CN111546902A - Electric automobile ramp torque control method and system based on Internet of vehicles - Google Patents
Electric automobile ramp torque control method and system based on Internet of vehicles Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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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Abstract
A ramp torque control method and a system thereof for an electric vehicle based on Internet of vehicles comprise the following steps: the VCU acquires positioning data of a current vehicle and judges whether the distance between the position of the VCU and the starting point of the ramp reaches a first preset threshold value, if so, the positioning data is sent to the Internet of vehicles server and the corresponding ramp is found out by the Internet of vehicles server, and uphill torque and vehicle speed change records corresponding to the ramp are acquired and fed back to the VCU; the VCU acquires the speed limit value of the current road section, screens out a second historical vehicle with the average speed not higher than the speed limit value from the uphill speed change record, acquires the uphill torque change record, and calculates the torque increase mean value from the starting point to the peak of the ramp; acquiring the distance between the current position of the vehicle and the vertex of the ramp and the current speed, calculating the running time from the position to the vertex of the ramp, calculating a target torque value corresponding to each time unit from the position to the vertex of the ramp and sending the target torque value to the MCU; and the MCU performs torque control on the motor according to the target torque value corresponding to each time unit.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to an electric automobile ramp torque control method and system based on an internet of vehicles.
Background
Electric vehicles have become a trend to replace internal combustion engines due to the advantages of high energy efficiency, wide energy sources, relatively small environmental pollution and easy centralized treatment.
Compared with the traditional automobile, the electric automobile has a lot of advantages, so that the electric automobile is widely popularized in China, and more consumers also start to buy the electric automobile. Although electric vehicles have many advantages, there are some problems of their own: for example, the climbing force is poor, and the instantaneous output power is low, so that the energy consumption is large during climbing.
The torque is used as a main factor influencing the climbing capability of the vehicle, and how to accurately and efficiently control the torque of the electric vehicle in the climbing process of the electric vehicle is one of the main ways of solving the problem that the climbing capability of the vehicle is poor and energy consumption is large at present.
Disclosure of Invention
The purpose of the invention is as follows:
in order to overcome the defects in the background art, the embodiment of the invention provides a ramp torque control method and a ramp torque control system for an electric vehicle based on an internet of vehicles, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
an electric automobile ramp torque control method based on an internet of vehicles comprises the following steps:
the method comprises the steps that a VCU obtains positioning data of a current vehicle and judges whether the distance between the position of the current vehicle and the starting point of a ramp reaches a first preset threshold value or not, and if the distance reaches the first preset threshold value, the positioning data are sent to an internet of vehicles server;
the Internet of vehicles server finds out a corresponding ramp according to the positioning data, acquires an uphill torque change record and an uphill vehicle speed change record which are uploaded by a historical vehicle and correspond to the ramp and feeds the uphill torque change record and the uphill vehicle speed change record back to the VCU, wherein the uphill torque change record is a torque value corresponding to each time unit in a travel of the first historical vehicle from a ramp starting point to a ramp vertex, and the uphill vehicle speed change record is a vehicle speed value corresponding to each time unit in the travel of the first historical vehicle from the ramp starting point to the ramp vertex;
the VCU acquires a speed limit value of a current road section, screens out a second historical vehicle with the average speed not higher than the speed limit value from the uphill speed change record, acquires an uphill torque change record of the second historical vehicle, and calculates a torque increase average value of the second historical vehicle from a ramp starting point to a ramp vertex;
the VCU acquires the distance between the position of the current vehicle and the vertex of the ramp and the current vehicle speed, calculates the running time between the position of the current vehicle and the vertex of the ramp, calculates a target torque value corresponding to each time unit between the position of the current vehicle and the vertex of the ramp and sends the target torque value to the MCU, wherein the target torque value corresponding to each time unit = the torque increase mean value/the running time between the position of the current vehicle and the vertex of the ramp;
and the MCU performs torque control on the motor according to the target torque value corresponding to each time unit.
As a preferable mode of the present invention, the determining, by the VCU, whether a distance from a position where the current vehicle is located to a starting point of a ramp reaches a preset threshold includes:
the VCU acquires an electronic map marked with a ramp position from a database, places the positioning data into the electronic map to find a ramp closest to the electronic map, and then calculates whether the distance between the position of the current vehicle and the starting point of the ramp reaches a preset threshold value or not, wherein the electronic map is acquired from the Internet of vehicles server in real time and is stored, and the starting point position and the vertex position of the ramp are displayed on the electronic map.
As a preferable mode of the present invention, before calculating and transmitting to the MCU a target torque value corresponding to each time unit of the current vehicle from the location to the vertex of the ramp, the method further includes:
screening out a second historical vehicle with the average vehicle speed being the same as the current vehicle speed of the current vehicle or the difference value being lower than a second preset threshold value from the uphill vehicle speed change record, acquiring an uphill torque change record of the second historical vehicle, and calculating a torque increase average value of the second historical vehicle from a ramp starting point to a ramp top point.
As a preferred aspect of the present invention, the MCU performs torque control on the motor according to the target torque value corresponding to each time unit, and the torque control method includes:
in a first time unit, distributing a first percentage value of a corresponding target torque value to the motor, and distributing a second percentage value of the corresponding target torque value to the engine, wherein the sum of the first percentage value and the second percentage value is 100%; in the continued time units, the first percentage value is decreased and the second percentage value is increased until the distribution control of the target torque values corresponding to all the time units is completed.
An electric vehicle ramp torque control system based on internet of vehicles, the system comprising a VCU, an MCU and an internet of vehicles server, the VCU comprising:
the positioning data acquisition module is used for acquiring positioning data of the current vehicle;
the distance judgment module is used for judging whether the distance between the position where the current vehicle is located and the starting point of the ramp reaches a first preset threshold value or not;
the positioning data sending module is used for sending the positioning data to the ramp obtaining module when the distance between the position of the current vehicle and the starting point of the ramp reaches a first preset threshold value;
the car networking server includes:
the ramp acquisition module is used for finding out a corresponding ramp according to the positioning data;
the uphill change record acquisition module is used for acquiring an uphill torque change record and an uphill vehicle speed change record which are uploaded by the historical vehicle and correspond to the ramp, and feeding the uphill torque change record and the uphill vehicle speed change record back to the speed limit value acquisition module, wherein the uphill torque change record is a torque value corresponding to each time unit in a travel of the first historical vehicle from a ramp starting point to a ramp vertex, and the uphill vehicle speed change record is a vehicle speed value corresponding to each time unit in the travel of the first historical vehicle from the ramp starting point to the ramp vertex;
the VCU further comprises:
the speed limit value acquisition module is used for acquiring the speed limit value of the current road section;
the vehicle screening module is used for screening a second historical vehicle with the average vehicle speed not higher than the speed limit value from the uphill vehicle speed change record and acquiring an uphill torque change record of the second historical vehicle;
the torque increase mean value calculation module is used for calculating a torque increase mean value of the second historical vehicle from a ramp starting point to a ramp peak;
the distance acquisition module is used for acquiring the distance from the position where the current vehicle is located to the top point of the ramp;
the vehicle speed acquisition module is used for acquiring the current vehicle speed of the current vehicle;
the time calculation module is used for calculating the running time from the position where the current vehicle is located to the top point of the ramp;
the target torque value calculating module is used for calculating a target torque value corresponding to each time unit of the current vehicle from the position to the vertex of the ramp and sending the target torque value to the MCU, wherein the target torque value corresponding to each time unit = the torque increase mean value/the running time of the current vehicle from the position to the vertex of the ramp;
the MCU includes:
and the torque control module is used for carrying out torque control on the motor according to the target torque value corresponding to each time unit.
As a preferable mode of the present invention, the distance determining module is further configured to obtain an electronic map marked with a ramp position from a database, put the positioning data into the electronic map to find a ramp closest to the electronic map, and then calculate whether a distance between a position of the current vehicle and a start point of the ramp reaches a preset threshold, where the electronic map is obtained and stored from the internet-of-vehicles server in real time, and displays the start point position and a vertex position of the ramp.
As a preferred mode of the present invention, the system further includes:
the vehicle screening module is further used for screening out a second historical vehicle with the average vehicle speed being the same as the current vehicle speed of the current vehicle or the difference value being lower than a second preset threshold value from the uphill vehicle speed change record and acquiring an uphill torque change record of the second historical vehicle.
As a preferred mode of the present invention, the MCU further includes:
the torque distribution control module is used for distributing a first percentage value of a corresponding target torque value to the motor and distributing a second percentage value of the corresponding target torque value to the engine in a first time unit, wherein the sum of the first percentage value and the second percentage value is 100%; in the continued time units, the first percentage value is decreased and the second percentage value is increased until the distribution control of the target torque values corresponding to all the time units is completed.
The invention realizes the following beneficial effects:
the invention provides an electric automobile ramp torque control method based on Internet of vehicles, which can enable a current vehicle to start increasing a torque value at a first preset threshold from the starting point of a ramp, and the torque values increased every second are the same until the peak of the ramp is reached, and the increased total torque value is just the torque increase average value of a second historical vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic flow chart of a method for controlling a ramp torque of an electric vehicle based on an Internet of vehicles according to the present invention;
FIG. 2 is a schematic view of a ramp provided by the present invention;
FIG. 3 is a schematic representation of an uphill torque change log provided by the present invention;
FIG. 4 is a schematic representation of an uphill vehicle speed change log provided by the present invention;
FIG. 5 is a schematic structural diagram of a ramp torque control system of an electric vehicle based on an internet of vehicles.
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.
Example one
Referring to fig. 1 to 4, the present embodiment provides a method for controlling a hill torque of an electric vehicle based on an internet of vehicles, including the following steps:
s101, the VCU obtains the positioning data of the current vehicle.
S102, the VCU judges whether the distance between the position where the current vehicle is located and the starting point of the ramp reaches a first preset threshold value or not, and if yes, S103 is executed.
S103, the VCU sends the positioning data to the Internet of vehicles server.
S104, the Internet of vehicles server finds out the corresponding ramp according to the positioning data.
S105, the Internet of vehicles server obtains an uphill torque change record and an uphill vehicle speed change record which are uploaded by the historical vehicle and correspond to the ramp, and feeds the uphill torque change record and the uphill vehicle speed change record back to the VCU, wherein the uphill torque change record is a torque value corresponding to each time unit in a journey from a ramp starting point to a ramp top point of the first historical vehicle, and the uphill vehicle speed change record is a vehicle speed value corresponding to each time unit in a journey from the ramp starting point to the ramp top point of the first historical vehicle.
S106, the VCU obtains the speed limit value of the current road section.
S107, the VCU screens out a second historical vehicle with the average vehicle speed not higher than the speed limit value from the uphill vehicle speed change record and obtains an uphill torque change record of the second historical vehicle.
And S108, the VCU calculates the torque increase average value of the second historical vehicle from the slope starting point to the slope peak.
S109, the VCU obtains the distance between the position where the current vehicle is located and the top point of the ramp and the current speed, and calculates the running time between the position where the current vehicle is located and the top point of the ramp.
And S110, the VCU calculates a target torque value corresponding to each time unit of the current vehicle from the position to the vertex of the ramp and sends the target torque value to the MCU, wherein the target torque value corresponding to each time unit = the torque increase mean value/the running time of the position of the current vehicle from the vertex of the ramp.
And S111, the MCU performs torque control on the motor according to the target torque value corresponding to each time unit.
The Vehicle networking server is a background server, can communicate with the VCU of the electric Vehicle and transmit data, and can communicate with a historical Vehicle (a non-current Vehicle) to transmit data.
In S101, the VCU acquires the positioning data of the current vehicle specifically includes: the positioning data can be acquired in real time by arranging a GPS module in the VCU, or by independently arranging the GPS module, the GPS module is electrically connected with the VCU to acquire the positioning data in real time, or the positioning data transmitted by the navigation terminal can be received.
In S102, it specifically includes:
the VCU acquires an electronic map marked with a ramp position from a database, places the positioning data into the electronic map to find a ramp closest to the electronic map, and then calculates whether the distance between the position of the current vehicle and the starting point of the ramp reaches a preset threshold value or not, wherein the electronic map is acquired from the Internet of vehicles server in real time and is stored, and the starting point position and the vertex position of the ramp are displayed on the electronic map.
Specifically, the VCU sends an electronic map acquisition request to the car networking server, and the car networking server sends the electronic map to the VCU based on the acquisition request and stores the electronic map in the database.
The first preset threshold is set to enable the torque of the motor to be controlled in advance when the vehicle does not run to the starting point of the slope, namely when the vehicle runs to the first preset threshold away from the starting point of the slope, so that the problem that the battery for supplying power to the motor is low in instantaneous output power is avoided, and energy consumption of the vehicle during climbing is reduced.
The size of the first preset threshold can be set according to actual requirements, and is set to 200 meters in this embodiment.
In S104, the internet of vehicles server puts the received positioning data into the electronic map to find a slope 200 meters away from the electronic map.
In the present embodiment, the time unit is set to seconds.
In S105, the manner of history of the vehicle uploading the uphill torque change record is as follows: when the historical vehicle passes the starting point of the ramp, the MCU transmits the torque value of the motor per second to the VCU, stops transmission until the torque value reaches the top point of the ramp, and uploads the torque value to the Internet of vehicles server by the VCU; the mode of uploading the speed change record of the historical vehicle is as follows: when the historical vehicle passes the starting point of the ramp, the vehicle speed sensor transmits the measured vehicle speed value of the current vehicle per second to the VCU, and the transmission is stopped until the vehicle speed value reaches the peak of the ramp and the vehicle speed value is uploaded to the Internet of vehicles server by the VCU.
When the internet of vehicles server stores the uphill torque change record and the uphill vehicle speed change record uploaded by the historical vehicle, the records and the corresponding ramp are specifically mapped, and therefore after the ramp is confirmed, the internet of vehicles server can find the uphill torque change record and the uphill vehicle speed change record which are uploaded by the historical vehicle and correspond to the ramp and feed the uphill torque change record and the uphill vehicle speed change record back to the VCU.
The uphill torque change records and uphill vehicle speed change records can be specifically represented in a manner of a broken line graph, as shown in fig. 2-3, wherein fig. 2-3 only show one uphill torque change record and one uphill vehicle speed change record, and a plurality of change records actually exist and only differ in data.
In S106, the speed limit value of the current road segment is obtained by the following method: the VCU sends the positioning data to the navigation system, and the navigation system determines the speed limit value of the current road segment according to the positioning data and feeds back the speed limit value to the VCU, where the speed limit value of the current road segment is set to 120KM/H in this embodiment.
In S107, the VCU calculates the average vehicle speed of all the acquired uphill vehicle speed change records, taking fig. 4 as an example, the corresponding average vehicle speed is (117 +115+110+106+111+113+114+116+ 116) ÷ 10=113.4KM/H, and accordingly, the average vehicle speed of the history vehicle is determined not to be higher than the speed limit value, so that the history vehicle is determined as a second history vehicle and the corresponding uphill torque change record is acquired; and if the average speed of other historical vehicles is calculated to be higher than the speed limit value, filtering the average speed, namely not acquiring the corresponding uphill torque change record.
In S108, the VCU first obtains an uphill torque change record corresponding to each second historical vehicle, and then calculates each uphill torque increase value, that is, a torque value obtained by subtracting a torque value obtained by reaching the start point of the ramp from a torque value obtained by reaching the peak of the ramp of the second historical vehicle, that is, an uphill torque increase value, where for example, a torque value obtained by reaching the start point of the ramp of one of the second historical vehicles is 50N · m, and a torque value obtained by reaching the peak of the ramp is 200N · m, and an uphill torque increase value is 150N · m; the VCU then adds all of the uphill torque increase values of the second historical vehicles and then removes the number of second historical vehicles to obtain the average torque increase of the second historical vehicles from the start of the hill to the top of the hill.
Specific data are omitted for example for calculation, and the calculated average of the torque increases from the hill start point to the hill peak of the second history vehicle is set to 100N · m.
In S109, the VCU places the current vehicle position, that is, the positioning data in the electronic map, so that the current vehicle position and the position of the hill top can be obtained, then the distance of the interval is calculated, and the current vehicle speed can be determined by sending an acquisition request to the vehicle speed sensor.
The distance between the position of the current vehicle and the peak of the ramp is set to be 500 m, the current vehicle speed is set to be 115KM/H, and therefore the driving time between the position of the current vehicle and the peak of the ramp can be calculated to be 15.652188 seconds(s), which is approximately equal to 16 seconds.
In S110, the target torque value = moment average of increase 100N · m per second/travel time of the current vehicle from the position to the peak of the ramp 16 seconds = 6.25N · m, and then the target torque value 6.25N · m for each time unit of the current vehicle from the position to the peak of the ramp is transmitted to the MCU.
In S110, the MCU performs torque control on the motor according to the target torque value corresponding to each second, that is, the current vehicle needs 16 seconds to travel from the current position to the top of the ramp, when the current vehicle travels to the 1 st second, the MCU controls the torque value of the motor to increase by 6.25N · m, and when the vehicle travels to the next second, the MCU controls the torque value of the motor to increase by 6.25N · m, until the current vehicle travels to the top of the ramp, that is, the 16 th second, the torque control on the motor is terminated.
Therefore, the torque value of the current vehicle starts to increase at a first preset threshold from the starting point of the ramp, the torque value increasing every second is the same until the top point of the ramp is reached, the total increasing torque value is just the torque increasing average value of the second historical vehicle, the torque of the motor of the current vehicle can be controlled in advance when the current vehicle goes up the ramp, and the torque value is uniformly increased and changed, the total increasing torque value can meet the requirement of the vehicle going up the ramp, so that the problem of low instantaneous output power of a battery for supplying power to the motor is avoided, and the energy consumption of the vehicle during climbing the ramp is reduced.
Further, as a preferred aspect of the present invention, in this embodiment, before S110, the method further includes:
screening out a second historical vehicle with the average vehicle speed being the same as the current vehicle speed of the current vehicle or the difference value being lower than a second preset threshold value from the uphill vehicle speed change record, acquiring an uphill torque change record of the second historical vehicle, and calculating a torque increase average value of the second historical vehicle from a ramp starting point to a ramp top point.
The second preset threshold may be set according to actual requirements, and is set to be 5KM/H in this embodiment.
Specifically, a second historical vehicle which is the same as the current vehicle speed 115KM/H of the current vehicle or is between 110-120KM/H is screened from the uphill speed change record, the uphill torque change record of the second historical vehicle is obtained, and the torque increase average value of the second historical vehicle from the starting point of the ramp to the top point of the ramp is calculated.
That is, the torque increase mean in S110 is the torque increase mean from the slope start point to the slope peak of the second historical vehicle with the current vehicle speed 115KM/H being the same, or between 110-120KM/H, so that the reference requirement of the actual torque increase mean of the current vehicle is better met.
Example two
Referring to fig. 1 to 4, the present embodiment is substantially the same as the first embodiment, except that, in the present embodiment, S111 specifically includes: in a first time unit, distributing a first percentage value of a corresponding target torque value to the motor, and distributing a second percentage value of the corresponding target torque value to the engine, wherein the sum of the first percentage value and the second percentage value is 100%; in the continued time units, the first percentage value is decreased and the second percentage value is increased until the distribution control of the target torque values corresponding to all the time units is completed.
Specifically, the present embodiment mainly performs torque control on a hybrid electric vehicle having a battery and an engine, that is, the hybrid electric vehicle has two power sources, namely an engine and a motor, to output torque, and on the basis, the present embodiment performs torque distribution control on the two power sources.
In the present embodiment, the first percentage value is set to 90%, and the second percentage value is set to 10%.
When the vehicle needs to travel for 16 seconds from the current position (at a first preset threshold from the start of the ramp) to the top of the ramp, the MCU allocates 90% of the target torque value (i.e., torque increase value) 6.25N · m to the motor at the 1 st second, allocates 10% of the target torque value (i.e., torque increase value) 6.25N · m to the engine, allocates 84% of the target torque value (i.e., torque increase value) 6.25N · m to the motor at the 2 nd second, allocates 16% of the target torque value (i.e., torque increase value) 6.25N · m to the engine, and continues to decrement until the allocation control of the target torque values corresponding to all time units is completed.
It should be noted that the percentage values are different in value submitted each time, and may be correspondingly distributed in a decreasing manner according to the actual driving time, that is, the amount of time required for the vehicle to travel from the current position (at a first preset threshold from the start of the ramp) to the peak of the ramp, so as to achieve the overall goal that the motor distributes less and less target torque values during the continuous process of ascending the ramp, and the engine distributes more and more target torque values during the continuous process of ascending the ramp, so as to meet the torque distribution control requirement of the hybrid electric vehicle during the process of ascending the ramp.
EXAMPLE III
Referring to fig. 2-5, the present embodiment provides an electric vehicle ramp torque control system based on internet of vehicles, the system includes a VCU, an MCU and an internet of vehicles server, the VCU includes:
and the positioning data acquisition module 301 is configured to acquire positioning data of a current vehicle.
The distance determining module 302 is configured to determine whether a distance between the current position of the vehicle and the starting point of the ramp reaches a first preset threshold.
The positioning data sending module 303 is configured to send the positioning data to the ramp obtaining module 304 when a distance between a position where the current vehicle is located and a starting point of a ramp reaches a first preset threshold.
The car networking server includes:
and a ramp obtaining module 304, configured to find a corresponding ramp according to the positioning data.
An uphill change record obtaining module 305, configured to obtain an uphill torque change record and an uphill vehicle speed change record uploaded by the historical vehicle and corresponding to the ramp, and feed back the uphill torque change record and the uphill vehicle speed change record to the speed limit value obtaining module, where the uphill torque change record is a torque value corresponding to each time unit in a travel of the first historical vehicle from a ramp starting point to a ramp vertex, and the uphill vehicle speed change record is a vehicle speed value corresponding to each time unit in the travel of the first historical vehicle from the ramp starting point to the ramp vertex.
The VCU further comprises:
and the speed limit value acquisition module 306 is used for acquiring the speed limit value of the current road section.
And the vehicle screening module 307 is used for screening a second historical vehicle with the average vehicle speed not higher than the speed limit value from the uphill vehicle speed change records and acquiring an uphill torque change record of the second historical vehicle.
And the torque increase mean value calculation module 308 is used for calculating the torque increase mean value of the second historical vehicle from the slope starting point to the slope peak.
And the distance acquiring module 309 is used for acquiring the distance from the current position of the vehicle to the top point of the ramp.
The vehicle speed obtaining module 310 is configured to obtain a current vehicle speed of the current vehicle.
And a time calculating module 311, configured to calculate a travel time from a position where the current vehicle is located to a top of the ramp.
And a target torque value calculating module 312, configured to calculate a target torque value corresponding to each time unit of the current vehicle from the position of the current vehicle to the vertex of the ramp, and send the target torque value to the MCU, where the target torque value corresponding to each time unit = the torque increase average/the driving time of the current vehicle from the position of the current vehicle to the vertex of the ramp.
The MCU includes:
and the torque control module 313 is configured to perform torque control on the motor according to the target torque value corresponding to each time unit.
As a preferable mode of the present invention, the distance determining module is further configured to obtain an electronic map marked with a ramp position from a database, put the positioning data into the electronic map to find a ramp closest to the electronic map, and then calculate whether a distance between a position of the current vehicle and a start point of the ramp reaches a preset threshold, where the electronic map is obtained and stored from the internet-of-vehicles server in real time, and displays the start point position and a vertex position of the ramp.
As a preferred mode of the present invention, the system further includes:
the vehicle screening module is further used for screening out a second historical vehicle with the average vehicle speed being the same as the current vehicle speed of the current vehicle or the difference value being lower than a second preset threshold value from the uphill vehicle speed change record and acquiring an uphill torque change record of the second historical vehicle.
As a preferred mode of the present invention, the MCU further includes:
the torque distribution control module 314 is configured to, in a first time unit, distribute a first percentage value of the corresponding target torque value to the motor and distribute a second percentage value of the corresponding target torque value to the engine, where the sum of the first percentage value and the second percentage value is 100%; in the continued time units, the first percentage value is decreased and the second percentage value is increased until the distribution control of the target torque values corresponding to all the time units is completed.
The implementation process of this embodiment is the same as that of the first and second embodiments, and the above contents are specifically referred to.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. The ramp torque control method of the electric automobile based on the Internet of vehicles is characterized by comprising the following steps of:
the method comprises the steps that a VCU obtains positioning data of a current vehicle and judges whether the distance between the position of the current vehicle and the starting point of a ramp reaches a first preset threshold value or not, and if the distance reaches the first preset threshold value, the positioning data are sent to an internet of vehicles server;
the Internet of vehicles server finds out a corresponding ramp according to the positioning data, acquires an uphill torque change record and an uphill vehicle speed change record which are uploaded by a historical vehicle and correspond to the ramp and feeds the uphill torque change record and the uphill vehicle speed change record back to the VCU, wherein the uphill torque change record is a torque value corresponding to each time unit in a travel of the first historical vehicle from a ramp starting point to a ramp vertex, and the uphill vehicle speed change record is a vehicle speed value corresponding to each time unit in the travel of the first historical vehicle from the ramp starting point to the ramp vertex;
the VCU acquires a speed limit value of a current road section, screens out a second historical vehicle with the average speed not higher than the speed limit value from the uphill speed change record, acquires an uphill torque change record of the second historical vehicle, and calculates a torque increase average value of the second historical vehicle from a ramp starting point to a ramp vertex;
the VCU acquires the distance between the position of the current vehicle and the vertex of the ramp and the current vehicle speed, calculates the running time between the position of the current vehicle and the vertex of the ramp, calculates a target torque value corresponding to each time unit between the position of the current vehicle and the vertex of the ramp and sends the target torque value to the MCU, wherein the target torque value corresponding to each time unit = the torque increase mean value/the running time between the position of the current vehicle and the vertex of the ramp;
and the MCU performs torque control on the motor according to the target torque value corresponding to each time unit.
2. The method of claim 1, wherein the VCU determines whether the distance from the current vehicle to the ramp start point reaches a preset threshold, and comprises:
the VCU acquires an electronic map marked with a ramp position from a database, places the positioning data into the electronic map to find a ramp closest to the electronic map, and then calculates whether the distance between the position of the current vehicle and the starting point of the ramp reaches a preset threshold value or not, wherein the electronic map is acquired from the Internet of vehicles server in real time and is stored, and the starting point position and the vertex position of the ramp are displayed on the electronic map.
3. The Internet of vehicles based electric vehicle ramp torque control method according to claim 1, wherein before calculating and sending the target torque value corresponding to each time unit that the current vehicle is away from the ramp vertex from the position, the method further comprises:
screening out a second historical vehicle with the average vehicle speed being the same as the current vehicle speed of the current vehicle or the difference value being lower than a second preset threshold value from the uphill vehicle speed change record, acquiring an uphill torque change record of the second historical vehicle, and calculating a torque increase average value of the second historical vehicle from a ramp starting point to a ramp top point.
4. The method as claimed in claim 1, wherein the MCU performs torque control on the motor according to the target torque value corresponding to each time unit, and the method comprises:
in a first time unit, distributing a first percentage value of a corresponding target torque value to the motor, and distributing a second percentage value of the corresponding target torque value to the engine, wherein the sum of the first percentage value and the second percentage value is 100%; in the continued time units, the first percentage value is decreased and the second percentage value is increased until the distribution control of the target torque values corresponding to all the time units is completed.
5. The utility model provides an electric automobile ramp torque control system based on car networking, the system includes VCU, MCU and car networking server, its characterized in that:
the VCU includes:
the positioning data acquisition module is used for acquiring positioning data of the current vehicle;
the distance judgment module is used for judging whether the distance between the position where the current vehicle is located and the starting point of the ramp reaches a first preset threshold value or not;
the positioning data sending module is used for sending the positioning data to the ramp obtaining module when the distance between the position of the current vehicle and the starting point of the ramp reaches a first preset threshold value;
the car networking server includes:
the ramp acquisition module is used for finding out a corresponding ramp according to the positioning data;
the uphill change record acquisition module is used for acquiring an uphill torque change record and an uphill vehicle speed change record which are uploaded by the historical vehicle and correspond to the ramp, and feeding the uphill torque change record and the uphill vehicle speed change record back to the speed limit value acquisition module, wherein the uphill torque change record is a torque value corresponding to each time unit in a travel of the first historical vehicle from a ramp starting point to a ramp vertex, and the uphill vehicle speed change record is a vehicle speed value corresponding to each time unit in the travel of the first historical vehicle from the ramp starting point to the ramp vertex;
the VCU further comprises:
the speed limit value acquisition module is used for acquiring the speed limit value of the current road section;
the vehicle screening module is used for screening a second historical vehicle with the average vehicle speed not higher than the speed limit value from the uphill vehicle speed change record and acquiring an uphill torque change record of the second historical vehicle;
the torque increase mean value calculation module is used for calculating a torque increase mean value of the second historical vehicle from a ramp starting point to a ramp peak;
the distance acquisition module is used for acquiring the distance from the position where the current vehicle is located to the top point of the ramp;
the vehicle speed acquisition module is used for acquiring the current vehicle speed of the current vehicle;
the time calculation module is used for calculating the running time from the position where the current vehicle is located to the top point of the ramp;
the target torque value calculating module is used for calculating a target torque value corresponding to each time unit of the current vehicle from the position to the vertex of the ramp and sending the target torque value to the MCU, wherein the target torque value corresponding to each time unit = the torque increase mean value/the running time of the current vehicle from the position to the vertex of the ramp;
the MCU includes:
and the torque control module is used for carrying out torque control on the motor according to the target torque value corresponding to each time unit.
6. The networking-based electric vehicle ramp torque control system according to claim 5, wherein: the distance judgment module is further used for acquiring an electronic map marked with a ramp position from a database, placing the positioning data into the electronic map to find a ramp closest to the electronic map, and then calculating whether the distance between the position of the current vehicle and the starting point of the ramp reaches a preset threshold value or not, wherein the electronic map is acquired from the internet of vehicles server in real time and is stored, and the starting point position and the vertex position of the ramp are displayed on the electronic map.
7. The networking-based electric vehicle ramp torque control system according to claim 5, wherein: the system further comprises:
the vehicle screening module is further used for screening out a second historical vehicle with the average vehicle speed being the same as the current vehicle speed of the current vehicle or the difference value being lower than a second preset threshold value from the uphill vehicle speed change record and acquiring an uphill torque change record of the second historical vehicle.
8. The networking-based electric vehicle ramp torque control system according to claim 5, wherein: the MCU further comprises:
the torque distribution control module is used for distributing a first percentage value of a corresponding target torque value to the motor and distributing a second percentage value of the corresponding target torque value to the engine in a first time unit, wherein the sum of the first percentage value and the second percentage value is 100%; in the continued time units, the first percentage value is decreased and the second percentage value is increased until the distribution control of the target torque values corresponding to all the time units is completed.
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| CN202010219350.2A CN111546902A (en) | 2020-03-25 | 2020-03-25 | Electric automobile ramp torque control method and system based on Internet of vehicles |
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| CN202010219350.2A CN111546902A (en) | 2020-03-25 | 2020-03-25 | Electric automobile ramp torque control method and system based on Internet of vehicles |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112677994A (en) * | 2021-01-07 | 2021-04-20 | 广西汽车集团有限公司 | Method for preventing automatic driving vehicle from sliding down slope |
| CN113110475A (en) * | 2021-04-26 | 2021-07-13 | 上海景吾智能科技有限公司 | Method and system for robot to navigate up and down stably |
| CN113401126A (en) * | 2021-07-14 | 2021-09-17 | 中国第一汽车股份有限公司 | Vehicle driving torque monitoring system and method and vehicle |
| CN115246410A (en) * | 2021-07-29 | 2022-10-28 | 上海仙途智能科技有限公司 | Parameter updating method, device, equipment and computer readable storage medium |
| CN116080719A (en) * | 2023-04-10 | 2023-05-09 | 山东鲁运智能装备有限公司 | Oil-electricity hybrid power monorail crane vehicle, control method and system thereof and terminal |
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2020
- 2020-03-25 CN CN202010219350.2A patent/CN111546902A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112677994A (en) * | 2021-01-07 | 2021-04-20 | 广西汽车集团有限公司 | Method for preventing automatic driving vehicle from sliding down slope |
| CN113110475A (en) * | 2021-04-26 | 2021-07-13 | 上海景吾智能科技有限公司 | Method and system for robot to navigate up and down stably |
| CN113401126A (en) * | 2021-07-14 | 2021-09-17 | 中国第一汽车股份有限公司 | Vehicle driving torque monitoring system and method and vehicle |
| CN113401126B (en) * | 2021-07-14 | 2022-06-24 | 中国第一汽车股份有限公司 | Vehicle driving torque monitoring system and method and vehicle |
| CN115246410A (en) * | 2021-07-29 | 2022-10-28 | 上海仙途智能科技有限公司 | Parameter updating method, device, equipment and computer readable storage medium |
| CN116080719A (en) * | 2023-04-10 | 2023-05-09 | 山东鲁运智能装备有限公司 | Oil-electricity hybrid power monorail crane vehicle, control method and system thereof and terminal |
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