CN112389435A - Method and device for determining slip torque and vehicle - Google Patents
Method and device for determining slip torque and vehicle Download PDFInfo
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- CN112389435A CN112389435A CN202011149170.8A CN202011149170A CN112389435A CN 112389435 A CN112389435 A CN 112389435A CN 202011149170 A CN202011149170 A CN 202011149170A CN 112389435 A CN112389435 A CN 112389435A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60W30/18172—Preventing, or responsive to skidding of wheels
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Abstract
The invention provides a slip torque determination method, a slip torque determination device and a vehicle, wherein the method comprises the following steps: controlling a transmission of the vehicle to inhibit shifting if the slip error amount is greater than zero; under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, the situation that the vehicle is in a severe slip working condition is indicated, a first slip torque is determined and is controlled to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval, namely the slip torque can be calculated, so that under the severe slip working condition, the slip torque can be rapidly reduced to the fine adjustment slip torque range, the vehicle can accurately execute the operations of forbidding gear shifting of the gearbox and the like, the slip degree of tires of the vehicle is weakened, and the low-side starting performance and the acceleration performance of the vehicle are improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a slip torque determination method and device and a vehicle.
Background
With the development of the vehicle field, automobiles become one of indispensable tools for people to go out in life, and pure electric vehicles and hybrid electric vehicles gradually become important branches of the vehicle field due to the characteristics of low emission, low pollution, low noise, energy conservation and the like.
At present, in order to improve low-parasitic starting and accelerating performance of a conventional pure electric vehicle and a conventional hybrid electric vehicle, an Acceleration Slip Regulation (ASR) system is usually installed on the vehicle to improve the low-parasitic starting and accelerating performance, but a control process of the ASR system is complex and the cost is high, so that the conventional pure electric vehicle and the conventional hybrid electric vehicle cannot popularize and install the ASR system, and the low-parasitic starting and accelerating performance is poor.
Disclosure of Invention
In view of the above, the present invention is directed to a method and an apparatus for determining a slip torque, and a vehicle, so as to solve the problem of poor low-parasitic launch and acceleration performance.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a slip torque determination method applied to a vehicle, the method including:
controlling a transmission of the vehicle to inhibit shifting if the slip error amount is greater than zero;
and under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, determining a first slip torque and controlling the first slip torque to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval.
Optionally, determining a second slip torque in the event that the gearbox is inhibited from shifting and the slip error amount is less than or equal to the preset slip error amount threshold;
obtaining the product of the accelerator pedal torque of the vehicle and a preset torque coefficient;
and under the condition that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient, controlling the second slip torque to perform slip torque fine adjustment within a preset torque fine adjustment time interval to obtain a third slip torque.
Optionally, after the controlling the second slip torque to perform the slip torque fine adjustment within the preset torque fine adjustment time interval to obtain a third slip torque, the method further includes:
the third slip torque is controlled to increase to the accelerator pedal torque at a preset increase rate.
Optionally, before controlling the transmission of the vehicle to inhibit shifting in the case where the slip error amount is greater than zero, the method further comprises:
determining a slip error amount based on the wheel speed signal, the accelerator pedal signal and a prestored slip threshold vehicle speed difference table;
wherein the wheel speed signals comprise two drive wheel speed signals and two driven wheel speed signals;
and under the condition that at least one driving wheel speed signal and/or at least one driven wheel speed signal in the wheel speed signals are invalid, determining the wheel speed signals to be fault wheel speed signals, and calling preset strategy wheel speed signals to be set as current wheel speed signals.
Optionally, the method further comprises:
determining the slip torque to be an invalid value in a case where the slip error amount is less than or equal to zero.
In a second aspect, an embodiment of the present invention provides a slip torque determination device applied to a vehicle, the device including:
the gearbox shift prohibition control module is used for controlling the gearbox of the vehicle to prohibit gear shifting under the condition that the slip error quantity is larger than zero;
and the first slip torque reduction module is used for determining a first slip torque and controlling the first slip torque to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is greater than a preset slip error amount threshold value.
Optionally, the apparatus further comprises:
a second slip torque determination module for determining a second slip torque if the transmission is inhibited from shifting and the slip error amount is less than or equal to the preset slip error amount threshold;
the accelerator pedal torque acquisition module is used for acquiring the product of the accelerator pedal torque of the vehicle and a preset torque coefficient;
and the second slip torque fine adjustment module is used for controlling the second slip torque to perform slip torque fine adjustment within a preset torque fine adjustment time interval under the condition that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient to obtain a third slip torque.
Optionally, the apparatus further comprises:
and the third slip torque increase control module is used for controlling the third slip torque to increase to the accelerator pedal torque according to a preset increase rate.
Optionally, the apparatus further comprises:
the device comprises a slip error amount determining module, a data processing module and a data processing module, wherein the slip error amount determining module is used for determining a slip error amount based on a wheel speed signal, an accelerator pedal signal and a pre-stored slip threshold vehicle speed difference table;
wherein the wheel speed signals comprise two drive wheel speed signals and two driven wheel speed signals;
and the wheel speed signal setting module is used for determining that the wheel speed signal is a fault wheel speed signal and calling a preset strategy wheel speed signal to be set as a current wheel speed signal under the condition that at least one driving wheel speed signal and/or at least one driven wheel speed signal in the wheel speed signals are invalid.
In a third aspect, an embodiment of the invention provides a vehicle characterized by including the slip torque determination device according to any one of the second aspects.
Compared with the prior art, the embodiment of the invention has the following advantages:
according to the method for determining the slip torque, provided by the embodiment of the invention, under the condition that the slip error quantity is larger than zero, the transmission of the vehicle is controlled to prohibit gear shifting; under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, the situation that the vehicle is in a severe slip working condition is indicated, a first slip torque is determined and is controlled to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval, namely the slip torque can be calculated, so that under the severe slip working condition, the slip torque can be rapidly reduced to the fine adjustment slip torque range, the vehicle can accurately execute the operations of forbidding gear shifting of the gearbox and the like, the slip degree of tires of the vehicle is weakened, and the low-side starting performance and the acceleration performance of the vehicle are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart illustrating the steps of a method for determining a slip torque according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a slip algorithm module signal interaction provided by an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a structure of a slip algorithm module according to an embodiment of the present disclosure;
fig. 4 is a flowchart illustrating steps of a slip torque determination method according to a second embodiment of the present invention;
fig. 5 is a flowchart illustrating a slip torque calculation according to an embodiment of the present application;
fig. 6 is a schematic structural diagram showing a slip torque determining apparatus according to a third embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, a flowchart illustrating steps of a slip torque determination method according to an embodiment of the present invention, which may be applied to a vehicle, is shown.
As shown in fig. 1, the slip torque determination method may specifically include the steps of:
step 101: and controlling a gearbox of the vehicle to prohibit gear shifting under the condition that the slip error quantity is larger than zero.
In the present application, determining the slip error amount may include the steps of:
substep A1: wheel speed signals and accelerator pedal signals are acquired.
In the present invention, the vehicle has an Anti-lock Braking System (ABS) and a slip algorithm module.
Referring to fig. 2, a schematic diagram of signal interaction of a slip algorithm module provided in an embodiment of the present application is shown, and as shown in fig. 2, the slip algorithm module 01 and the ABS02 perform information interaction through a Controller Area Network (CAN), and the ABS may acquire a wheel speed signal.
The wheel speed signals may include respective wheel speed signals of four wheels, and the accelerator pedal signal may be indicative of an opening of an accelerator pedal.
After the wheel speed signal and the accelerator pedal signal are acquired, sub-step a2 is performed.
Substep A2: and determining the tackle-breaking speed difference of the front axle and the rear axle and the current vehicle speed based on the wheel speed signals.
Referring to fig. 2, the ABS may determine wheel speeds of four wheels, which may include a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed, based on the wheel speed signals 02, and transmit to the slip algorithm module 01 through the CAN.
Fig. 3 is a schematic diagram illustrating a composition structure of a slip algorithm module according to an embodiment of the present disclosure, and as shown in fig. 3, the slip algorithm module 01 includes a wheel speed signal diagnosis sub-module 011, so that a front left wheel speed, a front right wheel speed, a rear left wheel speed, and a rear right wheel speed can be processed through the wheel speed signal diagnosis sub-module 011, and diagnosis of each wheel speed signal can be achieved, and if a wheel speed signal is incorrect, a corresponding wheel speed signal fault flag is in a direction-invariant (True) state and assigned with a strategy value.
Referring to fig. 3, the slip algorithm module 01 further includes a slip algorithm permission and slip algorithm effectiveness judgment sub-module 012, and the slip algorithm permission and slip algorithm effectiveness judgment sub-module 012 is mainly used for implementing the judgment on the slip algorithm module algorithm function effectiveness and the determination on the slip algorithm module enablement.
Referring to fig. 3, the slip algorithm module 01 further includes a front and rear axle slip speed difference and vehicle speed calculation submodule 013 configured to calculate a front and rear axle speed difference and a current vehicle speed from at least four wheel speed signals.
After determining the front-rear axle breaking block speed difference and the current vehicle speed based on the wheel speed signal, sub-step a3 is performed.
Substep A3: and determining the slip error amount based on the current vehicle speed, an accelerator pedal signal, the difference between the front and rear axle tackle-breaking speeds and a pre-stored slip threshold vehicle speed difference table.
The slip threshold vehicle speed difference table stores different current vehicle speeds and slip error threshold vehicle speed differences corresponding to accelerator pedal opening degrees corresponding to different accelerator pedal signals.
In the application, the slip error threshold vehicle speed difference corresponding to different vehicle speeds and different accelerator pedal opening degrees can be judged through a slip threshold vehicle speed difference table, and the table can be used as a slip error threshold value through quick checking of the maximum axle of the front axle and the rear axle acquired by calibration engineers under a non-low road condition through different throttles at different vehicle speeds.
Referring to fig. 3, the slip algorithm module 01 further includes a slip error calculation submodule 014, which can obtain a target slip error threshold vehicle speed difference value corresponding to the current vehicle speed and the accelerator pedal opening corresponding to the accelerator pedal signal based on a pre-stored slip threshold vehicle speed difference table, and determine a slip error amount by subtracting the target slip error threshold vehicle speed difference value obtained by the look-up table from the front and rear axle slip vehicle speed difference determined by the front and rear axle slip vehicle speed difference and the vehicle speed calculation submodule 013.
Specifically, a target slip error threshold vehicle speed difference value corresponding to the current vehicle speed and the accelerator pedal opening corresponding to the accelerator pedal signal may be obtained based on a pre-stored slip threshold vehicle speed difference table.
After the target slip error threshold vehicle speed difference value corresponding to the current vehicle speed and the accelerator pedal opening corresponding to the accelerator pedal signal is obtained based on the pre-stored slip threshold vehicle speed difference table, the slip vehicle speed difference of the front axle and the rear axle can be reduced to the target slip error threshold vehicle speed difference value, and the slip error amount is determined.
The slip error quantity is characterized by a difference value between the current front and rear axle tackle speed difference of the vehicle and a target slip error threshold vehicle speed, and when the slip error quantity is larger than zero, the slip phenomenon of the vehicle is shown, and at the moment, a gearbox of the vehicle is controlled to prohibit gear shifting.
And controlling the gearbox of the vehicle to prohibit gear shifting and executing the underrun 102 when the slip error amount is larger than zero.
Step 102: and under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, determining a first slip torque and controlling the first slip torque to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval.
The preset slip error threshold value represents a slip error threshold value, and when the slip error threshold value is larger than the preset slip error threshold value, the vehicle is under a severe slip condition, at the moment, the first slip torque needs to be determined through the rapid torque reduction module, and the first slip torque is rapidly reduced to the preset fine adjustment slip torque range.
Optionally, the preset slip error threshold may be 1, which is not limited in the embodiment of the present application, and calibration adjustment may be performed according to a specific actual application scenario.
The preset fine adjustment slip torque range refers to a slip torque range in which the slip torque can enter the torque fine adjustment step, and the specific numerical value of the slip torque range is not limited in the embodiment of the application and can be calibrated and adjusted according to actual application scenes.
The preset torque reduction time interval can be two seconds or three seconds, and the method and the device are not limited and can be calibrated and adjusted according to actual application scenes.
In the invention, the slip algorithm module can be controlled to be activated under the condition that the slip error quantity is larger than zero, and the slip torque is determined through the rapid torque-down module under the condition that the slip error quantity is larger than a preset slip error quantity threshold after the slip algorithm module is activated.
Referring to fig. 3, the slip algorithm module 01 further includes a slip torque calculation and transmission shift inhibit decision sub-module 015 that may calculate the slip torque in real time based on the amount of slip error.
According to the method for determining the slip torque, provided by the embodiment of the invention, under the condition that the slip error quantity is larger than zero, the transmission of the vehicle is controlled to prohibit gear shifting; under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, the situation that the vehicle is in a severe slip working condition is indicated, a first slip torque is determined and is controlled to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval, namely the slip torque can be calculated, so that under the severe slip working condition, the slip torque can be rapidly reduced to the fine adjustment slip torque range, the vehicle can accurately execute the operations of forbidding gear shifting of the gearbox and the like, the slip degree of tires of the vehicle is weakened, and the low-side starting performance and the acceleration performance of the vehicle are improved.
Referring to fig. 4, there is shown a flowchart illustrating steps of a slip torque determination method according to a second embodiment of the present invention, which may be applied to a vehicle.
As shown in fig. 4, the slip torque determination method may specifically include the steps of:
step 201: and controlling a gearbox of the vehicle to prohibit gear shifting under the condition that the slip error quantity is larger than zero.
In the present application, determining the slip error amount may include the steps of:
substep A1: wheel speed signals and accelerator pedal signals are acquired.
In the present invention, the vehicle has an Anti-lock Braking System (ABS) and a slip algorithm module.
Referring to fig. 2, a schematic diagram of signal interaction of a slip algorithm module provided in an embodiment of the present application is shown, and as shown in fig. 2, the slip algorithm module 01 and the ABS02 perform information interaction through a Controller Area Network (CAN), and the ABS may acquire a wheel speed signal.
The wheel speed signals may include respective wheel speed signals of four wheels, and the accelerator pedal signal may be indicative of an opening of an accelerator pedal.
After the wheel speed signal and the accelerator pedal signal are acquired, sub-step a2 is performed.
Substep A2: and determining the tackle-breaking speed difference of the front axle and the rear axle and the current vehicle speed based on the wheel speed signals.
Referring to fig. 2, the ABS may determine wheel speeds of four wheels, which may include a left front wheel speed, a right front wheel speed, a left rear wheel speed, and a right rear wheel speed, based on the wheel speed signals 02, and transmit to the slip algorithm module 01 through the CAN.
Fig. 3 is a schematic diagram illustrating a composition structure of a slip algorithm module according to an embodiment of the present disclosure, and as shown in fig. 3, the slip algorithm module 01 includes a wheel speed signal diagnosis sub-module 011, so that a front left wheel speed, a front right wheel speed, a rear left wheel speed, and a rear right wheel speed can be processed through the wheel speed signal diagnosis sub-module 011, and diagnosis of each wheel speed signal can be achieved, and if a wheel speed signal is incorrect, a corresponding wheel speed signal fault flag is in a direction-invariant (True) state and assigned with a strategy value.
Specifically, determining a slip error amount based on a wheel speed signal, an accelerator pedal signal and a prestored slip threshold vehicle speed difference table; wherein the wheel speed signals comprise two drive wheel speed signals and two driven wheel speed signals; and under the condition that at least one driving wheel speed signal and/or at least one driven wheel speed signal in the wheel speed signals are invalid, determining the wheel speed signals to be fault wheel speed signals, and calling preset strategy wheel speed signals to be set as current wheel speed signals.
Referring to fig. 3, the slip algorithm module 01 further includes a slip algorithm permission and slip algorithm effectiveness judgment sub-module 012, and the slip algorithm permission and slip algorithm effectiveness judgment sub-module 012 is mainly used for implementing the judgment on the slip algorithm module algorithm function effectiveness and the determination on the slip algorithm module enablement.
Referring to fig. 3, the slip algorithm module 01 further includes a front and rear axle slip speed difference and vehicle speed calculation submodule 013 configured to calculate a front and rear axle speed difference and a current vehicle speed from at least four wheel speed signals.
After determining the front-rear axle breaking block speed difference and the current vehicle speed based on the wheel speed signal, sub-step a3 is performed.
Substep A3: and determining the slip error amount based on the current vehicle speed, an accelerator pedal signal, the difference between the front and rear axle tackle-breaking speeds and a pre-stored slip threshold vehicle speed difference table.
The slip threshold vehicle speed difference table stores different current vehicle speeds and slip error threshold vehicle speed differences corresponding to accelerator pedal opening degrees corresponding to different accelerator pedal signals.
In the application, the slip error threshold vehicle speed difference corresponding to different vehicle speeds and different accelerator pedal opening degrees can be judged through a slip threshold vehicle speed difference table, and the table can be used as a slip error threshold value through quick checking of the maximum axle of the front axle and the rear axle acquired by calibration engineers under a non-low road condition through different throttles at different vehicle speeds.
Referring to fig. 2, the vehicle includes a slip algorithm module 01 that may be activated in the event that the amount of slip error determined in the above step is greater than zero.
Referring to fig. 3, the slip algorithm module 01 further includes a slip error calculation submodule 014, which can obtain a target slip error threshold vehicle speed difference value corresponding to the current vehicle speed and the accelerator pedal opening corresponding to the accelerator pedal signal based on a pre-stored slip threshold vehicle speed difference table, and determine a slip error amount by subtracting the target slip error threshold vehicle speed difference value obtained by the look-up table from the front and rear axle slip vehicle speed difference determined by the front and rear axle slip vehicle speed difference and the vehicle speed calculation submodule 013.
Specifically, a target slip error threshold vehicle speed difference value corresponding to the current vehicle speed and the accelerator pedal opening corresponding to the accelerator pedal signal may be obtained based on a pre-stored slip threshold vehicle speed difference table.
After the target slip error threshold vehicle speed difference value corresponding to the current vehicle speed and the accelerator pedal opening corresponding to the accelerator pedal signal is obtained based on the pre-stored slip threshold vehicle speed difference table, the slip vehicle speed difference of the front axle and the rear axle can be reduced to the target slip error threshold vehicle speed difference value, and the slip error amount is determined.
The slip error quantity is characterized by a difference value between the current front and rear axle tackle speed difference of the vehicle and a target slip error threshold vehicle speed, and when the slip error quantity is larger than zero, the slip phenomenon of the vehicle is shown, and at the moment, a gearbox of the vehicle is controlled to prohibit gear shifting.
In the case where the slip error amount is larger than zero, step 202 or step 203 is executed after controlling the transmission of the vehicle to prohibit a shift.
Step 202: and under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, determining a first slip torque and controlling the first slip torque to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval.
The preset slip error threshold value represents a slip error threshold value, and when the slip error threshold value is larger than the preset slip error threshold value, the vehicle is under a severe slip condition, at the moment, the first slip torque needs to be determined through the rapid torque reduction module, and the first slip torque is rapidly reduced to the preset fine adjustment slip torque range.
Optionally, the preset slip error threshold may be 1, which is not limited in the embodiment of the present application, and calibration adjustment may be performed according to a specific actual application scenario.
The preset fine adjustment slip torque range refers to a slip torque range in which the slip torque can enter the torque fine adjustment step, and the specific numerical value of the slip torque range is not limited in the embodiment of the application and can be calibrated and adjusted according to actual application scenes.
The preset torque reduction time interval can be two seconds or three seconds, and the method and the device are not limited and can be calibrated and adjusted according to actual application scenes.
In the invention, the slip algorithm module can be controlled to be activated under the condition that the slip error quantity is larger than zero, and the slip torque is determined through the rapid torque-down module under the condition that the slip error quantity is larger than a preset slip error quantity threshold after the slip algorithm module is activated.
Referring to fig. 2, the vehicle includes a slip algorithm module 01 that may be activated in the event that the amount of slip error determined in the above step is greater than zero.
Referring to fig. 3, the slip algorithm module 01 further includes a slip torque calculation and transmission shift inhibit decision sub-module 015 that may calculate the slip torque in real time based on the amount of slip error.
Step 203: determining a second slip torque if the transmission prohibits a gear shift and the slip error amount is less than or equal to the preset slip error amount threshold.
And the preset slip error threshold value represents a slip error threshold value, and when the slip error threshold value is smaller than or equal to the preset slip error threshold value, the vehicle is under the condition of no serious slip, and a second slip torque can be determined, wherein the second slip torque belongs to the preset fine adjustment slip torque range.
Optionally, the preset slip error threshold may be 1, which is not limited in the embodiment of the present application, and calibration adjustment may be performed according to a specific actual application scenario.
After determining the second slip torque in case the gearbox is inhibited from shifting and the slip error amount is less than or equal to the preset slip error amount threshold, step 204 is executed.
Step 204: and acquiring the product of the accelerator pedal torque of the vehicle and a preset torque coefficient.
The preset torque coefficient may be calibrated and adjusted according to an actual application scenario, optionally, the preset torque coefficient may be 0.9, and may also be 0.8, which is not specifically limited in this embodiment of the application.
The accelerator pedal torque includes: the torque generated by the accelerator pedal when the driver depresses the accelerator, and the torque generated by the virtual accelerator pedal in the ordinary mode.
For example, in the case where the accelerator pedal torque of the vehicle is 1 and the preset torque coefficient is 0.9, the product thereof is 0.9.
After the product of the accelerator pedal torque of the vehicle and the preset torque coefficient is obtained, step 205 is executed.
Step 205: and under the condition that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient, controlling the second slip torque to perform slip torque fine adjustment within a preset torque fine adjustment time interval to obtain a third slip torque.
The preset torque fine adjustment time interval refers to time for performing torque fine adjustment, and may be 500 milliseconds or 600 milliseconds.
And under the condition that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient, controlling the second slip torque to enter a slip torque fine adjustment process, namely, controlling the second slip torque to perform slip torque fine adjustment within 500 milliseconds to obtain a third slip torque after fine adjustment.
And in the case that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient, controlling the second slip torque to perform slip torque fine adjustment within a preset torque fine adjustment time interval to obtain a third slip torque, and then executing step 206.
Step 206: the third slip torque is controlled to increase to the accelerator pedal torque at a preset increase rate.
After the third slip torque is answered after the torque fine adjustment is obtained, the third slip torque is increased to the accelerator pedal torque according to a preset increasing rate.
Wherein, the preset increasing ratio is lower and smoother, so that the third slipping torque can be slowly increased to the accelerator pedal torque.
Referring to fig. 3, the slip torque calculation and transmission gear shift prohibition decision sub-module 015 may also implement real-time calculation of a slip torque and generation of a transmission gear shift prohibition instruction according to a slip error amount after the activation of the slip algorithm module. The module is also used for quitting the module when the slip algorithm module meets the quitting condition and returning to the conventional power control, and the calculation of the slip torque is divided into three conditions according to the numerical value of the slip error quantity, namely the calculation of the slip torque in the rapid torque reduction stage, the calculation of the slip torque in the torque fine adjustment holding stage and the calculation of the slip torque in the torque slow increase stage.
Specifically, fig. 5 shows a flowchart of a slip torque calculation according to an embodiment of the present application, and as shown in fig. 5, after the slip algorithm module is activated and the slip error amount is greater than the preset slip error amount threshold (b), the slip torque is determined by the fast torque down module, and a transmission gear shift prohibition instruction is generated, and the transmission gear shift prohibition flag is displayed as the direction invariant signal (True).
The preset slip error threshold (b) may be unmarked according to an actual application scenario, and the specific numerical value is not specifically limited in the embodiment of the present application.
Referring to fig. 5, when the slip error amount is less than or equal to the slip error threshold (b), it is determined whether the current slip torque is less than the product of the other torque (the accelerator pedal torque) of the current vehicle and the preset torque coefficient (a), and when the slip torque is less than the product of the other torque (the accelerator pedal torque) of the current vehicle and the preset torque coefficient (a), the slip torque is controlled to perform slip torque fine adjustment within a preset torque fine adjustment time interval (T), so as to obtain a third slip torque, that is, the slip torque fine adjustment time is counted by a timer (Counter), so as to fine-adjust the slip torque.
In the case where the slip torque is greater than or equal to the product of the other torque of the present vehicle and a preset torque coefficient (a), the slip torque activation flag is controlled to be displayed as an error signal (False), and the slip torque is determined to be the maximum torque.
And under the condition that the slip torque is controlled to be subjected to slip torque fine adjustment within a preset torque fine adjustment time interval (T) to obtain a third slip torque, the slip torque can be controlled to slowly increase to the torques of other modules.
The above calculation process of the slip torque in fig. 5 can ensure that the torque can be quickly reduced to weaken the slip when the vehicle is in a slip state, and meanwhile, the power cannot be too small, so that sufficient driving force is ensured, and further, the slip degree of the vehicle tire can be weakened, thereby improving the low-adhesion starting performance and the acceleration performance of the vehicle.
In the present application, in the case where the slip error amount is less than or equal to zero, the slip torque is determined to be an invalid value.
Referring to fig. 5, in the case where the slip error amount is less than or equal to zero, it may be determined that the slip torque is an invalid value, the slip torque enable flag is False, and the transmission inhibit shift flag is False.
Referring to fig. 2, a Vehicle Control Unit (VCU) 30 includes a slip algorithm module 01, and the VCU30 is also in power communication with a Motor Control Unit (MCU) 03 and an automatic Transmission Control Unit (TCU) 04 through CAN. And accelerator pedal 05 may transmit an accelerator pedal signal to VCU 30.
The slip algorithm module CAN transmit a slip torque request to the MCU through the power CAN, transmit a shift prohibition request to the TCU, the MCU CAN transmit a current output torque to the slip algorithm module through the power CAN, and the TCU CAN transmit a current gear of the gearbox to the slip algorithm module through the power CAN, that is, a Vehicle Control Unit (VCU) receives four wheel speed signals from the ABS, an output torque signal of the MCU, an accelerator pedal signal and a current gear signal of the TCU, and outputs the slip torque request to the MCU and a shift prohibition mark of the TCU through diagnosis and slip judgment of the slip algorithm module. When the vehicle runs on a low-attachment road surface and starts to slip and accelerate to slip, a slip algorithm module in the VCU can be activated, and the degree of tire slip is reduced by calculating slip torque in real time and prohibiting gear shifting of the gearbox, so that the low-attachment driving performance of the vehicle is improved.
According to the method for determining the slip torque, provided by the embodiment of the invention, under the condition that the slip error quantity is larger than zero, the transmission of the vehicle is controlled to prohibit gear shifting; under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, the situation that the vehicle is in a severe slip working condition is indicated, a first slip torque is determined and is controlled to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval, namely the slip torque can be calculated, so that under the severe slip working condition, the slip torque can be rapidly reduced to the fine adjustment slip torque range, the vehicle can accurately execute the operations of forbidding gear shifting of the gearbox and the like, the slip degree of tires of the vehicle is weakened, and the low-side starting performance and the acceleration performance of the vehicle are improved.
Referring to fig. 6, there is shown a schematic structural diagram of a slip torque determination device 400 according to a third embodiment of the present invention, which is applied to a vehicle, the device including:
a transmission inhibit shift control module 401 configured to control a transmission inhibit shift of the vehicle when the slip error amount is greater than zero;
a first slip torque reduction module 402, configured to determine a first slip torque and control the first slip torque to be reduced to a preset fine tuning slip torque range within a preset torque reduction time interval when the transmission is prohibited from shifting and the slip error amount is greater than a preset slip error amount threshold.
Optionally, the apparatus further comprises:
a second slip torque determination module for determining a second slip torque if the transmission is inhibited from shifting and the slip error amount is less than or equal to the preset slip error amount threshold;
the accelerator pedal torque acquisition module is used for acquiring the product of the accelerator pedal torque of the vehicle and a preset torque coefficient;
and the second slip torque fine adjustment module is used for controlling the second slip torque to perform slip torque fine adjustment within a preset torque fine adjustment time interval under the condition that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient to obtain a third slip torque.
Optionally, the apparatus further comprises:
and the third slip torque increase control module is used for controlling the third slip torque to increase to the accelerator pedal torque according to a preset increase rate.
Optionally, the apparatus further comprises:
the device comprises a slip error amount determining module, a data processing module and a data processing module, wherein the slip error amount determining module is used for determining a slip error amount based on a wheel speed signal, an accelerator pedal signal and a pre-stored slip threshold vehicle speed difference table;
wherein the wheel speed signals comprise two drive wheel speed signals and two driven wheel speed signals;
and the wheel speed signal setting module is used for determining that the wheel speed signal is a fault wheel speed signal and calling a preset strategy wheel speed signal to be set as a current wheel speed signal under the condition that at least one driving wheel speed signal and/or at least one driven wheel speed signal in the wheel speed signals are invalid.
Alternatively, in a case where the slip error amount is less than or equal to zero, the slip torque is determined to be an invalid value.
The specific implementation of the slip torque determination device in the embodiment of the present invention has been described in detail on the method side, and therefore, the detailed description thereof is omitted here.
According to the slip torque determination device provided by the embodiment of the invention, under the condition that the slip error quantity is larger than zero, the gear shifting of the transmission of the vehicle is controlled to be forbidden; under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, the situation that the vehicle is in a severe slip working condition is indicated, a first slip torque is determined and is controlled to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval, namely the slip torque can be calculated, so that under the severe slip working condition, the slip torque can be rapidly reduced to the fine adjustment slip torque range, the vehicle can accurately execute the operations of forbidding gear shifting of the gearbox and the like, the slip degree of tires of the vehicle is weakened, and the low-side starting performance and the acceleration performance of the vehicle are improved.
An embodiment of the invention further provides a vehicle including the slip torque determination device according to any one of the third embodiment.
According to the vehicle provided by the embodiment of the invention, under the condition that the slip error quantity is larger than zero, the transmission box of the vehicle is controlled to prohibit gear shifting; under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, the situation that the vehicle is in a severe slip working condition is indicated, a first slip torque is determined and is controlled to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval, namely the slip torque can be calculated, so that under the severe slip working condition, the slip torque can be rapidly reduced to the fine adjustment slip torque range, the vehicle can accurately execute the operations of forbidding gear shifting of the gearbox and the like, the slip degree of tires of the vehicle is weakened, and the low-side starting performance and the acceleration performance of the vehicle are improved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
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 invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A slip torque determination method, applied to a vehicle, comprising:
controlling a transmission of the vehicle to inhibit shifting if the slip error amount is greater than zero;
and under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is larger than a preset slip error amount threshold value, determining a first slip torque and controlling the first slip torque to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval.
2. The method according to claim 1, wherein after said controlling a transmission of said vehicle to inhibit shifting if said slip error amount is greater than zero, said method further comprises:
determining a second slip torque if the transmission is inhibited from shifting and the slip error amount is less than or equal to the preset slip error amount threshold;
obtaining the product of the accelerator pedal torque of the vehicle and a preset torque coefficient;
and under the condition that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient, controlling the second slip torque to perform slip torque fine adjustment within a preset torque fine adjustment time interval to obtain a third slip torque.
3. The method of claim 2, further comprising, after said controlling said second slip torque to undergo slip torque trimming for a preset torque trimming time interval to achieve a third slip torque:
the third slip torque is controlled to increase to the accelerator pedal torque at a preset increase rate.
4. The method of claim 1, wherein prior to controlling a transmission of the vehicle to inhibit shifting if the slip error amount is greater than zero, the method further comprises:
determining a slip error amount based on the wheel speed signal, the accelerator pedal signal and a prestored slip threshold vehicle speed difference table;
wherein the wheel speed signals comprise two drive wheel speed signals and two driven wheel speed signals;
and under the condition that at least one driving wheel speed signal and/or at least one driven wheel speed signal in the wheel speed signals are invalid, determining the wheel speed signals to be fault wheel speed signals, and calling preset strategy wheel speed signals to be set as current wheel speed signals.
5. The method of claim 1, further comprising:
determining the slip torque to be an invalid value in a case where the slip error amount is less than or equal to zero.
6. A slip torque determination device, applied to a vehicle, the device comprising:
the gearbox shift prohibition control module is used for controlling the gearbox of the vehicle to prohibit gear shifting under the condition that the slip error quantity is larger than zero;
and the first slip torque reduction module is used for determining a first slip torque and controlling the first slip torque to be reduced to a preset fine adjustment slip torque range within a preset torque reduction time interval under the condition that the gear shifting of the gearbox is forbidden and the slip error amount is greater than a preset slip error amount threshold value.
7. The apparatus of claim 6, further comprising:
a second slip torque determination module for determining a second slip torque if the transmission is inhibited from shifting and the slip error amount is less than or equal to the preset slip error amount threshold;
the accelerator pedal torque acquisition module is used for acquiring the product of the accelerator pedal torque of the vehicle and a preset torque coefficient;
and the second slip torque fine adjustment module is used for controlling the second slip torque to perform slip torque fine adjustment within a preset torque fine adjustment time interval under the condition that the second slip torque is smaller than the product of the accelerator pedal torque and the preset torque coefficient to obtain a third slip torque.
8. The apparatus of claim 7, further comprising:
and the third slip torque increase control module is used for controlling the third slip torque to increase to the accelerator pedal torque according to a preset increase rate.
9. The apparatus of claim 6, further comprising:
the device comprises a slip error amount determining module, a data processing module and a data processing module, wherein the slip error amount determining module is used for determining a slip error amount based on a wheel speed signal, an accelerator pedal signal and a pre-stored slip threshold vehicle speed difference table;
wherein the wheel speed signals comprise two drive wheel speed signals and two driven wheel speed signals;
and the wheel speed signal setting module is used for determining that the wheel speed signal is a fault wheel speed signal and calling a preset strategy wheel speed signal to be set as a current wheel speed signal under the condition that at least one driving wheel speed signal and/or at least one driven wheel speed signal in the wheel speed signals are invalid.
10. A vehicle characterized by comprising the slip torque determination device according to any one of claim 6 to claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011149170.8A CN112389435B (en) | 2020-10-23 | 2020-10-23 | Method and device for determining slip torque and vehicle |
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| CN202011149170.8A CN112389435B (en) | 2020-10-23 | 2020-10-23 | Method and device for determining slip torque and vehicle |
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| CN112389435A true CN112389435A (en) | 2021-02-23 |
| CN112389435B CN112389435B (en) | 2021-11-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113085863A (en) * | 2021-04-28 | 2021-07-09 | 安徽江淮汽车集团股份有限公司 | Method, device, equipment and storage medium for preventing slipping |
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| EP1580465A2 (en) * | 2004-03-23 | 2005-09-28 | Scania CV AB (publ) | Gear shift prevention |
| CN110834636A (en) * | 2019-11-21 | 2020-02-25 | 北京易控智驾科技有限公司 | Method and system for identifying and controlling wheel slip of unmanned mine car |
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| JPH02254033A (en) * | 1989-03-29 | 1990-10-12 | Mazda Motor Corp | Slip control device of automobile |
| JPH03234964A (en) * | 1990-02-08 | 1991-10-18 | Nissan Motor Co Ltd | Running control device for vehicle |
| US20020157888A1 (en) * | 2001-04-26 | 2002-10-31 | Jatco Ltd. | Vehicle traction control system |
| EP1580465A2 (en) * | 2004-03-23 | 2005-09-28 | Scania CV AB (publ) | Gear shift prevention |
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| CN113085863A (en) * | 2021-04-28 | 2021-07-09 | 安徽江淮汽车集团股份有限公司 | Method, device, equipment and storage medium for preventing slipping |
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| CN112389435B (en) | 2021-11-05 |
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