CN112172521A - Drive control method, computer-readable storage medium, and vehicle - Google Patents
Drive control method, computer-readable storage medium, and vehicle Download PDFInfo
- Publication number
- CN112172521A CN112172521A CN202010912162.8A CN202010912162A CN112172521A CN 112172521 A CN112172521 A CN 112172521A CN 202010912162 A CN202010912162 A CN 202010912162A CN 112172521 A CN112172521 A CN 112172521A
- Authority
- CN
- China
- Prior art keywords
- torque
- vehicle
- current
- loading rate
- drive control
- 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
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000001133 acceleration Effects 0.000 claims abstract description 43
- 230000008859 change Effects 0.000 claims abstract description 9
- 238000013507 mapping Methods 0.000 claims description 52
- 230000009467 reduction Effects 0.000 claims description 8
- 230000003247 decreasing effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 11
- 241000167857 Bourreria Species 0.000 abstract description 3
- 230000007423 decrease Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a drive control method, a computer-readable storage medium and a vehicle, the drive control method includes: acquiring the stepping depth of an accelerator pedal, the stepping rate of the accelerator pedal and the current driving torque; controlling the torque of the vehicle to gradually increase to an expected torque according to the current pedal stepping depth, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle to reasonably change; and/or controlling the torque of the vehicle to gradually increase to the expected torque according to the current pedal stepping rate, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle to reasonably change. Therefore, after comprehensive judgment is carried out according to the stepping rate of the accelerator pedal and/or the stepping depth of the accelerator pedal and the current driving torque, the torque of the vehicle is controlled to be gradually increased to the expected torque at a reasonable torque loading stable speed, so that the torque loading of the vehicle in the acceleration process is more stable, the phenomena of large acceleration jitter and strong back pushing feeling are avoided, and the riding comfort of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a drive control method, a computer-readable storage medium, and a vehicle.
Background
In the related art, hybrid vehicles and pure electric vehicles can drive the vehicles to run through the motor, and the starting torque of the motor is higher, so that the motor can provide larger torque instantly compared with an engine. This results in a strong pushing feeling when the vehicle is stationary and starts, and if the acceleration is too fast, particularly for passengers, the rapid change of the acceleration at the initial starting stage may cause discomfort to the driver and passengers, and reduce the comfort of the vehicle.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. To this end, an object of the present invention is to propose a drive control method of a vehicle, which can effectively improve the comfort of the vehicle.
The invention further proposes a computer-readable storage medium.
The invention also provides a vehicle.
A drive control method of a vehicle according to an embodiment of a first aspect of the invention includes: acquiring the stepping depth of an accelerator pedal, the stepping rate of the accelerator pedal and the current driving torque; controlling the torque of the vehicle to gradually increase to an expected torque according to the current pedal stepping depth, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle to reasonably change; and/or controlling the torque of the vehicle to gradually increase to the expected torque according to the current pedal stepping rate, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle to reasonably change.
According to the drive control method provided by the embodiment of the invention, after comprehensive judgment is carried out according to the stepping rate of the accelerator pedal and/or the stepping depth of the accelerator pedal and the current drive torque, the torque of the vehicle is controlled to be gradually increased to the expected torque at a reasonable torque loading stable speed, so that the torque loading of the vehicle in the acceleration process is more stable, and the phenomena of large acceleration jitter and strong back pushing feeling are avoided, thereby improving the riding comfort of the vehicle.
According to some embodiments of the invention, further comprising: obtaining the rotating speed of the wheel; if the wheel rotating speed reaches a slip threshold value, controlling the torque of the vehicle to gradually increase to the expected torque according to the current pedal stepping depth and the current driving torque at a first increasing and then decreasing torque loading rate; and/or controlling the torque of the vehicle to gradually increase to the expected torque according to the current pedal stepping rate and the current driving torque at a first increasing and then decreasing torque loading rate.
Further, if the wheel speed does not reach a slip threshold, the accelerator pedal depression depth, the accelerator pedal depression rate, and the current driving torque are continuously obtained.
In some embodiments, the torque loading rate comprises: the device comprises a first torque loading rate mapping table, a second torque loading rate mapping table, a third torque loading rate mapping table and a fourth torque loading rate mapping table which can be calibrated; if the rotating speed of the wheel does not reach a slip threshold value, controlling the torque of the vehicle according to the current pedal treading depth, the current driving torque and a first torque loading rate mapping table; and/or controlling the torque of the vehicle to gradually increase to the expected torque according to the current pedal stepping rate, the current driving torque and the second torque loading rate mapping table; if the rotating speed of the wheel reaches a slip threshold value, controlling the torque of the vehicle according to the current pedal stepping depth, the current driving torque and a third torque loading rate mapping table; and/or controlling the torque of the vehicle to gradually increase to the expected torque according to the current pedal stepping rate, the current driving torque and the fourth torque loading rate mapping table.
Further, the first torque loading rate mapping table represents torque loading rates under different accelerator pedal stepping depths and different torque increasing ranges when the rotating speed of the wheel does not reach a slip threshold value; the second torque loading rate mapping table represents torque loading rates of different accelerator pedal stepping rates and different torque increasing ranges when the rotating speed of the wheel does not reach a slip threshold value; the third torque loading rate mapping table represents torque loading rates under different accelerator pedal treading depths and different torque increasing ranges when the rotating speed of the wheel reaches a slip threshold; and the fourth torque loading rate mapping table represents the torque loading rates of different accelerator pedal stepping rates and different torque increasing ranges when the rotating speed of the wheel reaches a slip threshold value.
In some embodiments, further comprising: acquiring a current vehicle speed and a current driving torque; calculating the difference value between the current vehicle speed and the maximum vehicle speed; and if the difference is smaller than a vehicle speed difference threshold value, controlling the torque of the vehicle to be gradually reduced to the minimum driving torque according to the difference and the current driving torque.
Further, if the difference value is larger than the vehicle speed difference value threshold value, the current vehicle speed and the current driving torque are continuously acquired.
Further, still include: the vehicle is suitable for controlling the torque of the vehicle to be gradually reduced to the minimum driving torque according to the torque load reduction mapping table.
A computer-readable storage medium according to an embodiment of the second aspect of the invention has stored thereon a drive control program of a vehicle, which when executed by a processor implements a drive control method of the vehicle.
According to a vehicle of an embodiment of a third aspect of the invention, comprising: the system comprises a processor, a memory and a drive control program of the vehicle, wherein the drive control program is stored on the memory and can run on the processor, and when the processor executes the drive control program, the drive control method is realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a torque loading control logic diagram of a drive control method according to an embodiment of the present invention;
FIG. 2 is another torque loading control logic diagram of a drive control method according to an embodiment of the present invention;
FIG. 3 is a torque derating control logic diagram of a drive control method according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a vehicle according to an embodiment of the present invention.
Reference numerals:
the vehicle 100 is provided with a plurality of wheels,
a processor 10 and a memory 20.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A drive control method, a computer-readable storage medium, and a vehicle 100 according to an embodiment of the invention are described below with reference to fig. 1 to 4.
As shown in fig. 1, a drive control method of a vehicle 100 according to an embodiment of a first aspect of the invention includes:
acquiring the stepping depth of an accelerator pedal, the stepping rate of the accelerator pedal and the current driving torque;
controlling the torque of the vehicle 100 to gradually increase to an expected torque according to the current pedal stepping depth, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle 100 to reasonably change; and/or
The torque of the vehicle 100 is controlled to gradually increase to the expected torque according to the current pedal depression rate, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle 100 to reasonably change.
Specifically, the accelerator pedal depression depth and the accelerator pedal depression rate both represent the driving requirement of the driver, that is, the acceleration expectation (torque increase range) of the driver can be judged according to the accelerator pedal depression depth and the accelerator pedal depression rate to determine the expected torque, and then the vehicle 100 is controlled to gradually increase the torque of the vehicle 100 to the expected torque at a reasonable torque loading rate after the expected torque is determined.
It can be understood that, in the torque increasing process, the acceleration of the vehicle is gradually increased, and the acceleration increasing rate is in positive correlation with the torque increasing rate, so that the acceleration of the vehicle can be reasonably changed through a reasonable torque loading rate, and the acceleration of the vehicle is prevented from being violently changed in the acceleration process.
According to the drive control method provided by the embodiment of the invention, after comprehensive judgment is carried out according to the stepping rate of the accelerator pedal and/or the stepping depth of the accelerator pedal and the current drive torque, the torque of the vehicle 100 is controlled to be gradually increased to the expected torque at a reasonable torque loading stable speed, so that the torque loading is more stable in the acceleration process of the vehicle 100, the phenomena of large acceleration jitter and strong back pushing feeling are avoided, and the riding comfort of the vehicle 100 is improved.
It should be noted that both the accelerator pedal depression depth and the accelerator pedal depression rate can accurately represent the acceleration expectation of the driver, and then at least one of the accelerator pedal depression depth and the accelerator pedal depression rate is acquired, so that the acceleration expectation of the driver can be accurately obtained, and the reliability of the driving control method can be improved.
The torque loading speed refers to: the torque increase value of the vehicle per unit time, the drive control method of the present application defining that the vehicle is adapted to control the torque of the vehicle to gradually increase to the expected torque according to the torque loading rate means: the torque loading rate is defined herein as a defined rather than a defined value, and is different for different acceleration expectations and different for different torque up ranges for the same acceleration expectation.
As shown in fig. 2, the drive control method further includes: obtaining the rotating speed of the wheel; if the wheel speed reaches the slip threshold, controlling the torque of the vehicle 100 to gradually increase to the expected torque according to the current pedal stepping depth and the current driving torque at a first increasing and then decreasing torque loading rate; and/or controlling the torque of the vehicle 100 to gradually increase to a desired torque at an increasing and decreasing torque loading rate in accordance with the current pedal depression rate, the current driving torque.
Specifically, when the vehicle 100 runs on a road surface with a low adhesion coefficient, the wheel may slip, so as to obtain the wheel rotation speed, determine whether the wheel slips through the wheel rotation speed, and if the wheel slips, control the torque of the vehicle to gradually increase according to a torque loading rate different from that when the wheel does not slip, so that the driving control method of the present application is suitable for different road surfaces, and can be adapted to the use in rainy and snowy weather, and the driving safety of the vehicle can be effectively improved.
Next, a drive control method according to the present application will be described in detail with a specific example.
First, it will be appreciated that the torque loading rates described above are adaptable to different expected torques, different road adhesion coefficients, and different torque rise ranges. Based on this, the torque loading rate is summarized into four torque loading rate tables, and the following calibration can be performed by those skilled in the art after the safe road surface test is performed for different vehicle types and different driving strengths.
The torque loading rates include: the device comprises a first torque loading rate mapping table, a second torque loading rate mapping table, a third torque loading rate mapping table and a fourth torque loading rate mapping table which can be calibrated; wherein
If the rotating speed of the wheel does not reach the slip threshold value, controlling the torque of the vehicle according to the current pedal treading depth, the current driving torque and the first torque loading rate mapping table; and/or controlling the torque of the vehicle 100 to gradually increase to the expected torque according to the current pedal depression rate, the current driving torque and the second torque loading rate mapping table;
that is to say, both the stepping depth of the accelerator pedal and the stepping rate of the accelerator pedal can represent the driving requirement of the driver, that is, the expected acceleration (torque increase range) of the driver can be determined according to the stepping depth of the accelerator pedal and the stepping rate of the accelerator pedal, and then after the torque increase range is determined, the torque of the vehicle 100 can be controlled through the first torque loading rate mapping table or the second torque loading rate mapping table.
It can be understood that the loading speed of the torque can be more reasonable by controlling the torque increase of the vehicle 100 through the first torque loading rate mapping table or the second torque loading rate mapping table (not shown), and the torque increase per unit time is within an expected range that the passenger can bear, so that the passenger is prevented from receiving excessive back pushing feeling, and the riding comfort is improved.
Table 1 shows: first torque loading speed table for certain vehicle type
Referring to the above table, it can be appreciated that the variation in accelerator pedal depression depth corresponds to different torque increase requirements, such as: when the opening degree of an accelerator pedal is 25% -50%, the current torque is X, the torque increasing amount does not exceed 150NM on the basis of X, wherein 0-50NM adopts a loading rate of 200NM/s for torque loading, 50NM-100NM adopts a loading rate of 250NM/s for torque loading, and 100NM-150NM adopts a loading rate of 150NM/s for torque loading, so that the instantaneous torque loading amount in the torque loading process is more reasonable, the torque is prevented from suddenly and sharply rising or falling, a larger push-back feeling is avoided, and the riding comfort is improved.
It should be noted that the second torque loading rate table corresponding to the stepping rate of the accelerator pedal is not shown in the present application, and is similar to the torque control corresponding to the stepping depth of the accelerator pedal, and can be understood and implemented by those skilled in the art, and will not be described herein again, and it is understood that the mapping tables referred to in the present application are exemplary tables, so that those skilled in the art can understand the driving control method claimed in the present application.
Further, in some embodiments, the torque of the vehicle 100 is controlled according to the current pedal depression depth, the current driving torque, and the first torque loading rate map; in other embodiments, the torque of the vehicle 100 is controlled according to the current pedal rate, the current driving torque, and the second torque loading rate map; in a preferred embodiment, the torque of the vehicle 100 is controlled according to the current pedal depression depth, the current driving torque, and the first torque loading rate map, and the torque of the vehicle 100 is controlled according to the current pedal depression rate, the current driving torque, and the second torque loading rate map. That is, the torque control of the present application is not limited to only the accelerator pedal depression rate or the accelerator pedal depression depth, but preferably both are comprehensively determined, and ride comfort can be further improved.
According to the drive control method provided by the embodiment of the invention, the torque of the vehicle 100 is comprehensively judged and controlled according to the stepping rate of the accelerator pedal and/or the stepping depth of the accelerator pedal and the current drive torque, so that the torque loading rate is more reasonable and the torque loading is more stable in the acceleration process of the vehicle 100, and the phenomena of larger acceleration jitter and stronger back pushing feeling are avoided, thereby improving the riding comfort of the vehicle 100.
It should be noted that when the vehicle 100 is in a small torque increase expectation (for example, when the stepping depth of the accelerator pedal is less than 25%), the torque increase amount is small, the vehicle 100 does not shake greatly during acceleration, and when the vehicle 100 is in a maximum torque increase expectation (for example, the stepping depth of the accelerator pedal reaches 100%), the driver has a strong acceleration expectation, and the vehicle 100 is controlled to meet the acceleration expectation at the maximum torque increase speed, so that the maneuverability of the vehicle 100 is better, and the torque control does not conflict with the torque control described in the present application, and is also within the torque control range of the present application, so that the driving control method of the present application is more reasonable and reliable.
As shown in fig. 2, if the wheel speed reaches the slip threshold, controlling the torque of the vehicle according to the current pedal depression depth, the current driving torque, and the third torque loading rate mapping table; and/or controlling the torque of the vehicle (100) to gradually increase to the expected torque according to the current pedal depression rate, the current driving torque and the fourth torque loading rate mapping table. In other words, according to some embodiments of the invention, further comprising: obtaining the rotating speed of the wheel; if the wheel speed reaches the slip threshold, controlling the torque of the vehicle 100 according to the current pedal stepping depth, the current driving torque and a third torque loading rate mapping table; and/or controlling the torque of the vehicle 100 according to the current pedal depression rate, the current driving torque, and the fourth torque loading rate map.
Specifically, when the vehicle 100 runs on a road surface with a low adhesion coefficient, a wheel may slip, so as to obtain a wheel rotation speed, determine whether the wheel slips through the wheel rotation speed, and control the torque of the vehicle 100 according to the third torque loading rate mapping table and/or the fourth torque loading rate mapping table if the wheel slips, so that the driving control method of the present application is suitable for different road surfaces and can be adapted to rain and snow weather.
Table 2 shows: third torque loading speed table for certain vehicle type
Referring to the above table, it can be appreciated that the variation in accelerator pedal depression depth corresponds to different torque increase requirements, such as: when the vehicle runs on a road surface with a low adhesion coefficient, such as a wet slippery road surface, the opening degree of an accelerator pedal is 25% -50%, the current torque is X, and the torque increasing amount does not exceed 150NM on the basis of X, wherein 0-50NM adopts a loading rate of 200NM/s for torque loading, 50NM-100NM adopts a loading rate of 200NM/s for torque loading, and 100NM-150NM adopts a loading rate of 150NM/s for torque loading, so that the instantaneous torque loading amount in the torque loading process is more reasonable, the sudden sharp rise or fall of the torque is avoided, the larger push-back feeling is avoided, and the riding comfort is improved.
It should be noted that the fourth torque loading rate table corresponding to the accelerator pedal depression rate is not shown in the present application, and is similar to the torque control corresponding to the accelerator pedal depression depth, and can be understood and implemented by those skilled in the art, and will not be described herein again.
Further, in some embodiments, the torque of the vehicle 100 is controlled according to the current pedal depression depth, the current driving torque, and the third torque loading rate map; in other embodiments, the torque of the vehicle 100 is controlled according to the current pedal rate, the current driving torque, and a fourth torque loading rate map; in a preferred embodiment, the torque of the vehicle 100 is controlled according to the current pedal depression depth, the current driving torque, and the third torque loading rate map and the torque of the vehicle 100 is controlled according to the current pedal depression rate, the current driving torque, and the fourth torque loading rate map. That is, the torque control of the present application is not limited to only the accelerator pedal depression rate or the accelerator pedal depression depth, but preferably both are comprehensively determined, and ride comfort can be further improved.
In summary, according to the drive control method of the present application, when the road adhesion coefficient is high, the torque of the vehicle 100 is controlled through the loading rate mapping table in which the wheels do not slip, and when the wheels slip, the torque of the vehicle 100 is controlled through the loading rate mapping table in which the wheels slip, so that the driving safety of the vehicle 100 can be improved and the slip of the vehicle 100 on the road with a low adhesion coefficient can be avoided on the premise that the torque control of the vehicle 100 is more reasonable.
It should be noted that when the vehicle 100 is in a small torque increase expectation (for example, when the stepping depth of the accelerator pedal is lower than 25%), the torque increase amount is small, and the vehicle 100 does not have large jitter during acceleration, and when the vehicle 100 is in a maximum torque increase expectation (for example, the stepping depth of the accelerator pedal reaches 100%), the driver's acceleration expectation is strong, but the road adhesion coefficient is low, the vehicle 100 is controlled to operate at the maximum torque increase speed to the torque increase 100NM, and the torque increase speed is gradually reduced to prolong the acceleration time of the vehicle 100, so that the vehicle 100 needs a longer time to reach the expected vehicle speed, the driver's judgment time is prolonged, and the vehicle 100 is prevented from slipping due to excessively high instantaneous acceleration, thereby improving the driving safety of the vehicle 100.
Further, if the wheel speed does not reach the slip threshold, the accelerator pedal depression depth, the accelerator pedal depression rate, and the current driving torque are continuously obtained. That is, in the process of controlling the torque of the vehicle 100, the accelerator pedal stepping depth, the accelerator pedal stepping rate and the current driving torque are monitored in real time, when the vehicle 100 runs on a road surface with a high adhesion coefficient, the torque of the vehicle 100 is controlled through the first torque loading rate mapping table and/or the second torque loading rate mapping table, and when the vehicle 100 runs on a road surface with a low adhesion coefficient, the torque of the vehicle 100 is controlled through the third torque loading rate mapping table and/or the fourth torque loading rate mapping table, so that the running safety and riding comfort of the vehicle 100 are effectively considered.
Referring to tables 1 and 2, the first torque loading rate mapping table represents torque loading rates under different accelerator pedal stepping depths and different torque increasing ranges when the rotating speed of the wheel does not reach a slip threshold value; the second torque loading rate mapping table represents torque loading rates of different accelerator pedal stepping rates and different torque increasing ranges when the rotating speed of the wheel does not reach a slip threshold value; the third torque loading rate mapping table represents torque loading rates of different accelerator pedal treading depths and different torque increasing ranges when the rotating speed of the wheel reaches a slip threshold; the fourth torque loading rate mapping table represents the torque loading rates of different accelerator pedal stepping rates and different torque increasing ranges when the rotating speed of the wheel reaches a slip threshold value.
Further, the torque loading rate increases and then decreases as the torque of the vehicle 100 gradually increases. Therefore, the acceleration of the vehicle 100 is gradually increased, and the vehicle speed is ensured to be smoothly increased in the acceleration increasing process, so that the vehicle 100 is prevented from shaking, and the riding comfort is improved.
As shown in fig. 3, the drive control method further includes: acquiring a current vehicle speed and a current driving torque; calculating the difference value between the current vehicle speed and the maximum vehicle speed; and if the difference is smaller than the vehicle speed difference threshold value, controlling the torque of the vehicle 100 to gradually reduce to the minimum driving torque according to the difference and the current driving torque.
Specifically, when the vehicle 100 accelerates to a near maximum vehicle speed, which may be a maximum vehicle speed manually set by a driver or a maximum vehicle speed calibrated when the vehicle 100 is shipped from a factory, the driving torque is controlled to gradually decrease to a minimum driving torque capable of maintaining the vehicle 100 to run at the maximum vehicle speed, so as to avoid that after the vehicle accelerates to the maximum vehicle speed, the driving torque sharply decreases to the minimum driving torque capable of maintaining the vehicle 100 to run at the maximum vehicle speed, thereby avoiding that the vehicle 100 suddenly decreases in acceleration, and improving riding comfort.
The minimum driving torque is a minimum driving torque required for the vehicle to maintain a vehicle speed.
Referring to table 3, the torque load shedding rate map represents the torque load shedding rates in different torque shedding ranges and different vehicle speed differences, and the vehicle 100 is adapted to control the torque of the vehicle 100 to gradually decrease to the minimum driving torque according to the torque load shedding map.
That is, the torque load reduction is performed according to the exemplary torque load reduction speed table shown in table 3, so that a large torque drop can be avoided after the vehicle reaches the expected speed, and the driving comfort of the vehicle can be improved.
Table 3 shows: torque load shedding rate mapping table for certain vehicle type
Referring to the above table, when the vehicle 100 approaches the maximum vehicle speed, the vehicle 100 is controlled to gradually decrease the driving torque so that the acceleration of the vehicle 100 is gradually decreased, for example: when the distance from the maximum vehicle speed is 5m/s, the load reduction is carried out at the torque reduction speed of 800NM/s in the torque reduction range of 400-500NM, and when the distance from the maximum vehicle speed is 4m/s, the torque reduction is further controlled, so that the output torque of the vehicle 100 is gradually reduced to the lowest driving torque maintaining the maximum vehicle speed, the driving torque and the acceleration of the vehicle 100 are prevented from changing rapidly, and the riding comfort is improved.
It should be noted that tables 1 to 3 shown in the present application, and the defined torque loading map and the defined torque unloading map are exemplary illustrations.
Further, if the difference is greater than the vehicle speed difference threshold, the current vehicle speed and the current driving torque are continuously acquired. That is, it is determined whether the vehicle 100 needs to perform torque load shedding according to the vehicle speed and the current driving torque in real time, and the torque loading rate is determined according to the accelerator pedal depth and the accelerator pedal stepping rate, so that the vehicle 100 can stably and reliably run in the acceleration process and at the maximum vehicle speed, and the passengers are prevented from being subjected to large vehicle 100 vibration and acceleration and deceleration impact, thereby effectively improving the riding comfort and riding safety.
The computer-readable storage medium according to an embodiment of the present invention has stored thereon a drive control program of the vehicle 100, which when executed by the processor 10, implements a drive control method of the vehicle 100.
According to the computer-readable storage medium of the embodiment of the invention, the driving control program corresponding to the driving control method is executed, so that the vehicle 100 can reasonably control the torque under the road surfaces with different adhesion coefficients and different torque requirements, and the driving safety and riding comfort of the vehicle 100 are improved.
As shown in fig. 4, a vehicle 100 according to an embodiment of the present invention includes: the present invention relates to a drive control method for a vehicle 100, and more particularly, to a drive control method for a vehicle which includes a processor 10, a memory 20, and a drive control program for a vehicle 100 stored in the memory 20 and operable on the processor 10, and which is realized when the processor 10 executes the drive control program.
The vehicle 100 according to the embodiment of the present invention, which uses the memory 20 storing the driving control program, has the same technical effects as the driving control method, and will not be described again here.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present invention, "a plurality" means two or more.
In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween.
In the description of the invention, "above", "over" and "above" a first feature in a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A drive control method of a vehicle (100), characterized by comprising:
acquiring the stepping depth of an accelerator pedal, the stepping rate of the accelerator pedal and the current driving torque;
controlling the torque of the vehicle (100) to gradually increase to the expected torque according to the current pedal stepping depth, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle (100) to reasonably change; and/or
Controlling the torque of the vehicle (100) to gradually increase to the expected torque according to the current pedal stepping rate, the current driving torque and the torque loading rate so as to control the acceleration of the vehicle (100) to reasonably change.
2. The drive control method of a vehicle (100) according to claim 1, characterized by further comprising:
obtaining the rotating speed of the wheel;
controlling the torque of the vehicle (100) to gradually increase to a desired torque at an increasing-then-decreasing torque loading rate according to the current pedal depression depth and the current driving torque if the wheel speed reaches a slip threshold; and/or
Controlling the torque of the vehicle (100) to gradually increase to a desired torque according to a current pedal rate, a current driving torque, and an increasing and decreasing torque loading rate.
3. The drive control method of a vehicle (100) according to claim 2, characterized in that if the wheel rotation speed does not reach a slip threshold value, an accelerator pedal depression depth, an accelerator pedal depression rate, and a current drive torque are continuously obtained.
4. The drive control method of a vehicle (100) according to any one of claims 1-3, characterized in that the torque loading rate includes: the device comprises a first torque loading rate mapping table, a second torque loading rate mapping table, a third torque loading rate mapping table and a fourth torque loading rate mapping table which can be calibrated; wherein
If the rotating speed of the wheel does not reach the slip threshold value, controlling the torque of the vehicle according to the current pedal treading depth, the current driving torque and the first torque loading rate mapping table; and/or controlling the torque of the vehicle (100) to gradually increase to a desired torque according to the current pedal depression rate, the current driving torque and a second torque loading rate mapping table;
if the rotating speed of the wheel reaches a slip threshold value, controlling the torque of the vehicle according to the current pedal stepping depth, the current driving torque and a third torque loading rate mapping table; and/or controlling the torque of the vehicle (100) to gradually increase to a desired torque according to the current pedal depression rate, the current driving torque and a fourth torque loading rate map.
5. The drive control method of a vehicle (100) according to claim 4,
the first torque loading rate mapping table represents torque loading rates under different accelerator pedal treading depths and different torque increasing ranges when the rotating speed of the wheel does not reach a slip threshold value;
the second torque loading rate mapping table represents torque loading rates of different accelerator pedal stepping rates and different torque increasing ranges when the rotating speed of the wheel does not reach a slip threshold value;
the third torque loading rate mapping table represents torque loading rates under different accelerator pedal treading depths and different torque increasing ranges when the rotating speed of the wheel reaches a slip threshold;
and the fourth torque loading rate mapping table represents the torque loading rates of different accelerator pedal stepping rates and different torque increasing ranges when the rotating speed of the wheel reaches a slip threshold value.
6. The drive control method of a vehicle (100) according to claim 1, characterized by further comprising:
acquiring a current vehicle speed and a current driving torque;
calculating the difference value between the current vehicle speed and the maximum vehicle speed;
and if the difference is smaller than a vehicle speed difference threshold value, controlling the torque of the vehicle (100) to be gradually reduced to the minimum driving torque according to the difference and the current driving torque.
7. The drive control method of a vehicle (100) according to claim 6, characterized in that, if the difference is larger than the vehicle speed difference threshold, the current vehicle speed and the current drive torque are continuously obtained.
8. The drive control method of a vehicle (100) according to claim 6, characterized by further comprising: the vehicle (100) is suitable for controlling the torque of the vehicle (100) to be gradually reduced to the minimum driving torque according to the torque load reduction mapping table.
9. A computer-readable storage medium, characterized in that a drive control program of a vehicle (100) is stored thereon, which when executed by a processor (10) implements a drive control method of the vehicle (100) according to any one of claims 1 to 8.
10. A vehicle (100), characterized by comprising: processor (10), memory (20) and a drive control program of a vehicle (100) stored on the memory (20) and operable on the processor (10), which, when executed by the processor (10), implements a drive control method according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010912162.8A CN112172521A (en) | 2020-09-02 | 2020-09-02 | Drive control method, computer-readable storage medium, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010912162.8A CN112172521A (en) | 2020-09-02 | 2020-09-02 | Drive control method, computer-readable storage medium, and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112172521A true CN112172521A (en) | 2021-01-05 |
Family
ID=73924677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010912162.8A Pending CN112172521A (en) | 2020-09-02 | 2020-09-02 | Drive control method, computer-readable storage medium, and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112172521A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246984A (en) * | 2021-06-17 | 2021-08-13 | 宝能(广州)汽车研究院有限公司 | Vehicle control method and vehicle control device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200170A (en) * | 2006-12-11 | 2008-06-18 | 比亚迪股份有限公司 | Electric automobile accelerating device and method |
| WO2015080021A1 (en) * | 2013-11-28 | 2015-06-04 | Ntn株式会社 | Control device for electric vehicle |
| CN106853780A (en) * | 2015-12-08 | 2017-06-16 | 北汽福田汽车股份有限公司 | Electric automobile and its moment of torsion analytic method and moment of torsion resolution system |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
| US20180170386A1 (en) * | 2016-12-15 | 2018-06-21 | Hyundai Motor Company | Method for controlling motor torque in electric vehicle |
| CN111098717A (en) * | 2019-12-20 | 2020-05-05 | 中国第一汽车股份有限公司 | Single-pedal control method, device and system for electric automobile |
| CN111204228A (en) * | 2020-01-20 | 2020-05-29 | 恒大新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
-
2020
- 2020-09-02 CN CN202010912162.8A patent/CN112172521A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200170A (en) * | 2006-12-11 | 2008-06-18 | 比亚迪股份有限公司 | Electric automobile accelerating device and method |
| WO2015080021A1 (en) * | 2013-11-28 | 2015-06-04 | Ntn株式会社 | Control device for electric vehicle |
| CN106853780A (en) * | 2015-12-08 | 2017-06-16 | 北汽福田汽车股份有限公司 | Electric automobile and its moment of torsion analytic method and moment of torsion resolution system |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
| US20180170386A1 (en) * | 2016-12-15 | 2018-06-21 | Hyundai Motor Company | Method for controlling motor torque in electric vehicle |
| CN111098717A (en) * | 2019-12-20 | 2020-05-05 | 中国第一汽车股份有限公司 | Single-pedal control method, device and system for electric automobile |
| CN111204228A (en) * | 2020-01-20 | 2020-05-29 | 恒大新能源汽车科技(广东)有限公司 | Electric vehicle torque control method and electronic equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246984A (en) * | 2021-06-17 | 2021-08-13 | 宝能(广州)汽车研究院有限公司 | Vehicle control method and vehicle control device |
| CN113246984B (en) * | 2021-06-17 | 2022-09-09 | 宝能(广州)汽车研究院有限公司 | Vehicle control method and vehicle control device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10967840B2 (en) | System and method of controlling braking of electric vehicle | |
| US8706378B2 (en) | Systems and methods for determining road mu and drive force | |
| US10507809B2 (en) | Controlling the operation of a vehicle brake system | |
| CN108016422B (en) | Vehicle torque control method and system and vehicle | |
| US9889846B2 (en) | Vehicle behavior control device | |
| US11254216B2 (en) | Control system and method for controlling a torque generator | |
| CN110182190B (en) | Method, device and control unit for parking brake release | |
| CN106560359A (en) | Method For Controlling Braking Of Regenerative Braking Co-operative Control System For Vehicle | |
| CN111086500B (en) | Vehicle slip protection method and system and vehicle | |
| CN111332292A (en) | Self-adaptive cruise low-speed following control method and device and vehicle | |
| CN111284491B (en) | Adjustment method and adjustment device for coasting recovery torque and vehicle | |
| US9604624B2 (en) | Method for controlling four wheel driving of vehicle | |
| CN108944911B (en) | Vehicle control method and device | |
| CN110371128B (en) | Steep descent control method and device and readable storage medium | |
| US20200172109A1 (en) | Vehicle having electric motor and driving control method for the same | |
| US10053071B2 (en) | Lane keeping control method for vehicle | |
| CN111016900B (en) | Vehicle four-wheel drive control method and electronic equipment | |
| CN112172521A (en) | Drive control method, computer-readable storage medium, and vehicle | |
| CN110481344B (en) | Method and system for controlling acceleration of double-motor automobile | |
| US20180050683A1 (en) | Method of controlling engine driving force during operation of traction control system of hybrid vehicle | |
| CN112969619A (en) | Brake control device | |
| US11872980B2 (en) | Method for controlling wheel slip of vehicle | |
| US11845434B2 (en) | Regenerative braking control method of vehicle | |
| KR101890440B1 (en) | Braking pressure maximum limitation method of brake traction control system | |
| CN112339744B (en) | Method for controlling wheel slip of vehicle |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210105 |