CN110857670B - Automobile driving force control method and electronic equipment - Google Patents
Automobile driving force control method and electronic equipment Download PDFInfo
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- CN110857670B CN110857670B CN201810979213.1A CN201810979213A CN110857670B CN 110857670 B CN110857670 B CN 110857670B CN 201810979213 A CN201810979213 A CN 201810979213A CN 110857670 B CN110857670 B CN 110857670B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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Abstract
The invention discloses an automobile driving force control method and electronic equipment, wherein the automobile driving force control method comprises the following steps: acquiring a current vehicle speed, a current accelerator opening, a current sliding resistance and a rotating quality equivalent factor of each gear; acquiring a target acceleration according to the current vehicle speed and the current accelerator opening; acquiring a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear; controlling the gear of a transmission of the automobile according to the target gear; and calculating and outputting the target engine torque according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear. The invention can control the engine torque output by the automobile by taking the target acceleration required by the driver as a target, thereby giving the automobile proper driving force, enabling the acceleration of the automobile to be the acceleration required by the driver, and accurately adapting to the driving requirement of the driver.
Description
Technical Field
The present invention relates to the field of vehicle driving, and in particular, to a method for controlling vehicle driving force and an electronic device.
Background
With the development of national economy, automobiles have become increasingly popular in people's lives. The running of the automobile needs to be realized by the rotation of the wheels, and the smooth rotation of the wheels under different road conditions needs the engine to output proper engine torque so as to provide proper driving force for the wheels. Whether the engine torque output by the engine meets the driver's demand will affect the driver's driving experience.
At present, the engine torque of an automobile is generally determined by the accelerator opening and the engine speed, the engine torque is generally determined by inquiring a preset torque meter, and although the preset torque meter can basically meet the driving requirement of a driver, the setting of the torque meter needs accurate calibration and debugging and cannot be suitable for the driving requirement of the driver.
Disclosure of Invention
The embodiment of the invention provides an automobile driving force control method and electronic equipment, and aims to solve the technical problem that in the prior art, the output of automobile engine torque cannot accurately adapt to the driving requirement of a driver.
In order to solve the above technical problem, an embodiment of the present invention provides a method for controlling a driving force of an automobile, including:
acquiring a current vehicle speed, a current accelerator opening, a current sliding resistance and a rotating quality equivalent factor of each gear;
acquiring a target acceleration according to the current vehicle speed and the current accelerator opening;
acquiring a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating quality equivalent factor of each gear;
controlling the transmission gear of the automobile according to the target gear;
and calculating and outputting target engine torque according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear.
In the method for controlling the driving force of the automobile, the target acceleration required by the driver is obtained before the engine torque is output, and the calculated target gear and the calculated target engine torque are output by the relevant control unit by taking the target acceleration as a known condition when the power parameter is calculated, so that the acceleration of the automobile is the target acceleration meeting the driving requirement of the driver, and further the appropriate driving force is given to the automobile, so that the acceleration of the automobile is the acceleration required by the driver, and the driving requirement of the driver is accurately met.
Further, the obtaining a target acceleration according to the current vehicle speed and the current accelerator opening degree includes:
acquiring acceleration corresponding to the current vehicle speed and the current accelerator opening in a pre-established accelerometer as the target acceleration; the pre-established accelerometer comprises a corresponding relation among the vehicle speed, the accelerator opening and the acceleration.
With the arrangement, the automobile driving force control method provided by the invention can quickly acquire the target acceleration by inquiring the accelerometer.
Further, the condition that the corresponding relation among the vehicle speed, the accelerator opening and the acceleration in the pre-established accelerometer satisfies includes:
the accelerator opening, the vehicle speed, and the acceleration satisfy the formula α ═ (k)a×a0+k0)×v+a0(ii) a Wherein α is the acceleration, kaFactor that the acceleration varies with the initial acceleration, a0Is an initial acceleration, k0A fixed factor, v being the vehicle speed;
and when the vehicle speed is in the creep vehicle speed range, the accelerator opening and the acceleration satisfy the formula alpha-kpp; wherein k ispIs a factor of the acceleration varying with the accelerator opening, and p is the accelerator opening.
In such a configuration, the method for controlling the driving force of the automobile provided by the invention has the following two conditions that the arranged accelerometer simultaneously meets the following two conditions: the first condition is as follows: under the same accelerator opening, the variation of the acceleration in unit time is kept unchanged; and a second condition: under the same vehicle speed, the acceleration changes linearly along with the change of the opening degree of the accelerator; the driver can feel the change characteristic of the acceleration conveniently, and the operation and control of the driver on the automobile are facilitated.
Further, the obtaining a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear includes:
calculating the maximum wheel end power corresponding to each gear under the current road condition according to the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear;
calculating the power of a target wheel end according to the target acceleration and the current vehicle speed;
and respectively comparing the target wheel end power with the maximum wheel end power corresponding to each gear, thereby determining the target gear.
Further, the calculating the maximum wheel end power corresponding to each gear under the current road condition according to the current vehicle speed, the current sliding resistance and the equivalent factor of the rotating mass of each gear includes:
calculating the rotating speed of the engine at the current speed corresponding to each gear according to the current speed;
obtaining the maximum power of the engine corresponding to each gear according to the rotating speed of the engine at the current speed corresponding to each gear;
and calculating the maximum wheel end power corresponding to each gear under the current road condition according to the maximum power of the engine corresponding to each gear, the current sliding resistance and the rotating mass equivalent factor of each gear.
Further, the comparing the target wheel end power with the maximum wheel end power corresponding to each gear respectively to determine the target gear includes:
comparing the target wheel end power with the maximum wheel end power corresponding to each gear respectively;
if the maximum wheel end power which is not less than the target wheel end power is contained in each gear, acquiring the highest gear of which the maximum wheel end power is not less than the target wheel end power in each gear, and taking the highest gear as the target gear;
and if the maximum wheel end power corresponding to each gear is smaller than the target wheel end power, taking the lowest gear as the target gear.
In this way, the method for controlling the driving force of the automobile provided by the invention can ensure that the actual wheel end power reaches the target wheel end power when a plurality of automobile gears capable of meeting the target acceleration exist, and can avoid that the actual wheel end power of the automobile is smaller than the theoretical target wheel end power due to other factors to the greatest extent.
Further, the controlling the transmission gear of the automobile according to the target gear comprises the following steps:
acquiring a current gear and judging whether the current gear is the same as the target gear or not;
if the current gear is the same as the target gear, controlling the transmission gear to keep the current gear unchanged;
and if the current gear is different from the target gear, controlling the transmission gear to be converted from the current gear to the target gear.
Further, the calculating and outputting the target engine torque includes:
acquiring a current gear shifting state;
if the current gear shifting state is the gear shifting state, determining the target engine torque according to the gear shifting quality of the automobile;
and if the current gear shifting state is a non-gear shifting state, calculating target engine power according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear, and calculating and outputting the target engine torque according to the target engine power.
By the arrangement, the automobile driving force control method provided by the invention can execute the target gear and the target engine torque which are suitable for the driving requirements of a driver, and can relieve jolt and impact generated when the automobile runs in the gear shifting process when the automobile is shifting, so that the gear shifting process is in smooth transition, and the abrasion of elements is reduced.
Further, the obtaining a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear includes:
obtaining the equivalent factor of the rotating mass of each gear by the following formula:
wherein, deltagM (unit: kg) is the vehicle reference mass, r (unit: m) is the rolling radius of the vehicle tire, I is the rotating mass equivalence factorW(unit: kg. m)2) Is the moment of inertia of the wheel, Ip(unit: kg. m)2) Is the moment of inertia of the powertrain, i0Is a main gear ratio, igIs the speed of the speed changerA ratio;
the engine speed at the current vehicle speed corresponding to each gear is respectively calculated by the following formula:
wherein n isvg(unit: r/min) is the engine speed at the current vehicle speed, and v (unit: Km/h) is the current vehicle speed;
obtaining the maximum power of the engine corresponding to each gear according to the rotating speed of the engine at the current speed corresponding to each gear;
calculating the maximum wheel end power corresponding to each gear under the current road condition by the following formula:
wherein, PWvg(unit: KW) is maximum wheel end power, PEMvg(unit: KW) is the maximum power of the engine, Fv(unit: N) is the current sliding resistance, and η is transmission efficiency of the transmission;
calculating the target wheel end power by the following formula:
Pvg＝ma1v+Fvv，
wherein, Pvg(unit: KW) is target wheel end power, a1(unit: m/s)2) Is the target acceleration;
comparing the maximum wheel end power corresponding to each gear with the target wheel end power respectively;
if the maximum wheel end power which is not less than the target wheel end power is contained in each gear, acquiring the highest gear of which the maximum wheel end power is not less than the target wheel end power in each gear, and taking the highest gear as the target gear;
if the maximum wheel end power corresponding to each gear is smaller than the target wheel end power, taking the lowest gear as a target gear;
the calculating and outputting the target engine torque includes:
acquiring a current gear shifting state;
if the current gear shifting state is the gear shifting state, determining the target engine torque according to the gear shifting quality of the automobile;
if the current shift state is a non-shifting state, calculating the target engine power by the following formula:
wherein, PEvg(unit: KW) is the target engine power;
calculating the target engine torque by the following formula and outputting:
wherein, TEvg(unit: N.m) is the target engine torque, NEThe (unit: r/min) is the current engine speed, and k is a constant.
Accordingly, an embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the method for controlling the driving force of the vehicle as described above is implemented.
The embodiment of the invention has the beneficial effects that: the embodiment of the invention provides a method for controlling automobile driving force and electronic equipment, which can acquire target acceleration required by a driver according to the current speed and the current accelerator opening degree, and control the engine torque output by an automobile by taking the target acceleration as a target, so that proper driving force is given to the automobile, the acceleration of the automobile is taken as the acceleration required by the driver, and the driving requirement of the driver is accurately met.
Drawings
Fig. 1 is a flowchart of a method for controlling a driving force of an automobile according to a first embodiment of the present invention;
FIG. 2 is a flow diagram for one embodiment of step S130 in FIG. 1;
FIG. 3 is a flowchart of one embodiment of step S131 in FIG. 2;
FIG. 4 is a flowchart of one embodiment of step S133 of FIG. 2;
FIG. 5 is a flowchart of one embodiment of step S140 of FIG. 1;
FIG. 6 is a flowchart of one embodiment of the steps for calculating and outputting the target engine torque in the embodiment of FIG. 1;
FIG. 7 is a flowchart of one embodiment of step S130 of FIG. 1;
FIG. 8 is a flowchart of one embodiment of step S150 in FIG. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, fig. 1 is a flowchart of a method for controlling driving force of an automobile according to an embodiment of the present invention. Specifically, the present embodiment provides a method for controlling a driving force of an automobile, including:
s110, obtaining a current vehicle speed, a current accelerator opening, a current sliding resistance and a rotation quality equivalent factor of each gear;
the current speed refers to the speed of the automobile when the automobile does not output the target engine torque; the target engine torque refers to an engine torque that can give the vehicle appropriate driving force to meet the driving demand of the driver; the current accelerator opening degree is an opening degree of an accelerator pedal for controlling a throttle opening degree to output a target engine torque; the current sliding resistance refers to the resistance of the automobile on the road condition when the automobile does not output the target engine torque; the rotating mass equivalent factor of each gear is determined by calculation in advance.
S120, acquiring a target acceleration according to the current vehicle speed and the current accelerator opening;
the target acceleration is an acceleration that meets the driving demand of the driver.
Specifically, according to the current speed of the automobile and the current accelerator opening operated by the driver, the target acceleration required by the driver can be obtained, the power output parameter of the automobile can be set by aiming at achieving the target acceleration, and finally the automobile is controlled to output the engine torque which is suitable for the driving requirement of the driver, so that the acceleration required by the driver is given.
Optionally, the method for obtaining the target acceleration required by the driver may be in various forms, and is not limited herein, for example, the target acceleration may be obtained by calculating according to a set formula in real time, or may be obtained by querying preset related data. In various acquisition modes, when a specific target acceleration numerical value is determined, the numerical value can be adjusted according to the driving style of the driver, so that the driving requirements of different drivers are met in a targeted manner.
S130, acquiring a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear;
the target gear refers to a gear of the automobile which is most suitable for the driving requirement of the driver.
Specifically, when the target gear is specifically determined according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear, if a plurality of automobile gears capable of meeting the target acceleration exist, the target gear can be determined from the automobile gears according to the preference of a driver.
S140, controlling the transmission gear of the automobile according to the target gear;
specifically, the transmission gear of the automobile needs to be determined to be the same gear as the target gear.
And S150, calculating and outputting a target engine torque according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear.
Specifically, according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear, relevant power parameters can be obtained, and then a target engine torque is calculated, after the target engine torque is output, the acceleration of the automobile is the target acceleration, and the driving requirement of a driver is met.
Preferably, the obtaining of the target acceleration according to the current vehicle speed and the current accelerator opening degree includes:
acquiring acceleration corresponding to the current vehicle speed and the current accelerator opening in a pre-established accelerometer as the target acceleration; the pre-established accelerometer comprises a corresponding relation among the vehicle speed, the accelerator opening and the acceleration.
Specifically, the target acceleration is obtained by querying a pre-established accelerometer, and the pre-established accelerometer is provided with a plurality of values of vehicle speed, a plurality of values of accelerator opening, and a plurality of values of acceleration corresponding to the vehicle speed and the accelerator opening. When the current vehicle speed and the current accelerator opening degree are determined, the acceleration meeting the driving requirement of the driver can be inquired according to the corresponding relation and is used as the target acceleration.
Alternatively, the degree of change in the acceleration when the vehicle speed and/or the accelerator opening degree are changed may be determined according to the driving style of the driver. That is, the acceleration change amount caused by the same vehicle speed change amount or the same accelerator opening change amount may be set according to the driving style of the driver.
Optionally, in order to facilitate the driver's control of the vehicle operation, the accelerometer may be set to simultaneously satisfy the following two conditions:
the first condition is as follows: under the same accelerator opening, the variation of the acceleration in unit time is kept unchanged;
and a second condition: under the same vehicle speed, the acceleration changes linearly along with the change of the opening degree of the accelerator.
Preferably, the condition that the corresponding relation among the vehicle speed, the accelerator opening degree and the acceleration in the pre-established accelerometer satisfies includes:
the accelerator opening, the vehicle speed, and the acceleration satisfy the formula α ═ (k)a×a0+k0)×v+a0(ii) a Wherein α is the acceleration, kaFactor that the acceleration varies with the initial acceleration, a0Is an initial acceleration, k0A fixed factor, v being the vehicle speed;
and when the vehicle speed is in the creep vehicle speed range, the accelerator opening and the acceleration satisfy the formula alpha-kpp; wherein k ispIs a factor of the acceleration varying with the accelerator opening, and p is the accelerator opening.
Specifically, in order to satisfy the first condition, the acceleration values at different vehicle speeds in the accelerometer are represented by the formula α ═ (k) at the same accelerator opening degreea×a0+k0)×v+a0Determining; in order to meet the second condition, under the condition that the same vehicle speed is the creep vehicle speed (6 km/h-8 km/h), the acceleration values under different accelerator opening degrees in the accelerometer are represented by a formula alpha-kpAnd p is determined.
It should be noted that any value of vehicle speed satisfies the second condition, and only when an accelerometer is provided, the formula α is (k)a×a0+k0)×v+a0Determining acceleration values of different vehicle speeds under the same accelerator opening degree, and using a formula alpha-kpAnd p, after the acceleration values of different accelerator opening degrees under the same creep vehicle speed are determined, the acceleration values of different accelerator opening degrees under other vehicle speeds automatically meet the second condition in the established accelerometer.
kaAnd k0The values of (A) are preset, and k suitable for most people can be set according to subjective evaluationaAnd k0。kpCan be determined according to the driving style, e.g. k when the driving style is in a comfort modepTake 0.6km/s210% represents the accelerator opening in comfort modeAcceleration changes by 0.6km/s for every 10% change2(ii) a When the driving style is the normal mode, kp1.0km/s is taken2Per 10%, which means that the acceleration changes by 1.0km/s every 10% change in the accelerator opening degree in the comfort mode2(ii) a When the driving style is the sport mode, kp1.5km/s2Per 10%, which means that the acceleration changes by 1.5km/s every 10% change in the accelerator opening degree in the comfort mode2。
Optionally, in order to kaAnd k0Setting up the requirement, k, more close to most peopleaThe value is k is more than or equal to-0.002 x 0.8aPreferably less than or equal to-0.002X 1.2, k0The value is k is more than or equal to-0.016 multiplied by 0.8aPreferably less than or equal to-0.016 multiplied by 1.2.
E.g. preset kaThe value is-0.002, k0The value is-0.016, kp1.0km/s in the normal mode210%, an accelerometer as in table 1 can be established:
TABLE 1
The numerical calculation of the acceleration in table 1 is illustrated below:
example 1, acceleration at vehicle speeds of 20km/h, 80km/h, and 100km/h, respectively, when the accelerator opening was calculated to be 50%:
1) v is 20km/h, α is (-0.002 × 5.18-0.016) × 20+5.18 is 4.66m/s2；
2) v is 80km/h, then α is (-0.002 × 5.18-0.016) × 80+5.18 is 3.0712m/s2；
3) v is 100km/h, then α is (-0.002 × 5.18-0.016) × 100+5.18 is 2.544m/s2；
Example 2, acceleration at vehicle speeds of 40km/h, 60km/h, and 150km/h, respectively, was calculated for an accelerator opening of 70%:
1) v is 40km/h, then α is (-0.002 × 7.21-0.016) × 40+7.21 is 5.99m/s2；
2) v is 60km/h, then α is (-0.002 × 7.21-0.016) × 50+7.21 is 5.38m/s2；
3) When v is 150km/h, α is (-0.002 × 7.21-0.016) × 150+7.21 is 2.65m/s2；
Example 3, acceleration when the accelerator opening degree is 10% and 20% when v is 20km/h is calculated:
1)α＝1.0km/s2/10％×10％＝1.0m/s2；
1)α＝1.0km/s2/10％×20％＝2.0m/s2；
it should be noted that the values in table 1 may be approximate values of theoretical values, and may not be completely equal to the theoretical values, which does not affect the specific implementation of the present embodiment.
Referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of step S130 in fig. 1. Preferably, the obtaining a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear includes:
s131, calculating the maximum wheel end power corresponding to each gear under the current road condition according to the current vehicle speed, the current sliding resistance and the rotating quality equivalent factor of each gear;
referring to fig. 3, fig. 3 is a flowchart illustrating an embodiment of step S131 in fig. 2. Further, the step S131 may be implemented by:
s1311, calculating the rotating speed of the engine at the current vehicle speed corresponding to each gear according to the current vehicle speed;
s1312, acquiring the maximum power of the engine corresponding to each gear according to the rotating speed of the engine at the current speed corresponding to each gear;
s1313, calculating the maximum wheel end power corresponding to each gear under the current road condition according to the maximum power of the engine corresponding to each gear, the current sliding resistance and the rotating mass equivalent factor of each gear.
S132, calculating target wheel end power according to the target acceleration and the current vehicle speed;
the target wheel end power is the wheel end power required by the automobile to reach the target acceleration under the current road condition.
And S133, respectively comparing the target wheel end power with the maximum wheel end power corresponding to each gear, so as to determine the target gear.
Referring to fig. 4, fig. 4 is a flowchart illustrating an embodiment of step S133 in fig. 2. Further, the step S133 may be implemented by:
s1331, comparing the target wheel end power with the maximum wheel end power corresponding to each gear respectively;
s1332, if the maximum wheel end power which is not less than the target wheel end power is contained in each gear, obtaining the highest gear of which the maximum wheel end power is not less than the target wheel end power in each gear, and taking the highest gear as the target gear;
specifically, if there are multiple automobile gears that can meet the target acceleration, the highest gear is preferably used as the target gear in order to ensure that the actual wheel end power reaches the target wheel end power and avoid that the actual wheel end power reached by the automobile is smaller than the theoretical target wheel end power due to other factors.
It should be noted that the highest gear refers to a gear with the maximum wheel end power, from among gears with the maximum wheel end power not less than the target wheel end power.
And S1333, if the maximum wheel end power corresponding to each gear is smaller than the target wheel end power, taking the lowest gear as the target gear.
It should be noted that the lowest gear does not refer to the sequence of the numbers or letters in the automobile gear nomenclature, but refers to a starting gear (or a low gear), generally speaking, in the manual gear, the lowest gear refers to a first gear, in the automatic gear, the lowest gear refers to an L gear, and other starting gears can be set according to actual conditions.
Referring to fig. 5, fig. 5 is a flowchart illustrating an embodiment of step S140 in fig. 1. Preferably, the controlling of the transmission gear of the automobile according to the target gear comprises:
s141, acquiring a current gear, and judging whether the current gear is the same as the target gear;
s142, if the current gear is the same as the target gear, controlling the transmission gear to keep the current gear unchanged;
s143, if the current gear is different from the target gear, controlling the transmission gear to be converted from the current gear to the target gear.
Referring to FIG. 6, FIG. 6 is a flowchart of one embodiment of the steps for calculating and outputting the target engine torque of the embodiment of FIG. 1. Preferably, the calculating and outputting the target engine torque includes:
s61, acquiring the current gear shifting state;
s62, if the current gear shifting state is the gear shifting state, determining the target engine torque according to the automobile gear shifting quality;
the gear shifting quality refers to smoothness of a gear shifting process, namely an index indicating that the gear shifting process is carried out stably and without impact, when the automobile is in a gear shifting state, the target engine torque is determined according to the gear shifting quality of the automobile, so that jolt and impact of the automobile in the gear shifting process can be relieved, the gear shifting process is in stable transition, and abrasion of elements is reduced.
And S63, if the current gear shifting state is a non-gear shifting state, calculating a target engine power according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear, and calculating and outputting the target engine torque according to the target engine power.
The non-shifting state indicates that the vehicle does not need to be shifted or the shifting is finished, that is, the current gear is the target gear.
Referring to fig. 7 and 8, fig. 7 is a flowchart illustrating an embodiment of step S130 in fig. 1, and fig. 8 is a flowchart illustrating an embodiment of step S150 in fig. 1.
Preferably, the obtaining a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear includes:
s71, obtaining the rotating mass equivalent factor of each gear by the following formula:
wherein, deltagM (unit: kg) is the vehicle reference mass, r (unit: m) is the rolling radius of the vehicle tire, I is the rotating mass equivalence factorW(unit: kg. m)2) Is the moment of inertia of the wheel, Ip(unit: kg. m)2) Is the moment of inertia of the powertrain, i0Is a main gear ratio, igIs the transmission speed ratio;
s72, respectively calculating the engine speed at the current vehicle speed corresponding to each gear by the following formula:
wherein n isvg(unit: r/min) is the engine speed at the current vehicle speed, and v (unit: Km/h) is the current vehicle speed;
s73, acquiring the maximum power of the engine corresponding to each gear according to the rotating speed of the engine at the current speed corresponding to each gear;
s74, calculating the maximum wheel end power corresponding to each gear under the current road condition through the following formula:
wherein, PWvg(unit: KW) is maximum wheel end power, PEMvg(unit: KW) is the maximum power of the engine, Fv(unit: N) is the current sliding resistance, and η is transmission efficiency of the transmission;
s75, calculating the target wheel end power through the following formula:
Pvg＝ma1v+Fvv，
wherein, Pvg(unit: KW) is target wheel end power, a1(unit: m/s)2) Is the target acceleration;
s76, comparing the maximum wheel end power corresponding to each gear with the target wheel end power respectively;
s77, if the maximum wheel end power which is not less than the target wheel end power is contained in each gear, acquiring the highest gear of which the maximum wheel end power is not less than the target wheel end power in each gear, and taking the highest gear as the target gear;
s78, if the maximum wheel end power corresponding to each gear is smaller than the target wheel end power, taking the lowest gear as a target gear;
the calculating and outputting the target engine torque includes:
s81, acquiring the current gear shifting state;
s82, if the current gear shifting state is the gear shifting state, determining the target engine torque according to the automobile gear shifting quality;
s83, if the current shift state is a non-shifting state, calculating a target engine power by the following equation:
wherein, PEvg(unit: KW) is the target engine power;
calculating the target engine torque by the following formula and outputting:
wherein, TEvg(unit: N.m) is the target engine torque, NEThe (unit: r/min) is the current engine speed, and k is a constant.
Where k can take 9549 or other approximations such as 9550.
It should be noted that the units of the above formulas are only default units of the present embodiment, and in specific implementation, the results can be obtained by performing corresponding conversion as needed.
When the method is specifically implemented, a relevant unit of an automobile acquires the current speed, the current accelerator opening, the current sliding resistance and the rotating quality equivalent factors of all gears; acquiring a target acceleration according to the current vehicle speed and the current accelerator opening; acquiring a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating quality equivalent factor of each gear; a Transmission Control Unit (TCU) controls a transmission gear of the vehicle according to the target gear; and an Electronic Control Unit (ECU) of the engine calculates a target engine torque and controls the output of the target engine torque according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear.
According to the technical scheme, the target acceleration required by the driver can be acquired according to the current speed and the current accelerator opening, and the engine torque output by the automobile is controlled by taking the target acceleration as a target, so that the automobile is given appropriate driving force, the acceleration of the automobile is the acceleration required by the driver, and the driving requirement of the driver is accurately adapted.
Example two
In order to solve the same technical problem, an embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the automobile driving force control method according to the first embodiment when executing the computer program. The working principle is as described above, and is not described herein again.
Specifically, the electronic device may be one or more processors and memories, and the electronic device may be a computer, a tablet, an all-in-one machine including each control device of the automobile, and the like, and may be configured to execute the automobile driving force control method described in the first embodiment.
The electronic device of the embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor implements the steps of the method for controlling the driving force of the vehicle according to any one of the embodiments described above when executing the computer program, for example, step S110 shown in fig. 1, and acquires the current vehicle speed, the current accelerator opening, the current coasting resistance, and the equivalent factor of the rotational mass of each gear. Alternatively, the processor implements the functions of the modules in the above device embodiments when executing the computer program.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the electronic device.
The electronic equipment can be a computer, a tablet computer, an all-in-one machine containing each control device of the automobile and the like. The electronic device may include, but is not limited to, a processor, a memory.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the electronic device and that connects the various parts of the overall electronic device using various interfaces and wires.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the electronic device by running or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the integrated module/unit of the electronic device can be stored in a computer readable storage medium if it is implemented in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, the invention can realize all or part of the flow in the automobile driving force control method provided by any one of the above embodiments, and can also be completed by instructing relevant hardware through a computer program, which can be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the automobile driving force control method provided by any one of the above embodiments can be realized. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that, in the drawings of the embodiments of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A vehicle driving force control method characterized by comprising:
acquiring a current vehicle speed, a current accelerator opening, a current sliding resistance and a rotating quality equivalent factor of each gear;
acquiring a target acceleration according to the current vehicle speed and the current accelerator opening;
acquiring a target gear according to the target acceleration, the current vehicle speed, the current sliding resistance and the rotating quality equivalent factor of each gear;
controlling the transmission gear of the automobile according to the target gear;
calculating and outputting a target engine torque according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear;
the rotating mass equivalent factor of each gear is obtained by the following formula:
δgis the rotating mass equivalent factor, m is the vehicle reference mass, r is the rolling radius of the vehicle tire, IWIs the moment of inertia of the wheel, IpIs the moment of inertia of the power assembly，i0Is a main gear ratio, igIs the variator ratio.
2. The vehicular drive force control method according to claim 1, wherein the acquiring of the target acceleration based on the current vehicle speed and the current accelerator opening degree includes:
acquiring acceleration corresponding to the current vehicle speed and the current accelerator opening in a pre-established accelerometer as the target acceleration; the pre-established accelerometer comprises a corresponding relation among the vehicle speed, the accelerator opening and the acceleration.
3. The vehicular drive force control method according to claim 2, wherein the condition satisfied by the correspondence relationship of the vehicle speed, the accelerator opening degree, and the acceleration in the pre-established accelerometer includes:
the accelerator opening, the vehicle speed, and the acceleration satisfy the formula α ═ (k)a×a0+k0)×v+a0(ii) a Wherein α is the acceleration, kaFactor that the acceleration varies with the initial acceleration, a0Is an initial acceleration, k0A fixed factor, v being the vehicle speed;
and when the vehicle speed is in the creep vehicle speed range, the accelerator opening and the acceleration satisfy the formula alpha-kpp; wherein k ispIs a factor of the acceleration varying with the accelerator opening, and p is the accelerator opening.
4. The vehicular drive force control method according to claim 1, wherein the acquiring of the target gear based on the target acceleration, the current vehicle speed, the current coasting resistance, and the rotating mass equivalent factor of each gear, comprises:
calculating the maximum wheel end power corresponding to each gear under the current road condition according to the current vehicle speed, the current sliding resistance and the rotating mass equivalent factor of each gear;
calculating the power of a target wheel end according to the target acceleration and the current vehicle speed;
respectively comparing the target wheel end power with the maximum wheel end power corresponding to each gear, so as to determine the target gear;
the maximum wheel end power corresponding to each gear under the current road condition is calculated by the following formula:
PWvgat maximum wheel end power, PEMvgIs the maximum power of the engine, FvEta is the transmission transfer efficiency of the transmission for the current sliding resistance;
the target wheel end power is calculated by the following formula:
Pvg＝ma1v+Fvv，
Pvgis the target wheel end power, a1Is the target acceleration.
5. The method for controlling driving force of an automobile according to claim 4, wherein the calculating the maximum wheel-end power corresponding to each gear under the current road condition according to the current vehicle speed, the current sliding resistance and the equivalent factor of the rotating mass of each gear includes:
calculating the rotating speed of the engine at the current speed corresponding to each gear according to the current speed;
obtaining the maximum power of the engine corresponding to each gear according to the rotating speed of the engine at the current speed corresponding to each gear;
and calculating the maximum wheel end power corresponding to each gear under the current road condition according to the maximum power of the engine corresponding to each gear, the current sliding resistance and the rotating mass equivalent factor of each gear.
6. The vehicular drive force control method according to claim 4, wherein the determining the target gear by comparing the target wheel-end power with the maximum wheel-end powers corresponding to the respective gears, respectively, comprises:
comparing the target wheel end power with the maximum wheel end power corresponding to each gear respectively;
if the maximum wheel end power which is not less than the target wheel end power is contained in each gear, acquiring the highest gear of which the maximum wheel end power is not less than the target wheel end power in each gear, and taking the highest gear as the target gear;
and if the maximum wheel end power corresponding to each gear is smaller than the target wheel end power, taking the lowest gear as the target gear.
7. The vehicular drive force control method according to claim 1, wherein the controlling of the transmission range of the automobile in accordance with the target range includes:
acquiring a current gear and judging whether the current gear is the same as the target gear or not;
if the current gear is the same as the target gear, controlling the transmission gear to keep the current gear unchanged;
and if the current gear is different from the target gear, controlling the transmission gear to be converted from the current gear to the target gear.
8. The vehicular drive force control method according to any one of claims 1 to 7, wherein the calculating and outputting the target engine torque includes:
acquiring a current gear shifting state;
if the current gear shifting state is the gear shifting state, determining the target engine torque according to the gear shifting quality of the automobile;
and if the current gear shifting state is a non-gear shifting state, calculating target engine power according to the current vehicle speed, the target acceleration, the current sliding resistance and the rotating mass equivalent factor under the target gear, and calculating and outputting the target engine torque according to the target engine power.
9. The vehicular drive force control method according to any one of claims 1 to 3, wherein the acquiring of the target gear based on the target acceleration, the current vehicle speed, the current coasting resistance, and the rotation mass equivalent factor of each gear includes:
acquiring the rotating quality equivalent factor of each gear;
the engine speed at the current vehicle speed corresponding to each gear is respectively calculated by the following formula:
wherein n isvgIs the engine speed at the current vehicle speed, and v is the current vehicle speed;
obtaining the maximum power of the engine corresponding to each gear according to the rotating speed of the engine at the current speed corresponding to each gear;
calculating the maximum wheel end power corresponding to each gear under the current road condition by the following formula:
wherein, PWvgAt maximum wheel end power, PEMvgIs the maximum power of the engine, FvEta is the transmission transfer efficiency of the transmission for the current sliding resistance;
calculating the target wheel end power by the following formula:
Pvg＝ma1v+Fvv，
wherein, PvgIs the target wheel end power, a1Is the target acceleration;
comparing the maximum wheel end power corresponding to each gear with the target wheel end power respectively;
if the maximum wheel end power which is not less than the target wheel end power is contained in each gear, acquiring the highest gear of which the maximum wheel end power is not less than the target wheel end power in each gear, and taking the highest gear as the target gear;
if the maximum wheel end power corresponding to each gear is smaller than the target wheel end power, taking the lowest gear as a target gear;
the calculating and outputting the target engine torque includes:
acquiring a current gear shifting state;
if the current gear shifting state is the gear shifting state, determining the target engine torque according to the gear shifting quality of the automobile;
if the current shift state is a non-shifting state, calculating the target engine power by the following formula:
wherein, PEvgIs the target engine power;
calculating the target engine torque by the following formula and outputting:
wherein, TEvgFor the target engine torque, nEK is a constant value for the current engine speed.
10. An electronic apparatus, characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the automobile driving force control method according to any one of claims 1 to 9 when executing the computer program.
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| CN112503170B (en) * | 2020-11-25 | 2022-04-15 | 湖南行必达网联科技有限公司 | Starting gear decision method for mechanical automatic transmission |
| CN115056797A (en) * | 2021-03-08 | 2022-09-16 | 长沙智能驾驶研究院有限公司 | Vehicle control method, device, equipment and computer storage medium |
| CN113217622A (en) * | 2021-05-07 | 2021-08-06 | 恒大新能源汽车投资控股集团有限公司 | Gear shifting method, storage medium and electronic equipment |
| CN114718754B (en) * | 2022-03-10 | 2023-05-30 | 凯博易控车辆科技(苏州)股份有限公司 | Method for controlling torque demand of whole vehicle |
| CN114704637A (en) * | 2022-03-17 | 2022-07-05 | 潍柴动力股份有限公司 | Control method and device for AMT gearbox, storage medium and electronic equipment |
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