CN111660831A - Four-wheel-drive gradient torque control method and device and four-wheel-drive vehicle - Google Patents
Four-wheel-drive gradient torque control method and device and four-wheel-drive vehicle Download PDFInfo
- Publication number
- CN111660831A CN111660831A CN202010604887.0A CN202010604887A CN111660831A CN 111660831 A CN111660831 A CN 111660831A CN 202010604887 A CN202010604887 A CN 202010604887A CN 111660831 A CN111660831 A CN 111660831A
- Authority
- CN
- China
- Prior art keywords
- torque control
- wheel drive
- wheel
- control method
- gradient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B60L15/2018—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 for braking on a slope
-
- 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
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
-
- 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
Abstract
The invention provides a four-wheel-drive gradient torque control method and device and a four-wheel-drive vehicle. The method comprises the following steps: acquiring the longitudinal acceleration of the whole vehicle; estimating the current gradient according to the longitudinal acceleration; based on the estimated gradient, the torque output to the driven wheel is calculated. The four-wheel-drive gradient torque control method and device and the four-wheel-drive vehicle can accurately estimate the current gradient without additionally adding a sensor, and further accurately control the output torque.
Description
Technical Field
The invention relates to the technical field of four-wheel drive vehicle control, in particular to a four-wheel drive gradient torque control method and device and a four-wheel drive vehicle.
Background
Four-wheel drive control is mature, four-wheel drive products are numerous and comprise time-sharing four-wheel drive, timely four-wheel drive, full-time four-wheel drive and the like, a four-wheel drive controller can calculate different four-wheel drive torque requests according to different driving conditions and then acts on driven wheels, so that the purpose of four-wheel drive is achieved.
When the vehicle stops on a slope, particularly when the driving wheels are on a smooth road surface, after the vehicle is started, the four-wheel drive intervenes late, the vehicle can slide, so that accidents are caused.
Disclosure of Invention
The invention aims to provide a four-wheel-drive gradient torque control method, a four-wheel-drive gradient torque control device and a four-wheel-drive vehicle, which can accurately estimate the current gradient without additionally adding a sensor, and further accurately control the output torque.
In order to solve the technical problem, the invention provides a four-wheel-drive gradient torque control method, which comprises the following steps: acquiring the longitudinal acceleration of the whole vehicle; estimating the current gradient according to the longitudinal acceleration; based on the estimated gradient, the torque output to the driven wheel is calculated.
In some embodiments, estimating the current grade from the longitudinal acceleration comprises: carrying out amplitude limiting processing on the longitudinal acceleration of the whole vehicle; carrying out low-pass filtering on the longitudinal acceleration after amplitude limiting; and looking up a table according to the filtering result to obtain a gradient estimated value.
In some embodiments, a pre-designed low pass filter is used in the low pass filtering.
In some embodiments, the input to the low pass filter comprises: the original longitudinal acceleration, the initial value of the longitudinal acceleration, and the angular frequency.
In some embodiments, the low pass filter has a design angular frequency of 1 Hz.
In some embodiments, calculating the torque output to the passive wheels based on the estimated grade comprises: and performing two-dimensional table lookup according to the gradient value and the current front wheel steering angle value to obtain the output torque.
In some embodiments, further comprising: and judging whether a torque control process needs to be triggered or not according to the current wheel speed of the four wheels.
In addition, the present invention provides a four-wheel drive grade torque control apparatus, comprising: one or more processors; a memory device to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the four-wheel drive grade torque control method according to the foregoing.
In addition, the present invention also provides a four-wheel drive vehicle including: a four-wheel drive vehicle according to the preamble.
After adopting such design, the invention has at least the following advantages:
under the condition of no gradient sensor, the current gradient value CAN be estimated through CAN data on the whole vehicle, such as wheel speed, longitudinal acceleration and front wheel rotation angle signals, so that different torques are output to a driven wheel; by the method, the triggering of the gradient torque of the vehicle under the static condition can be well ensured, and accidents are prevented.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 is a flow chart of a four-wheel drive grade torque control method provided by an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for four-wheel drive grade torque control according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating the determination of trigger conditions in the method for controlling four-wheel-drive gradient torque according to the embodiment of the invention;
fig. 4 is a block diagram of a four-wheel drive grade torque control device according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Under the condition of no gradient sensor, the invention CAN predict the current gradient value through CAN data on the whole vehicle, such as wheel speed, longitudinal acceleration and front wheel steering angle signals, thereby outputting different torques to driven wheels.
FIG. 1 shows a flow of a four-wheel drive grade torque control method. Referring to FIG. 1, a four-wheel drive grade torque control method includes:
and S11, acquiring the longitudinal acceleration of the whole vehicle.
S12, the current gradient is estimated based on the longitudinal acceleration.
And S13, calculating the torque output to the driven wheel according to the estimated gradient.
Although there is no grade signal on the vehicle at present, a longitudinal acceleration signal is available, and the following formula can be derived according to the mechanical analysis that the vehicle is stationary on a slope:
wherein a represents a longitudinal acceleration, g represents a gravitational acceleration,
represents the slope angle value in degrees.
Therefore, according to the formula, the gradient angle of the vehicle under the static state can be known through the value of the longitudinal acceleration, and the following algorithm is designed, as shown in fig. 2.
The maximum possible angle for a stationary vehicle is 90 degrees, but the maximum true angle for the vehicle to climb from a stationary state is typically less than 45 degrees, at which time the longitudinal acceleration is approximately 0.7 g. In order to avoid high frequency variation of longitudinal acceleration, a low-pass filter is introduced, the angular frequency is designed to be 1Hz, and meanwhile, in order to improve the calculation speed, a table look-up method is used to obtain the gradient angle, as shown in table 1, AngleCalc in fig. 2 is:
TABLE 1
According to experience, when a four-wheel-drive vehicle is in large steering, if the four-wheel-drive intervention torque is too much, steering braking can be caused, and NVH (noise vibration harshness) problems can be caused. Given specific values, different vehicles have different calibration values, taking the calibration data of a certain vehicle factory as an example, the gradebatedtorquetable in fig. 2 is, where the row vector is the slope value and the column vector is the front wheel angle value:
TABLE 2
Because the longitudinal acceleration can not reflect the gradient angle value already when the vehicle is in a running state, a condition trigger is introduced outside the determineTorque subsystem, GradeTorque is calculated only when the four wheel speeds are all smaller than 0.5kph, otherwise, the calculation is stopped when any wheel speed exceeds 3kph, and GradeTroque is 0 Nm. This ensures the possibility of false triggering, as shown in fig. 3.
Fig. 4 shows an exemplary structure of the four-wheel drive gradient torque control apparatus. For example, the four-wheel drive grade torque control apparatus 400 may be used to act as a torque control device in a control system of a four-wheel drive vehicle. As described herein, the four-wheel drive grade torque control device 400 may be used to implement torque control functionality in a four-wheel drive vehicle control system. The four-wheel drive grade torque control means 400 may be implemented in a single node, or the functionality of the four-wheel drive grade torque control means 400 may be implemented in multiple nodes in the network. Those skilled in the art will appreciate that the term four-wheel drive grade torque control device includes a broad sense of apparatus, of which the four-wheel drive grade torque control device 400 shown in fig. 4 is but one example. The four-drive grade torque control device 400 is included for clarity of presentation and is not intended to limit the application of the present invention to a particular four-drive grade torque control device embodiment or to a certain class of four-drive grade torque control device embodiments. At least some of the features/methods described herein may be implemented in a network device or component, such as the four-wheel drive grade torque control device 400. For example, the features/methods of the present invention may be implemented in hardware, firmware, and/or software running installed on hardware. The four-wheel drive grade torque control device 400 may be any device that processes, stores, and/or forwards data frames over a network, such as a server, a client, a data source, and the like. As shown in fig. 4, the four-wheel drive grade torque control device 400 may include a transceiver (Tx/Rx)410, which may be a transmitter, a receiver, or a combination thereof. Tx/Rx 410 may be coupled to a plurality of ports 450 (e.g., an uplink interface and/or a downlink interface) for transmitting and/or receiving frames from other nodes. Processor 430 may be coupled to Tx/Rx 410 to process frames and/or determine to which nodes to send frames. Processor 430 may include one or more multi-core processors and/or memory devices 432, which may serve as data stores, buffers, and the like. Processor 430 may be implemented as a general-purpose processor or may be part of one or more Application Specific Integrated Circuits (ASICs) and/or Digital Signal Processors (DSPs).
According to the method, the triggering of the gradient torque of the vehicle under the static condition can be well guaranteed, the accident is prevented, the gradient of the vehicle under the static condition is inferred through the longitudinal acceleration, then different four-wheel drive torques are output through a Map, and the method is suitable for all four-wheel drive products.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (9)
1. A four-wheel drive grade torque control method, comprising:
acquiring the longitudinal acceleration of the whole vehicle;
estimating the current gradient according to the longitudinal acceleration;
based on the estimated gradient, the torque output to the driven wheel is calculated.
2. The four-wheel drive grade torque control method of claim 1, wherein estimating a current grade based on a longitudinal acceleration comprises:
carrying out amplitude limiting processing on the longitudinal acceleration of the whole vehicle;
carrying out low-pass filtering on the longitudinal acceleration after amplitude limiting;
and looking up a table according to the filtering result to obtain a gradient estimated value.
3. The four-wheel drive gradient torque control method according to claim 2, wherein a pre-designed low-pass filter is used in the low-pass filtering.
4. The four-wheel drive gradient torque control method according to claim 3, wherein the input amount of the low-pass filter includes: the original longitudinal acceleration, the initial value of the longitudinal acceleration, and the angular frequency.
5. The four-wheel drive grade torque control method according to claim 3, characterized in that the design angular frequency of the low-pass filter is 1 Hz.
6. The four-wheel drive grade torque control method of claim 1, wherein calculating torque output to the driven wheels based on the estimated grade comprises:
and performing two-dimensional table lookup according to the gradient value and the current front wheel steering angle value to obtain the output torque.
7. The four-wheel drive grade torque control method according to claim 1, further comprising:
and judging whether a torque control process needs to be triggered or not according to the current wheel speed of the four wheels.
8. A four-wheel drive grade torque control method, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a four-wheel drive grade torque control method according to any one of claims 1 to 7.
9. A four-wheel drive vehicle, comprising: the four-wheel drive grade torque control device of claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010604887.0A CN111660831A (en) | 2020-06-29 | 2020-06-29 | Four-wheel-drive gradient torque control method and device and four-wheel-drive vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010604887.0A CN111660831A (en) | 2020-06-29 | 2020-06-29 | Four-wheel-drive gradient torque control method and device and four-wheel-drive vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111660831A true CN111660831A (en) | 2020-09-15 |
Family
ID=72390241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010604887.0A Pending CN111660831A (en) | 2020-06-29 | 2020-06-29 | Four-wheel-drive gradient torque control method and device and four-wheel-drive vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111660831A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911127A (en) * | 2021-09-30 | 2022-01-11 | 上汽通用五菱汽车股份有限公司 | Gradient identification method, system and storage medium |
| CN113911126A (en) * | 2021-09-30 | 2022-01-11 | 上汽通用五菱汽车股份有限公司 | Gradient identification method, system and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001239853A (en) * | 2000-03-02 | 2001-09-04 | Hitachi Ltd | Electric four-wheel drive device for vehicle |
| CN101844554A (en) * | 2009-03-24 | 2010-09-29 | 福特全球技术公司 | Be used to improve the system of vehicle performance on grade |
| US20140358402A1 (en) * | 2013-05-29 | 2014-12-04 | Kia Motors Corp. | Method for controlling creep torque of motor-driven vehicle |
| CN105711590A (en) * | 2016-05-03 | 2016-06-29 | 重庆长安汽车股份有限公司 | Hill-starting assisting control method and device |
| CN106032143A (en) * | 2016-06-27 | 2016-10-19 | 奇瑞汽车股份有限公司 | Torque control method and device |
| CN107264337A (en) * | 2017-06-13 | 2017-10-20 | 北京新能源汽车股份有限公司 | The distribution method and electric automobile of a kind of driving torque |
| CN108725259A (en) * | 2018-06-26 | 2018-11-02 | 南京恒天领锐汽车有限公司 | A kind of big slope starting control system of novel 4 wheel driven pure electric coach |
| KR20190007956A (en) * | 2017-07-14 | 2019-01-23 | 디와이 주식회사 | Method for enhancing hill driving performance for an electric vehicle |
-
2020
- 2020-06-29 CN CN202010604887.0A patent/CN111660831A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001239853A (en) * | 2000-03-02 | 2001-09-04 | Hitachi Ltd | Electric four-wheel drive device for vehicle |
| CN101844554A (en) * | 2009-03-24 | 2010-09-29 | 福特全球技术公司 | Be used to improve the system of vehicle performance on grade |
| US20140358402A1 (en) * | 2013-05-29 | 2014-12-04 | Kia Motors Corp. | Method for controlling creep torque of motor-driven vehicle |
| CN105711590A (en) * | 2016-05-03 | 2016-06-29 | 重庆长安汽车股份有限公司 | Hill-starting assisting control method and device |
| CN106032143A (en) * | 2016-06-27 | 2016-10-19 | 奇瑞汽车股份有限公司 | Torque control method and device |
| CN107264337A (en) * | 2017-06-13 | 2017-10-20 | 北京新能源汽车股份有限公司 | The distribution method and electric automobile of a kind of driving torque |
| KR20190007956A (en) * | 2017-07-14 | 2019-01-23 | 디와이 주식회사 | Method for enhancing hill driving performance for an electric vehicle |
| CN108725259A (en) * | 2018-06-26 | 2018-11-02 | 南京恒天领锐汽车有限公司 | A kind of big slope starting control system of novel 4 wheel driven pure electric coach |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911127A (en) * | 2021-09-30 | 2022-01-11 | 上汽通用五菱汽车股份有限公司 | Gradient identification method, system and storage medium |
| CN113911126A (en) * | 2021-09-30 | 2022-01-11 | 上汽通用五菱汽车股份有限公司 | Gradient identification method, system and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11273833B2 (en) | Acceleration slip regulation method and device for four-wheel drive electric vehicle | |
| US9434388B2 (en) | Surface estimation for vehicles | |
| US11292308B2 (en) | Vehicle motion state estimation apparatus | |
| CN111660831A (en) | Four-wheel-drive gradient torque control method and device and four-wheel-drive vehicle | |
| US20150360693A1 (en) | Vehicle control device and vehicle control method | |
| WO2018079469A1 (en) | Vehicle turning control apparatus | |
| JPH1035443A (en) | Apparatus for presuming car body speed and coefficient of friction on road surface | |
| JP2014518533A (en) | Road surface friction coefficient real-time estimation method and apparatus | |
| JP6578584B2 (en) | Control device for electric vehicle | |
| CN115123195A (en) | Front-wheel-drive vehicle torque control method and device and vehicle | |
| KR101514132B1 (en) | Four-wheel drive vehicle's steering angle estimation method | |
| KR20070065946A (en) | Slip control method of traction control system | |
| CN108445250A (en) | Method for detecting vehicle speed and device | |
| JP2010532295A (en) | Processing method of signal transmitted from position sensor of automobile control member | |
| Yang et al. | Estimate lateral tire force based on yaw moment without using tire model | |
| US8165744B2 (en) | Methods, program products, and systems for controlling for improper installation of vehicle sensors | |
| KR20160062622A (en) | Vehicle speed estimation method and system | |
| JP2022007678A (en) | Vehicle weight estimation device and vehicle | |
| CN111775946A (en) | Road adhesion forecasting method based on wheel speed high-frequency signal | |
| JP2017226262A (en) | Road surface gradient estimation device and road surface gradient estimation method | |
| JP3535358B2 (en) | Road friction coefficient estimation device | |
| JPH1159366A (en) | Driving force and braking force control device | |
| JP2019137163A (en) | Slip rate calculation device | |
| CN117698746A (en) | Vehicle gradient calculating method and device, electronic equipment and storage medium | |
| CN113775749B (en) | Vehicle pre-shift control method, device, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |