerator pedal opening, a driving speed, a driving gradient, and a gear of the electric vehicle.
4. The method of claim 2, wherein the type of event is electric vehicle parking, and the pattern of change in the output torque of the motor is: after the electric vehicle running speed is reduced to a value of 0 or close to 0, the output torque is gradually increased from a low point to a first set value, then is maintained around the first set value for a preset period of time, and finally is gradually decreased from the first set value to the low point.
5. The method according to claim 2, wherein the type of the event is that the electric vehicle is switched from the D range to the R range, and the change pattern of the output torque of the motor is: after the electric vehicle is switched from the D range to the R range, the output torque is gradually reduced from a high point to a second set value, then is maintained around the second set value for a preset period of time, and finally is gradually increased from the second set value to the high point.
6. The method according to claim 2, wherein the type of the event is that the electric vehicle is switched from deceleration to acceleration on a slope, and the change pattern of the output torque of the motor is: the output torque is gradually increased from a low point to the third set value when the electric vehicle running speed is reduced to 0 or a value close to 0, and is gradually decreased from the third set value to the low point when the electric vehicle running speed reaches the predetermined value.
7. An apparatus for suppressing start shake of an electric vehicle, comprising:
and the control module is used for responding to the occurrence of an event causing the clearance between the transmission gears, and enabling the output torque of the motor to undergo a change from a starting point to be larger or smaller and return to the starting point according to the type of the event, so that the shake of the electric automobile in the starting process is restrained by reducing the clearance between the transmission gears.
8. An apparatus for suppressing electric vehicle launch judder comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the program is executed to implement the method according to any of claims 1-6.
9. The apparatus of claim 8, wherein the apparatus is a vehicle controller or a motor controller of an electric vehicle.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method of any one of claims 1-6.
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