CN111572357A - Downshift deceleration compensation method and device, vehicle and storage medium - Google Patents
Downshift deceleration compensation method and device, vehicle and storage medium Download PDFInfo
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- CN111572357A CN111572357A CN202010274291.9A CN202010274291A CN111572357A CN 111572357 A CN111572357 A CN 111572357A CN 202010274291 A CN202010274291 A CN 202010274291A CN 111572357 A CN111572357 A CN 111572357A
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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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
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The application discloses a downshift deceleration compensation method, a downshift deceleration compensation device, a vehicle and a storage medium, wherein the method comprises the following steps: sending a motor downshift request to an automatic transmission control unit; receiving a motor torque-off request sent by an automatic gearbox control unit; sending a motor torque unloading request to the integrated combined power device to control the motor torque unloading; acquiring a current target recovery torque, a current target stabilization torque and a pre-downshift motor gear ratio in the process of controlling the motor to unload the torque by the integrated combined power device, wherein the target recovery torque comprises a torque determined based on a current vehicle speed; determining a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio; the target braking torque is sent to the electronic stability control system of the vehicle body to compensate the braking force for the vehicle based on the current acceleration and the target braking torque. The technical scheme provided by the application can improve the smoothness of downshift deceleration and reduce the potential safety hazard of driving.
Description
Technical Field
The application relates to the technical field of vehicle driving control, in particular to a downshift deceleration compensation method and device, a vehicle and a storage medium.
Background
With the continuous development and wide application of vehicle driving control technology, some safety problems are brought along.
At present, the adjustment of vehicle gears is often required to be carried out in combination with road conditions in the vehicle driving process, for example, downshifting and decelerating are carried out, a driver does not step on braking after loosening an oil gate and enters in-gear sliding energy recovery, downshifting is triggered when the sliding is decelerated to a certain speed, the torque of a motor needs to be unloaded to shift gears, the recovery of the sliding energy cannot be carried out in the gear shifting process, the acceleration of the vehicle fluctuates in the downshifting and decelerating process, the vehicle obviously shakes unsmoothly, and the driving potential safety hazard is brought. In the prior art, as the application number: 201910404287.7, a method is disclosed for compensating for the missing torque during a motor shift in combination with a compensation torque derived from the torque stored by braking energy recuperation during the motor shift without a gear tip-in scenario. However, the above-mentioned prior patents are only applicable to a situation where no brake is applied during shifting, and the torque stored by the recovery of braking energy is used as a compensation torque during the non-shifting period of the single combined motor, which cannot cope with various vehicle conditions that are constantly changing, and still has a driving safety hazard. Therefore, there is a need to provide a more reliable or efficient solution.
Disclosure of Invention
The application provides a downshift deceleration compensation method, a downshift deceleration compensation device, a vehicle and a storage medium, which can ensure the stable fluctuation of speed in the downshift deceleration process, improve the smoothness of deceleration and reduce the potential safety hazard of driving.
In one aspect, the present application provides a downshift deceleration compensation method applied to a vehicle, in which an output torque of an integrated combined power plant control motor of the vehicle is a target stable torque during driving of the vehicle in a fixed gear, the target stable torque being a torque determined based on a current vehicle speed of the vehicle, a preset torque upper limit value, and vehicle condition influencing factors, and the vehicle executes the downshift deceleration compensation method using a vehicle control unit when performing downshift deceleration control, the method including:
sending a motor downshift request to an automatic transmission control unit;
receiving a motor torque-off request sent by the automatic gearbox control unit;
sending a motor torque unloading request to an integrated combined power device so that the integrated combined power device controls the motor torque unloading;
acquiring a current target recovery torque, a current target stabilization torque and a pre-downshift motor gear ratio during the integrated combined power plant controlling motor unloading torque, wherein the target recovery torque comprises a torque determined based on a current vehicle speed;
determining a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio;
and sending the target braking torque to an electronic stability control system of the vehicle body so that the electronic stability control system of the vehicle body compensates the braking force for the vehicle based on the current acceleration and the target braking torque.
Another aspect provides a downshift deceleration compensation apparatus provided in a vehicle, an integrated combined power plant of the vehicle controlling an output torque of a motor to a target steady torque that is a torque determined based on a current vehicle speed of the vehicle, a preset torque upper limit value, and a vehicle condition influencing factor during driving of the vehicle in a fixed gear, the apparatus including, when performing downshift deceleration control:
the motor downshift request sending module is used for sending a motor downshift request to the automatic gearbox control unit;
the motor torque-off request receiving module is used for receiving a motor torque-off request sent by the automatic gearbox control unit;
the motor torque-off request sending module is used for sending a motor torque-off request to the integrated combined power device so that the integrated combined power device controls the motor torque-off;
a first data acquisition module for acquiring a current target recovery torque, a current target stabilization torque, and a pre-downshift motor gear ratio during control of motor unloading torque by the integrated combined power plant, the target recovery torque including a torque determined based on a current vehicle speed;
a first target braking torque determination module to determine a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio;
the first target braking torque sending module is used for sending the target braking torque to an electronic stability control system of a vehicle body so that the electronic stability control system of the vehicle body can compensate braking force for the vehicle based on the current acceleration and the target braking torque.
In another aspect, a downshift deceleration compensation vehicle is provided, where the apparatus includes a vehicle controller and a memory, where the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the vehicle controller to implement the downshift deceleration compensation method as described above.
Another aspect provides a computer-readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the downshift deceleration compensation method as described above.
The downshift deceleration compensation method, the downshift deceleration compensation device, the vehicle and the storage medium have the following technical effects:
according to the method and the device, in the downshift and deceleration processes of the vehicle, the vehicle controller can ensure that the determined target formulated torque can effectively meet the braking force compensation requirement of the vehicle under the real-time vehicle condition by combining the current target recovered torque corresponding to the real-time vehicle speed, the current target stable torque adaptive to the current vehicle condition and the transmission ratio of the motor before downshift, so that the vehicle can be driven stably; then, the electronic stability control system of the vehicle body is used for compensating the braking force of the vehicle based on the target braking torque and the current acceleration which ensure that the vehicle drives stably, so that the stable fluctuation of the speed in the downshift and deceleration processes can be ensured, the smoothness of deceleration is improved, and the potential safety hazard of driving is reduced.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an architecture diagram of a vehicle system provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a method for controlling output torque of an electric machine during driving in a fixed gear according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of a downshift deceleration compensation method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of related signals during downshift deceleration compensation according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart diagram illustrating another downshift deceleration compensation method according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a downshift deceleration compensation device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The downshift deceleration compensation method provided in the embodiment of the present application may be applied to a vehicle, and as shown in fig. 1, the vehicle may at least include a VCU (vehicle Controller Unit), an ESC (electronic stability program, vehicle body electronic stability Control system), an IPU (integrated power Unit), a TCU (Transmission Control Unit), an electric motor, and the like.
In the embodiment of the specification, during the driving of the vehicle in the fixed gear, the output torque of the integrated combined power unit control motor of the vehicle is a target stable torque, and the target stable torque is determined based on the current vehicle speed of the vehicle, a preset torque upper limit value and vehicle condition influencing factors. When the downshift deceleration control is required, the downshift deceleration process can be subjected to braking force compensation based on the VCU, the ESC, the IPU, the TCU and the motor so as to ensure that the vehicle can smoothly downshift and decelerate.
The following description will be made of a control method of the output torque of the motor during driving in a fixed gear in the embodiment of the present disclosure, and specifically, as shown in fig. 2, the control method may include:
s201: the vehicle control unit determines a target recovery torque based on a current vehicle speed.
S203: and the vehicle control unit determines a preset torque upper limit value.
S205: and the vehicle control unit sends the target recovery torque and the preset torque upper limit value to a vehicle body electronic stability control system.
S207: and the electronic stability control system of the vehicle body determines a target stability torque based on the vehicle condition influence factor, the target recovery torque and the preset torque upper limit value.
S209: and the vehicle body electronic stability control system sends the target stable torque to the vehicle control unit.
S211: the vehicle control unit sends the target stable torque to an integrated combined power device;
s213: and the integrated combined power device controls the output torque of the motor to be the target stable torque.
In practical applications, the output torque of the motor tends to be different at different vehicle speeds, and in the embodiment of the present specification, the target recovery torque may be determined based on the current vehicle speed.
In the embodiment of the specification, the preset torque upper limit value is determined by an actual capacity limit value of the motor.
In practical application, in order to ensure the stability and safety of the vehicle body, the vehicle control unit sends the target recovery torque and the preset torque upper limit value to the vehicle body electronic stability control system, so that the vehicle body electronic stability control system can determine the output torque of the motor capable of ensuring the safe and stable driving of the vehicle by combining vehicle condition influence factors. Specifically, in the embodiment of the present specification, the vehicle condition influence factor may include information that influences the driving safety and stability of the vehicle, such as the driving environment of the vehicle, the performance of the vehicle itself, and the like.
In this embodiment, the determining, by the vehicle body electronic stability control system, the target stability torque based on the vehicle condition influencing factor, the target recovery torque, and the preset torque upper limit value may include: in order to ensure the safety of the vehicle, the target stabilizing torque may be adjusted in combination with vehicle condition influencing factors, for example, the target stabilizing torque may be 0 when an emergency or dangerous condition (vehicle condition influencing factor) is met.
According to the technical scheme provided by the embodiment of the specification, the output torque of the motor is determined by combining the current vehicle speed and the vehicle condition influence factors, so that the vehicle can be driven stably and safely under different vehicle conditions in the process of driving the vehicle at the fixed gear.
Based on the driving environment in which the output torque of the integrated combined power unit control motor of the vehicle is the target stable torque during the driving of the vehicle in the fixed gear, a downshift deceleration compensation method of the present application is described below, and fig. 3 is a schematic flow chart of a downshift deceleration compensation method provided by an embodiment of the present application. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 3, the method may include:
s301: and the vehicle control unit sends a motor downshift request to the automatic gearbox control unit.
S303: and the automatic gearbox control unit sends a motor torque-off request to the vehicle control unit.
S305: and the vehicle control unit sends a motor torque-off request to the integrated combined power device.
S307: the integrated combined power device controls the unloading torque of the motor.
S309: in the process of controlling the motor to unload the torque by the integrated combined power device, the vehicle control unit obtains the current target recovery torque, the current target stable torque and the gear ratio of the motor before downshift.
S311: the vehicle control unit determines a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio.
S313: and the vehicle control unit sends the target braking torque to a vehicle body electronic stability control system.
S315: the electronic stability control system of the vehicle body compensates the braking force for the vehicle based on the current acceleration and the target braking torque.
In the embodiment of the present specification, the downshift deceleration compensation (i.e., the downshift deceleration control) may be performed after the accelerator is released, i.e., in a state where the brake is not applied and the coasting deceleration is performed.
In the embodiment of the description, in the driving process, the vehicle controller of the vehicle may perform downshift and deceleration control in combination with the current road condition, and specifically, when downshift and deceleration are required, the vehicle controller sends a motor downshift request to the automatic transmission control unit.
In practical applications, the motor downshift request may include gear information before and after the downshift. In the embodiment of the specification, after receiving a motor downshift request, the automatic transmission control unit may perform a corresponding gear shift operation, and then send a motor torque-off request to the vehicle control unit.
In practical application, to realize downshift and deceleration, the torque of the motor is usually required to be unloaded to 0 first, that is, the motor is unloaded, and correspondingly, the vehicle control unit can send a motor torque unloading request to the integrated combined power device so that the integrated combined power device can control the motor to unload the torque.
In the embodiment of the specification, in the process of controlling the motor unloading torque by the integrated combined power device, the vehicle control unit acquires a current target recovery torque, a current target stabilization torque and a pre-downshift motor gear ratio, and determines a target braking torque based on the current target recovery torque, the current target stabilization torque and the pre-downshift motor gear ratio. In a particular embodiment, determining a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio may include:
1) determining a wheel end torque of the vehicle based on the current target stabilizing torque and the pre-downshift motor gear ratio.
Specifically, the current target stable torque and the gear ratio of the motor before downshift may be multiplied to obtain the wheel end torque of the vehicle, so as to convert the torque at the shaft end into the wheel end torque.
2) Determining the target braking torque according to the target recovery torque and the wheel end torque.
And subtracting the wheel end torque from the target recovery torque to obtain a target braking torque.
In the embodiment of the specification, the vehicle control unit combines the current target recovery torque corresponding to the real-time vehicle speed, the current target stabilization torque adapted to the current vehicle condition and the transmission ratio of the motor before downshift in the downshift and deceleration processes of the vehicle, so that the determined target formulated torque can effectively meet the braking force compensation requirement of the vehicle under the real-time vehicle condition, and further the stable driving of the vehicle is realized.
In this embodiment, after obtaining the target braking torque, the vehicle control unit may send the target braking torque to the vehicle body electronic stability control system, and the vehicle body electronic stability control system compensates the braking force for the vehicle based on the current acceleration and the target braking torque. Specifically, the electronic stability control system of the vehicle body slowly compensates the braking force based on the target braking torque, and can slowly compensate the braking force in combination with the acceleration when the braking force is compensated by the target braking torque to avoid the jerk of the downshift of the vehicle caused by directly compensating the target braking torque for the braking force at one time.
According to the technical scheme provided by the embodiment of the specification, in the embodiment of the specification, the electronic stability control system of the vehicle body is used for compensating the braking force of the vehicle based on the target braking torque and the current acceleration for ensuring the stable driving of the vehicle in the downshifting and decelerating process of the vehicle, so that the stable fluctuation of the speed in the downshifting and decelerating process can be ensured, the smoothness of deceleration is improved, and the potential safety hazard of driving is reduced.
In other embodiments, to facilitate efficient identification by the body electronic stability control system as to whether braking force compensation is required, after the hybrid controller sends a motor torque off request to the integrated combined power plant, the method may further comprise:
and the vehicle control unit sends a braking force compensation request to the vehicle body electronic stability control system.
In the embodiment of the specification, the braking force compensation request carries an effective compensation identifier, and the effective compensation identifier can represent the operation of the electronic stability control system of the vehicle body, which needs to perform braking force compensation on the vehicle.
In other embodiments, the method may further comprise:
1) when the motor finishes gear shifting, the automatic gearbox control unit feeds back gear information after gear shifting to the whole vehicle controller.
2) The vehicle control unit sends a reset motor torque-off request to the integrated combined power device;
3) the integrated combined power device controls the motor to recover to the torque corresponding to the gear information after gear shifting;
4) in the motor torque recovery process, the vehicle control unit acquires a current target recovery torque and a current target stable torque;
5) the vehicle control unit determines a target braking torque in the motor torque recovery process based on a current target recovery torque in the motor torque recovery process, a current target stable torque and the gear ratio of the motor before downshift;
6) the vehicle control unit sends the target braking torque in the motor torque recovery process to the vehicle body electronic stability control system;
7) the electronic stability control system of the vehicle body reduces the compensation braking force for the vehicle based on the current acceleration and the target braking torque in the motor torque recovery process;
in the embodiment of the specification, when the gear shifting of the motor is completed, since the electronic stability control system of the vehicle body is already compensating the braking force for the vehicle at the time, the compensating braking force for the vehicle needs to be cancelled, and accordingly, the motor needs to be restored to the torque corresponding to the current gear.
In the embodiment of the specification, in the motor torque recovery process, the vehicle control unit may obtain a current target recovery torque and a current target stabilization torque, and determine a target braking torque in the motor torque recovery process based on the current target recovery torque, the current target stabilization torque and the pre-downshift motor gear ratio in the motor torque recovery process; specifically, for the specific determination step of the target braking torque in the motor torque recovery process, reference may be made to the specific determination step of the relevant target braking torque, which is not described herein again.
Further, the vehicle control unit can send the target braking torque in the motor torque recovery process to the vehicle body electronic stability control system, and correspondingly, the vehicle body electronic stability control system reduces the compensation braking force for the vehicle based on the current acceleration and the target braking torque in the motor torque recovery process; specifically, the electronic stability control system of the vehicle body slowly reduces the compensation braking force to the vehicle based on the target braking torque, and can slowly reduce the compensation braking force in combination with the acceleration when the compensation braking force is reduced through the target braking torque in order to avoid the jerk of the current driving speed of the vehicle caused by the sudden acceleration caused by the reduction of the one-time braking force.
Further, the method may further include:
1) and when the target braking torque in the motor torque recovery process is smaller than the preset torque or the motor torque recovery time length is greater than or equal to the preset time length, the vehicle control unit sends a braking force compensation cancellation request to the vehicle body electronic stability control system. The braking force compensation cancellation request carries an invalid compensation identifier;
2) and the vehicle body electronic stability control system cancels the compensation braking force of the vehicle.
In the embodiment of the specification, the preset torque and the preset duration can be preset by combining the motor torque recovery condition in practical application, and the invalid compensation identifier can represent the operation that the electronic stability control system of the vehicle body does not need to compensate the braking force of the vehicle.
In a specific embodiment, as shown in fig. 4, fig. 4 is a schematic diagram of related signals during downshift deceleration compensation according to an embodiment of the present application. Specifically, a motor torque-off request is initiated at t 1; the time from t1 to t3 corresponds to the unloading torque process of the motor, correspondingly, the gear shifting at t3 is completed, and the time from t3 to t5 corresponds to the torque recovery process of the motor; accordingly, the target gear of the electric motor is shifted to the post-downshift gear at time t1, and the actual gear of the electric motor is shifted to the post-downshift gear at time t 3; the compensation flag (including the active compensation flag and the inactive compensation flag) is switched from the inactive compensation flag to the active compensation flag at time t1, and from the active compensation flag to the inactive compensation flag at time t 5; the motor torque (output torque of the motor), the target stabilizing torque, the target recovering torque, the compensated braking force and the acceleration in the downshifting and decelerating process are correspondingly changed in the motor torque unloading process and the motor torque recovering process.
In another aspect, the present application discloses an embodiment of a downshift deceleration compensation method by using a vehicle control unit as an execution subject, and specifically, when performing downshift deceleration control, as shown in fig. 5, the method includes:
s501: sending a motor downshift request to an automatic transmission control unit;
s503: receiving a motor torque-off request sent by the automatic gearbox control unit;
s505: sending a motor torque unloading request to an integrated combined power device so that the integrated combined power device controls the motor torque unloading;
s507: acquiring a current target recovery torque, a current target stabilization torque and a pre-downshift motor gear ratio during the integrated combined power plant controlling motor unloading torque, wherein the target recovery torque comprises a torque determined based on a current vehicle speed;
s509: determining a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio;
s511: and sending the target braking torque to an electronic stability control system of the vehicle body so that the electronic stability control system of the vehicle body compensates the braking force for the vehicle based on the current acceleration and the target braking torque.
In the embodiment of the present specification, reference may be made to the above-mentioned embodiment for an embodiment of a vehicle controller side, and details are not described herein again.
The present embodiment also provides a downshift deceleration compensation apparatus, as shown in fig. 6, which is provided in a vehicle, and in which, during driving of the vehicle in a fixed gear, an output torque of an integrated combined power plant control motor of the vehicle is a target stabilization torque that is a torque determined based on a current vehicle speed of the vehicle, a preset torque upper limit value, and vehicle condition-affecting factors, and when performing downshift deceleration control, the apparatus includes:
a motor downshift request sending module 610 for sending a motor downshift request to the automatic transmission control unit;
a motor torque-off request receiving module 620, configured to receive a motor torque-off request sent by the automatic transmission control unit;
a motor torque-off request sending module 630, configured to send a motor torque-off request to an integrated combined power plant, so that the integrated combined power plant controls a motor torque-off;
a first data acquisition module 640 for acquiring a current target recovery torque, a current target stabilization torque, and a pre-downshift motor gear ratio during integrated combined power plant control motor unloading torque, the target recovery torque including a torque determined based on a current vehicle speed;
a first target brake torque determination module 650 for determining a target brake torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio;
a first target braking torque sending module 660, configured to send the target braking torque to an electronic stability control system of a vehicle body, so that the electronic stability control system of the vehicle body compensates a braking force for the vehicle based on a current acceleration and the target braking torque.
In some embodiments, the apparatus further comprises:
and the braking force compensation request sending module is used for sending a braking force compensation request to the electronic stability control system of the vehicle body after sending a motor torque-off request to the integrated combined power device, wherein the braking force compensation request carries an effective compensation identifier.
In some embodiments, the apparatus further comprises:
the gear information receiving module is used for receiving gear information after gear shifting fed back by the automatic gearbox control unit when the motor finishes gear shifting;
the reset motor torque-off request sending module is used for sending a reset motor torque-off request to the integrated combined power device so that the integrated combined power device controls the motor to recover to a torque corresponding to the gear information after gear shifting;
the second data acquisition module is used for acquiring the current target recovery torque and the current target stable torque in the motor torque recovery process;
a second target braking torque determination module for determining a target braking torque during a motor torque recovery process based on a current target recovery torque during the motor torque recovery process, a current target stabilization torque, and the pre-downshift motor gear ratio;
and the second target braking torque sending module is used for sending the target braking torque in the motor torque recovery process to the electronic stability control system of the vehicle body, so that the electronic stability control system of the vehicle body reduces the compensation braking force to the vehicle based on the current acceleration and the target braking torque in the motor torque recovery process.
In some embodiments, the apparatus further comprises:
and the braking force compensation cancellation request sending module is used for sending a braking force compensation cancellation request carrying an invalid compensation identifier to the vehicle body electronic stability control system when the target braking torque in the motor torque recovery process is smaller than a preset torque or the motor torque recovery time length is greater than or equal to a preset time length so as to enable the vehicle body electronic stability control system to cancel the compensation braking force to the vehicle.
In some embodiments, during driving in fixed gear, the apparatus further comprises:
a target recovery torque determination module for determining a target recovery torque based on a current vehicle speed;
the preset torque upper limit value determining module is used for determining a preset torque upper limit value;
the data sending module is used for sending the target recovery torque and the preset torque upper limit value to an electronic stability control system of the vehicle body;
the target stable torque receiving module is used for receiving a target stable torque sent by an electronic stability control system of a vehicle body, wherein the target stable torque comprises a torque determined by the electronic stability control system of the vehicle body based on the vehicle condition influence factor, the target recovery torque and the preset torque upper limit value;
and the target stable torque sending module is used for sending the target stable torque to the integrated combined power device so that the output torque of the motor controlled by the integrated combined power device is the target stable torque.
In some embodiments, the first target brake torque determination module comprises:
a wheel end torque determination unit for determining a wheel end torque of the vehicle based on the current target stabilization torque and the pre-downshift motor gear ratio;
and the target braking torque determining unit is used for determining the target braking torque according to the target recovery torque and the wheel end torque.
The device and method embodiments in the device embodiment are based on the same application concept.
The present application further provides a downshift deceleration compensation vehicle, the vehicle comprising: the control method comprises the steps that a vehicle control unit, an automatic gearbox control unit, an integrated combined power device, a vehicle body electronic stability control system and a motor are adopted, in the process that a vehicle drives at a fixed gear, the integrated combined power device of the vehicle controls the output torque of the motor to be a target stable torque, and the target stable torque is determined based on the current vehicle speed of the vehicle, a preset torque upper limit value and vehicle condition influence factors;
when the downshift deceleration control is carried out, the vehicle control unit is used for sending a motor downshift request to the automatic gearbox control unit and sending a motor torque-off request to the integrated combined power device; and in the process of controlling the motor to unload the torque by the integrated combined power device, the integrated combined power device is used for acquiring the current target recovery torque, the current target stable torque and the transmission ratio of the motor before downshift; and for determining a target braking torque based on the current target recovery torque, the current target stabilizing torque, and the pre-downshift motor gear ratio; and for sending the target braking torque to a body electronic stability control system;
the automatic gearbox control unit is used for sending a motor torque unloading request to the vehicle control unit;
the integrated combined power device is used for controlling the unloading torque of the motor.
The electronic stability control system of the vehicle body compensates the braking force for the vehicle based on the current acceleration and the target braking torque.
The embodiment of the application provides a downshift deceleration compensation vehicle, which comprises a vehicle controller and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the vehicle controller to realize the downshift deceleration compensation method provided by the method embodiment.
The memory can be used for storing software programs and modules, and the vehicle control unit executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the vehicle control unit.
Embodiments of the present application also provide a storage medium that may be disposed in a device to store at least one instruction or at least one program for implementing a downshift deceleration compensation method according to the method embodiments, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the downshift deceleration compensation method provided by the above-mentioned method embodiments.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, which can store program codes.
According to the downshift deceleration compensation method, the downshift deceleration compensation device, the vehicle or the storage medium, the vehicle controller can ensure that the determined target formulated torque can effectively meet the braking force compensation requirement of the vehicle under the real-time vehicle condition by combining the current target recovered torque corresponding to the real-time vehicle speed, the current target stable torque adaptive to the current vehicle condition and the transmission ratio of the motor before downshift in the downshift deceleration process of the vehicle, so that the vehicle can be driven stably; then, the electronic stability control system of the vehicle body is used for compensating the braking force of the vehicle based on the target braking torque and the current acceleration which ensure that the vehicle drives stably, so that the stable fluctuation of the speed in the downshift and deceleration processes can be ensured, the smoothness of deceleration is improved, and the potential safety hazard of driving is reduced.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device, vehicle and storage medium embodiments, as they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware to implement the above embodiments, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A downshift deceleration compensation method applied to a vehicle whose integrated combined power plant control motor output torque is a target stabilization torque that is a torque determined based on a current vehicle speed of the vehicle, a preset torque upper limit value, and vehicle condition influencing factors during driving in a fixed gear, the vehicle executing the downshift deceleration compensation method using a vehicle controller when performing downshift deceleration control, the method comprising:
sending a motor downshift request to an automatic transmission control unit;
receiving a motor torque-off request sent by the automatic gearbox control unit;
sending a motor torque unloading request to an integrated combined power device so that the integrated combined power device controls the motor torque unloading;
acquiring a current target recovery torque, a current target stabilization torque and a pre-downshift motor gear ratio during the integrated combined power plant controlling motor unloading torque, wherein the target recovery torque comprises a torque determined based on a current vehicle speed;
determining a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio;
and sending the target braking torque to an electronic stability control system of the vehicle body so that the electronic stability control system of the vehicle body compensates the braking force for the vehicle based on the current acceleration and the target braking torque.
2. The method of claim 1, wherein after sending a motor torque off request to the integrated combined power plant, the method further comprises:
and sending a braking force compensation request to the electronic stability control system of the vehicle body, wherein the braking force compensation request carries an effective compensation identifier.
3. The method of claim 2, further comprising:
when the motor finishes gear shifting, receiving gear information after gear shifting fed back by an automatic gearbox control unit;
sending a reset motor torque unloading request to the integrated combined power device so that the integrated combined power device controls the motor to recover to the torque corresponding to the gear information after gear shifting;
in the motor torque recovery process, acquiring a current target recovery torque and a current target stable torque;
determining a target braking torque during electric machine torque recovery based on a current target recovery torque during electric machine torque recovery, a current target stabilization torque, and the pre-downshift electric machine gear ratio;
and sending the target braking torque in the motor torque recovery process to the electronic stability control system of the vehicle body, so that the electronic stability control system of the vehicle body reduces the compensation braking force to the vehicle based on the current acceleration and the target braking torque in the motor torque recovery process.
4. The method of claim 3, further comprising:
and when the target braking torque in the motor torque recovery process is smaller than a preset torque or the time length of motor torque recovery is larger than or equal to a preset time length, sending a braking force compensation cancellation request carrying an invalid compensation identifier to the vehicle body electronic stability control system, so that the vehicle body electronic stability control system cancels the compensation braking force of the vehicle.
5. The method of claim 1, wherein during driving in fixed gear, the method further comprises:
determining a target recovery torque based on a current vehicle speed;
determining a preset torque upper limit value;
sending the target recovery torque and the preset torque upper limit value to an electronic stability control system of the vehicle body;
receiving a target stabilizing torque sent by an electronic stability control system of a vehicle body, wherein the target stabilizing torque comprises a torque determined by the electronic stability control system of the vehicle body based on the vehicle condition influence factor, the target recovery torque and the preset torque upper limit value;
and sending the target stable torque to the integrated combined power device so that the integrated combined power device controls the output torque of the motor to be the target stable torque.
6. A downshift deceleration compensation apparatus provided in a vehicle, an integrated combined power plant of the vehicle controlling an output torque of an electric motor to a target stabilization torque that is a torque determined based on a current vehicle speed of the vehicle, a preset torque upper limit value, and a vehicle condition influencing factor during driving of the vehicle in a fixed gear, the apparatus comprising, when performing downshift deceleration control:
the motor downshift request sending module is used for sending a motor downshift request to the automatic gearbox control unit;
the motor torque-off request receiving module is used for receiving a motor torque-off request sent by the automatic gearbox control unit;
the motor torque-off request sending module is used for sending a motor torque-off request to the integrated combined power device so that the integrated combined power device controls the motor torque-off;
a first data acquisition module for acquiring a current target recovery torque, a current target stabilization torque, and a pre-downshift motor gear ratio during control of motor unloading torque by the integrated combined power plant, the target recovery torque including a torque determined based on a current vehicle speed;
a first target braking torque determination module to determine a target braking torque based on the current target recovery torque, the current target stabilization torque, and the pre-downshift motor gear ratio;
the first target braking torque sending module is used for sending the target braking torque to an electronic stability control system of a vehicle body so that the electronic stability control system of the vehicle body can compensate braking force for the vehicle based on the current acceleration and the target braking torque.
7. The apparatus of claim 6, further comprising:
and the braking force compensation request sending module is used for sending a braking force compensation request to the electronic stability control system of the vehicle body after sending a motor torque-off request to the integrated combined power device, wherein the braking force compensation request carries an effective compensation identifier.
8. A downshift deceleration compensated vehicle, said vehicle comprising: the vehicle control system comprises a vehicle controller, an automatic gearbox control unit, an integrated combined power device, a vehicle body electronic stability control system and a motor, and is characterized in that in the process that a vehicle drives at a fixed gear, the integrated combined power device of the vehicle controls the output torque of the motor to be a target stable torque, and the target stable torque is determined based on the current vehicle speed of the vehicle, a preset torque upper limit value and vehicle condition influence factors;
when the downshift deceleration control is carried out, the vehicle control unit is used for sending a motor downshift request to the automatic gearbox control unit and sending a motor torque-off request to the integrated combined power device; and in the process of controlling the motor to unload the torque by the integrated combined power device, the integrated combined power device is used for acquiring the current target recovery torque, the current target stable torque and the transmission ratio of the motor before downshift; and for determining a target braking torque based on the current target recovery torque, the current target stabilizing torque, and the pre-downshift motor gear ratio; and for sending the target braking torque to a body electronic stability control system;
the automatic gearbox control unit is used for sending a motor torque unloading request to the vehicle control unit;
the integrated combined power device is used for controlling the unloading torque of the motor;
the electronic stability control system of the vehicle body compensates the braking force for the vehicle based on the current acceleration and the target braking torque.
9. A downshift deceleration compensation vehicle, characterized in that the vehicle comprises a vehicle controller and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the vehicle controller to implement the downshift deceleration compensation method according to any one of claims 1 to 5.
10. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the downshift deceleration compensation method according to any one of claims 1 to 5.
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