CN112477863B - Vehicle, torque output method and device - Google Patents

Vehicle, torque output method and device Download PDF

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Publication number
CN112477863B
CN112477863B CN201910867193.3A CN201910867193A CN112477863B CN 112477863 B CN112477863 B CN 112477863B CN 201910867193 A CN201910867193 A CN 201910867193A CN 112477863 B CN112477863 B CN 112477863B
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vehicle
current
whole vehicle
torque
engine
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CN112477863A (en
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叶舒郁
杨学青
于丽娜
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Yutong Bus Co Ltd
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Yutong Bus Co Ltd
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a vehicle, a torque output method and a torque output device. The method comprises the following steps: detecting the actual quality of the whole vehicle, the current vehicle speed and the current opening degree of an accelerator pedal; obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the relation between the actual quality of the whole vehicle and the no-load quality and the full-load quality of the whole vehicle, the engine/driving motor output torque calibration value under the no-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree, and the engine/driving motor output torque calibration value under the full-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree; and thus to control the engine/drive motor. The method adjusts the power output of the vehicle at different speeds and different opening degrees of the accelerator pedal according to the actual mass of the whole vehicle, ensures that the dynamic property of the vehicle is kept consistent in the driving process, and meets the requirement of the power self-adaptive adjustment in the actual mass change range of the whole vehicle.

Description

Vehicle, torque output method and device
Technical Field
The invention relates to a vehicle, a torque output method and a torque output device, and belongs to the field of vehicle power assembly control.
Background
Commercial vehicles, such as city buses and logistics vehicles, have a large range of continuous variation in the quality of the whole vehicle due to passengers getting on or off or goods loading and unloading during operation, and at the moment, a driver needs to continuously adjust the driving mode to take account of the dynamic property, comfort, economy and driving safety of the vehicle.
At present, commercial vehicles generally have multiple driving modes for drivers to select, each driving mode corresponds to one type of engine or driving motor output power setting, and the drivers can carry out manual adjustment according to actual requirements. For example, medium and heavy duty trucks are equipped with multi-state switch buttons that set three maximum power output modes for empty, half, and full loads, which can be manually selected by the driver as desired. However, in the driving process, the driver is influenced by the subjective experience of the driver, the driver often makes errors when selecting a gear, and the accuracy of the matching operation of the power and the load of the vehicle is poor; moreover, frequent manual intervention is prone to driver fatigue.
In order to solve the problem, chinese patent application publication No. CN104343552A discloses a method for controlling engine power of a vehicle, which includes detecting a load state (i.e., actual mass of the entire vehicle) of the vehicle and a motion state of the vehicle, and automatically adjusting the power of the engine according to the load state and the motion state, wherein the power is divided into full load power, medium load power, light load power and no load power from large to small. The method is characterized in that the power of the engine is automatically adjusted according to the load state and the motion state, the problem of driving fatigue of a driver can be solved, but the power of the engine in the method still adopts a discrete multi-gear adjusting mode, namely different actual qualities of the whole vehicle can correspond to one engine power output, and the power self-adaptive adjusting requirement in the variation range of the actual qualities of the whole vehicle cannot be met.
Disclosure of Invention
The invention aims to provide a vehicle torque output method, which is used for solving the problem that the requirement of power self-adaptive adjustment in the actual mass change range of the whole vehicle cannot be met due to the fact that different actual masses of the whole vehicle possibly correspond to one engine power output in the prior art; meanwhile, a vehicle torque output device is also provided to solve the problem that the requirement of power self-adaptive adjustment in the actual mass change range of the whole vehicle cannot be met due to the fact that different actual masses of the whole vehicle possibly correspond to one engine power output in the prior art; the utility model also provides a vehicle simultaneously for solve prior art because the actual mass of different complete cars probably corresponds the problem that the power adaptive control's in the actual mass variation range of whole complete cars demand that can't satisfy that one kind engine power output caused.
To achieve the above object, the present invention provides a vehicle torque output method, comprising the steps of:
detecting the actual quality, the current speed and the current opening degree of an accelerator pedal of the whole vehicle;
obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the relation between the actual quality of the whole vehicle and the no-load quality and the full-load quality of the whole vehicle, the engine/driving motor output torque calibration value under the no-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree, and the engine/driving motor output torque calibration value under the full-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree; the larger the actual mass of the whole vehicle is, the larger the output torque value of an engine/driving motor corresponding to the actual mass of the whole vehicle is under the current vehicle speed and the current opening degree of an accelerator pedal;
and outputting the obtained output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal to the engine/driving motor for controlling the engine/driving motor.
The beneficial effects are that: the method adjusts the torque output of the vehicle under the conditions of different vehicle speeds and different opening degrees of the accelerator pedal according to the actual mass of the whole vehicle, so that the power output of the whole vehicle is changed according to the actual mass of the whole vehicle, namely the running resistance of the whole vehicle, relatively small torque can be output under the condition that the actual mass of the whole vehicle is light, so that the power demand can be met, relatively large torque can be output under the condition that the actual mass of the whole vehicle is heavy, so that the power requirement can be met, the consistency of the power of the vehicle in the running process is ensured, the self-adaptive adjustment of the power within the actual mass change range of the whole vehicle is met, the interference of a driver caused by poor driving stability due to the inconsistent power is avoided, and the comfort level of the whole vehicle is further ensured.
Further, the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening is as follows:
Torque_Demand＝r*Torque_Empty+(1-r)*Torque_Full
r＝(m_Max-m_Real)/(m_Max-m_Min)
the Torque _ Demand is an engine/driving motor output Torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening; the Torque _ Empty is a calibration value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the no-load state of the whole vehicle; the Torque _ Full is a calibrated value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the Full-load state of the whole vehicle; r is a torque interpolation coefficient and represents the relation between the actual mass of the whole vehicle and the no-load mass and the full-load mass of the whole vehicle; and m _ Max is the full load mass of the whole vehicle, m _ Real is the actual mass of the whole vehicle, and m _ Min is the no-load mass of the whole vehicle.
The beneficial effects are that: according to the formula, the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal can be more accurately obtained.
Further, when the calibration value of the output torque of the engine/driving motor in the no-load state of the whole vehicle under the current vehicle speed and the accelerator pedal opening and the calibration value of the output torque of the engine/driving motor in the full-load state of the whole vehicle under the current vehicle speed and the accelerator pedal opening are obtained, the power performance indexes of the no-load state of the whole vehicle and the full-load state of the whole vehicle are consistent, and the power performance indexes comprise: maximum acceleration, maximum vehicle speed, maximum climbing gradient and acceleration time of 0-50 km/h.
The beneficial effects are that: when the calibration values of the output torque of the engine/driving motor in the no-load state and the full-load state of the whole vehicle under the current vehicle speed and the opening degree of the accelerator pedal are obtained, the power performance indexes of the no-load state and the full-load state of the whole vehicle are consistent and serve as the final calculation reference of the output torque under the actual quality of the whole vehicle, and the reliability of the output torque value under the actual quality of the whole vehicle is further ensured.
Further, the actual quality of the whole vehicle is detected at the following moment: when the whole vehicle is changed from a flameout power-off state to a starting state, or when the vehicle speed is less than a set vehicle speed threshold value and the vehicle door state is changed from an open state to a closed state.
The beneficial effects are that: the quality of the whole vehicle can change due to acceleration or bumping, so that the actual quality of the whole vehicle can be detected more accurately and reliably at the moment.
Further, if the detected actual mass of the whole vehicle is within the set mass range and is greater than the full load mass of the whole vehicle, the actual mass of the whole vehicle is the full load mass of the whole vehicle; if the detected actual mass of the whole vehicle is within the set mass range and is smaller than the no-load mass of the whole vehicle, the actual mass of the whole vehicle is the no-load mass of the whole vehicle; if the detected actual mass of the whole vehicle is out of the set mass range, the torque interpolation coefficient r is made to be 0.5; and the full load mass of the whole vehicle and the no-load mass of the whole vehicle are within a set mass range.
The beneficial effects are that: in order to reasonably judge the signal of the actual mass of the whole vehicle, reasonable redundancy limitation is set for the full-load mass of the whole vehicle and the no-load mass of the whole vehicle, namely a reasonable mass setting range, when the actual mass of the whole vehicle exceeds the reasonable mass setting range, the detection device is probably invalid, at the moment, the fixed r is 0.5, the whole vehicle is in a half-load state by default, and the vehicle can be ensured to run stably.
In addition, the invention also proposes a vehicle torque output device comprising a memory and a processor for executing instructions stored in the memory to implement the method of:
detecting the actual quality, the current speed and the current opening degree of an accelerator pedal of the whole vehicle;
obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the relation between the actual quality of the whole vehicle and the no-load quality and the full-load quality of the whole vehicle, the engine/driving motor output torque calibration value under the no-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree, and the engine/driving motor output torque calibration value under the full-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree; the larger the actual mass of the whole vehicle is, the larger the output torque value of an engine/driving motor corresponding to the actual mass of the whole vehicle is under the current vehicle speed and the current opening degree of an accelerator pedal;
and outputting the obtained output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal to the engine/driving motor for controlling the engine/driving motor.
The beneficial effects are that: the device adjusts the torque output of the vehicle under the conditions of different vehicle speeds and different opening degrees of the accelerator pedal according to the actual quality of the whole vehicle, so that the power output of the whole vehicle is changed according to the actual quality of the whole vehicle, namely the running resistance of the whole vehicle, so that the power demand can be met by outputting relatively smaller torque under the condition that the actual quality of the whole vehicle is lighter, relatively larger torque can be output under the condition that the actual quality of the whole vehicle is heavier so as to meet the power demand, the consistency of the dynamic property of the vehicle in the running process is ensured, the self-adaptive adjustment of the power in the variation range of the actual quality of the whole vehicle is met, the problem that the driving stability is poor due to the inconsistency of the power so as to interfere a driver is avoided, and the comfort level of the whole vehicle is further ensured.
Further, the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening is as follows:
Torque_Demand＝r*Torque_Empty+(1-r)*Torque_Full
r＝(m_Max-m_Real)/(m_Max-m_Min)
the Torque _ Demand is an engine/driving motor output Torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening; the Torque _ Empty is a calibration value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the no-load state of the whole vehicle; the Torque _ Full is a calibrated value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the Full-load state of the whole vehicle; r is a torque interpolation coefficient and represents the relation between the actual mass of the whole vehicle and the no-load mass and the full-load mass of the whole vehicle; and m _ Max is the full load mass of the whole vehicle, m _ Real is the actual mass of the whole vehicle, and m _ Min is the no-load mass of the whole vehicle.
The beneficial effects are that: according to the formula, the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal can be more accurately obtained.
Further, when the calibration value of the output torque of the engine/driving motor in the no-load state of the whole vehicle under the current vehicle speed and the accelerator pedal opening and the calibration value of the output torque of the engine/driving motor in the full-load state of the whole vehicle under the current vehicle speed and the accelerator pedal opening are obtained, the power performance indexes of the no-load state of the whole vehicle and the full-load state of the whole vehicle are consistent, and the power performance indexes comprise: maximum acceleration, maximum vehicle speed, maximum climbing gradient and acceleration time of 0-50 km/h.
The beneficial effects are that: when the calibration values of the output torque of the engine/driving motor in the no-load state and the full-load state of the whole vehicle under the current vehicle speed and the opening degree of the accelerator pedal are obtained, the power performance indexes of the no-load state and the full-load state of the whole vehicle are consistent and serve as the final calculation reference of the output torque under the actual quality of the whole vehicle, and the reliability of the output torque value under the actual quality of the whole vehicle is further ensured.
In addition, the invention also proposes a vehicle comprising a vehicle body, further comprising a vehicle torque output device comprising a memory and a processor for executing instructions stored in the memory to implement the method of:
detecting the actual quality, the current speed and the current opening degree of an accelerator pedal of the whole vehicle;
obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the relation between the actual quality of the whole vehicle and the no-load quality and the full-load quality of the whole vehicle, the engine/driving motor output torque calibration value under the no-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree, and the engine/driving motor output torque calibration value under the full-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree; the larger the actual mass of the whole vehicle is, the larger the output torque value of an engine/driving motor corresponding to the actual mass of the whole vehicle is under the current vehicle speed and the current opening degree of an accelerator pedal;
and outputting the obtained output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal to the engine/driving motor for controlling the engine/driving motor.
The beneficial effects are that: the vehicle adjusts the torque output of the vehicle under the conditions of different vehicle speeds and different opening degrees of the accelerator pedals according to the actual quality of the whole vehicle, so that the power output of the whole vehicle is changed according to the actual quality of the whole vehicle, namely the running resistance of the whole vehicle, so that relatively smaller torque can be output under the condition that the actual quality of the whole vehicle is lighter, and relatively larger torque can be output under the condition that the actual quality of the whole vehicle is heavier so as to meet the power requirement, thereby ensuring that the dynamic property of the vehicle is kept consistent in the running process, meeting the power self-adaptive adjustment within the actual quality variation range of the whole vehicle, avoiding the interference of a driver caused by poor driving stability due to inconsistent power, and further ensuring the comfort level of the whole vehicle.
Further, the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening is as follows:
Torque_Demand＝r*Torque_Empty+(1-r)*Torque_Full
r＝(m_Max-m_Real)/(m_Max-m_Min)
the Torque _ Demand is an engine/driving motor output Torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening; the Torque _ Empty is a calibration value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the no-load state of the whole vehicle; the Torque _ Full is a calibrated value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the Full-load state of the whole vehicle; r is a torque interpolation coefficient and represents the relation between the actual mass of the whole vehicle and the no-load mass and the full-load mass of the whole vehicle; and m _ Max is the full load mass of the whole vehicle, m _ Real is the actual mass of the whole vehicle, and m _ Min is the no-load mass of the whole vehicle.
The beneficial effects are that: according to the formula, the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal can be more accurately obtained.
Drawings
FIG. 1 is a schematic block diagram of a vehicle torque output method of the present invention;
FIG. 2 is a flow chart of a vehicle torque output method of the present invention.
Detailed Description
Vehicle torque output method embodiment:
the vehicle torque output method provided by the embodiment is based on a power output regulation system, wherein the power output regulation system comprises a vehicle control unit, a chassis controller, an axle load sensor, a vehicle speed sensor, an accelerator opening sensor, an instrument and an engine/driving motor, the axle load sensor is connected with a signal input end of the chassis controller, a signal output end of the chassis controller is connected with a signal input end of the vehicle control unit, the vehicle speed sensor and the accelerator opening sensor are simultaneously connected with the signal input end of the vehicle control unit, and the signal output end of the vehicle control unit is connected with the instrument and the engine/driving motor.
The chassis controller is connected with the axle load sensor and the vehicle controller through hard wires or a CAN bus, the axle load sensor is arranged at a leaf spring or an air bag of the vehicle chassis, the axle load sensor needs to be calibrated according to the actual quality of the vehicle, the precision of an output signal of the axle load sensor is ensured to be within an allowable range, and the instrument is arranged in a cab to facilitate the viewing of a driver.
The axle load sensor is used for detecting the actual quality of the whole vehicle, the vehicle speed sensor is used for detecting the vehicle speed information of the whole vehicle, the accelerator opening sensor is used for detecting the opening information of an accelerator pedal, the axle load sensor sends the actual quality of the whole vehicle to the whole vehicle controller through the chassis controller, the vehicle speed sensor sends the detected vehicle speed of the whole vehicle to the whole vehicle controller, the accelerator opening sensor sends the opening information of the accelerator pedal to the whole vehicle controller, and the whole vehicle controller realizes a vehicle torque output method according to the received information and is used for controlling an engine/a driving motor. Meanwhile, if the axle load sensor is judged to be invalid, the vehicle control unit transmits a fault signal to the instrument, the instrument displays a corresponding symbol for displaying the axle load sensor to be invalid, the power output adjusting system is in fault, a driver is reminded of timely overhauling the vehicle, and how to judge the axle load sensor to be invalid is described in detail below.
The vehicle controller also receives a vehicle door closing signal and a vehicle starting signal and is used for determining the detection moment of the actual mass of the whole vehicle.
In this embodiment, the actual quality information of the entire vehicle is processed by combining the chassis controller and the entire vehicle controller, but as another embodiment, the actual quality information of the entire vehicle may be processed by using another controller, and may be processed by using only one controller.
Of course, the implementation of the method is not limited to the hardware structure of the power output regulating system, and the invention is not limited with respect to the composition of the hardware structure and the connection relationship.
The vehicle torque output method, as shown in fig. 1 and 2, includes the following steps:
1) and detecting the actual quality, the current speed and the current opening of an accelerator pedal of the whole vehicle.
Whole car is at the in-process of traveling, and passenger number or goods total weight are invariable usually, in order to detect stable whole car actual mass, avoid the vehicle to lead to detecting whole car actual mass to take place the error because of circumstances such as acceleration and deceleration or jolt, and the detection of whole car actual mass is constantly: when the whole Vehicle is changed from a flameout power-off state to a starting state (namely when Start _ on equals to 1), or when the Vehicle Speed is smaller than a set Vehicle Speed threshold (here, the set Vehicle Speed threshold is 1km/h, namely, Vehicle _ Speed < 1km/h) and the Door state is changed from an Open state to a closed state (namely, Door _ Open equals to 0). Of course, under the condition of stable road conditions, the detection time of the actual quality of the whole vehicle is not limited.
2) Obtaining a torque interpolation coefficient r according to the relation between the actual mass of the whole vehicle and the no-load mass and the full-load mass of the whole vehicle, wherein the calculation formula of the torque interpolation coefficient is as follows: and r is (m _ Max-m _ Real)/(m _ Max-m _ Min), wherein m _ Max is the full load mass of the whole vehicle, m _ Real is the actual mass of the whole vehicle, and m _ Min is the empty load mass of the whole vehicle.
Obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the torque interpolation coefficient r, the engine/driving motor output torque calibration value under the current vehicle speed and the current accelerator pedal opening degree in the no-load state of the whole vehicle, and the engine/driving motor output torque calibration value under the current vehicle speed and the current accelerator pedal opening degree in the full-load state of the whole vehicle; under the current vehicle speed and the current accelerator pedal opening, the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle (the following calculation may also be referred to as a power adaptive adjustment algorithm, that is, the actual output torque is obtained) is:
Torque_Demand＝r*Torque_Empty+(1-r)*Torque_Full，
the Torque _ Demand is an engine/driving motor output Torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening; the Torque _ Empty is a calibration value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the no-load state of the whole vehicle; and the Torque _ Full is a calibrated value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the Full-load state of the whole vehicle.
It can be seen from the formula that the larger the actual mass of the whole vehicle is, the larger the output torque value of the engine/drive motor corresponding to the actual mass of the whole vehicle is at the current vehicle speed and the current opening degree of the accelerator pedal.
Before the method is implemented, corresponding relations among the opening degree of the accelerator pedal, the vehicle speed and the full-load output torque calibration value of the whole vehicle, the engine/drive motor output torque calibration value of the whole vehicle in the full-load state and the engine/drive motor output torque calibration value of the whole vehicle are obtained, and the corresponding relations are stored in a form of a MAP (shown as a table I and a table II), when the corresponding relations are searched, the precondition is that the power performance indexes of the full vehicle in the no-load state are consistent with those of the full vehicle in the full-load state, and the power performance indexes comprise: maximum acceleration, maximum vehicle speed, maximum climbing gradient and acceleration time of 0-50 km/h.
Corresponding relation of table-accelerator pedal opening, vehicle speed and full-load output torque calibration value of whole vehicle
Figure BDA0002201608910000081
Corresponding relation of table two accelerator pedal opening, vehicle speed and no-load output torque calibration value
Figure BDA0002201608910000091
Description of the drawings: the example is torque output MAP of a driving motor, the torque output MAP in an unloaded state is 70% of the torque output MAP in a full-load state, and the MAP can be adjusted according to actual dynamic performance of an actual vehicle in the full-load state and the unloaded state. The system simultaneously takes calibration values, namely Torque _ Full and Torque _ Empty, from the first and second MAPs according to the current vehicle speed and the current accelerator pedal opening request.
In this step, the torque interpolation coefficient and the calculation method of the engine/drive motor output torque value corresponding to the actual mass of the entire vehicle at the current vehicle speed and the current accelerator pedal opening are linear relationships as described above, and as another embodiment, the calculation methods of the two values may also be calculated according to the following formula:
r＝(m_Max-m_Real)/(m_Real-m_Min)；
Torque_Demand＝(Torque_Full+r*Torque_Empty)/(1+r)。
moreover, the calculation of the output torque value of the engine/drive motor corresponding to the actual mass of the entire vehicle at the current accelerator pedal opening degree may also be in a nonlinear relationship, as long as it is satisfied that the larger the actual mass of the entire vehicle is, the larger the output torque value of the engine/drive motor corresponding to the actual mass of the entire vehicle at the current vehicle speed and the current accelerator pedal opening degree is.
Note that: when the above formula is applied, a calculation error may be caused when m _ Real ═ m _ Min. If this problem needs to be avoided, the value range or accuracy of r needs to be limited in logic, and the case of m _ Real being m _ Min needs to be handled separately (i.e., the current vehicle condition is considered as no load) before the formula calculation is applied.
In practical situations, considering the actual measurement error of the axle load sensor and the conditions of the abnormal axle load sensor, etc., a reasonable redundancy limit value needs to be set according to the no-load mass and the full-load mass of the whole vehicle, and a mass range is set, namely, the upper limit (m _ Hi) of the mass of the whole vehicle and the lower limit (m _ Lo) of the mass of the whole vehicle, and the relationship between the upper limit (m _ Hi) of the mass of the whole vehicle, the lower limit (m _ Lo) of the mass of the whole vehicle, the no-load mass of the whole vehicle and the full-load mass of the whole vehicle is: the lower limit of the mass of the whole vehicle is less than the no-load mass of the whole vehicle and less than the full-load mass of the whole vehicle and the upper limit of the mass of the whole vehicle.
When the actual mass of the whole vehicle is less than the lower limit of the mass of the whole vehicle, or the actual mass of the whole vehicle is greater than the upper limit of the mass of the whole vehicle, it is indicated that the axle load sensor may fail, the whole vehicle controller should record and send fault information (m _ Err is 1), and the default torque interpolation coefficient is set to 0.5, i.e. the whole vehicle is in a half-load state at the time of default, and outputs with default power (the torque is large, the power output is large, the torque is small, and the power output is small, so the default power output can also be regarded as the default torque output), so that the vehicle can be ensured to run stably, and simultaneously, a driver is prompted about a system fault to overhaul the vehicle; and when the lower limit of the mass of the whole vehicle is less than or equal to the lower limit of the actual mass of the whole vehicle and less than or equal to the upper limit of the mass of the whole vehicle, performing power output regulation enabling judgment, and outputting normal information (m _ Err is 0) of the axle load sensor after calculating a torque interpolation coefficient.
When the full-load mass of the whole vehicle is less than the actual mass of the whole vehicle and less than or equal to the upper limit of the mass of the whole vehicle, the actual mass of the whole vehicle is the full-load mass of the whole vehicle, and an engine/driving motor output torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of an accelerator pedal is calculated according to the full-load mass of the whole vehicle;
when the lower limit of the mass of the whole vehicle is less than or equal to the actual mass of the whole vehicle and less than the no-load mass of the whole vehicle, the actual mass of the whole vehicle is the no-load mass of the whole vehicle, and the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal is calculated according to the no-load mass of the whole vehicle;
and when the no-load mass of the whole vehicle is less than or equal to the actual mass of the whole vehicle and less than or equal to the full-load mass of the whole vehicle, calculating the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal according to the actual mass of the whole vehicle.
Of course, under the condition of ensuring the measurement accuracy of the axle load sensor and avoiding failure, a set mass range can be omitted, judgment is not needed, and the output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal can be directly calculated according to the actual mass of the whole vehicle.
3) And outputting the obtained output torque value of the engine/driving motor corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal to the engine/driving motor for controlling the engine/driving motor.
The method can automatically adjust the power of the whole vehicle according to the load of the whole vehicle without adding an entity key and without manual operation of a driver; after the load changes, the power consistency and the driving stability of the vehicle in the running process can be effectively ensured; and an invalidation safety mechanism is also arranged, so that the stable driving of the vehicle can be ensured.
Vehicle torque output device embodiment:
the vehicle torque output apparatus proposed in the present embodiment is characterized by comprising a memory and a processor for executing instructions stored in the memory to implement a vehicle torque output method.
The implementation process of the specific vehicle torque output method is described in the above embodiment of the vehicle torque output method, and is not described herein again.
The embodiment of the vehicle is as follows:
the vehicle provided by the embodiment comprises a vehicle body and a vehicle torque output device, wherein the vehicle torque output device comprises a memory and a processor, and the processor is used for executing instructions stored in the memory to realize a vehicle torque output method.
The implementation process of the specific vehicle torque output method is described in the above embodiment of the vehicle torque output method, and is not described herein again.

Claims (7)

1. A vehicle torque output method characterized by comprising the steps of:
detecting the actual quality, the current speed and the current opening degree of an accelerator pedal of the whole vehicle;
obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the relation between the actual quality of the whole vehicle and the no-load quality and the full-load quality of the whole vehicle, the engine/driving motor output torque calibration value under the no-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree, and the engine/driving motor output torque calibration value under the full-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree; the larger the actual mass of the whole vehicle is, the larger the output torque value of an engine/driving motor corresponding to the actual mass of the whole vehicle is under the current vehicle speed and the current opening degree of an accelerator pedal;
outputting the obtained output torque value of the engine/driving motor corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal to the engine/driving motor for controlling the engine/driving motor;
the output torque value of the engine/driving motor corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal is as follows:
Torque_Demand＝r*Torque_Empty+(1-r)*Torque_Full
r＝(m_Max-m_Real)/(m_Max-m_Min)
the Torque _ Demand is an engine/driving motor output Torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening; the Torque _ Empty is a calibration value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the no-load state of the whole vehicle; the Torque _ Full is a calibrated value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the Full-load state of the whole vehicle; r is a torque interpolation coefficient and represents the relation between the actual mass of the whole vehicle and the no-load mass and the full-load mass of the whole vehicle; m _ Max is the full load mass of the whole vehicle, m _ Real is the actual mass of the whole vehicle, and m _ Min is the no-load mass of the whole vehicle;
the Torque _ Empty and Torque _ Full are obtained before the method is implemented.
2. The vehicle torque output method according to claim 1, wherein when the engine/drive motor output torque calibration value in the no-load state of the entire vehicle at the current vehicle speed and the accelerator pedal opening and the engine/drive motor output torque calibration value in the full-load state of the entire vehicle at the current vehicle speed and the accelerator pedal opening are obtained, the power performance indexes of the no-load state of the entire vehicle and the full-load state of the entire vehicle are consistent, and the power performance indexes include: maximum acceleration, maximum vehicle speed, maximum climbing gradient and acceleration time of 0-50 km/h.
3. The vehicle torque output method according to claim 1, characterized in that the detection timing of the actual mass of the entire vehicle is: when the whole vehicle is changed from a flameout power-off state to a starting state, or when the vehicle speed is less than a set vehicle speed threshold value and the vehicle door state is changed from an open state to a closed state.
4. The vehicle torque output method according to claim 1, characterized in that if the detected actual mass of the entire vehicle is within a set mass range and greater than the full load mass of the entire vehicle, the actual mass of the entire vehicle is the full load mass of the entire vehicle; if the detected actual mass of the whole vehicle is within the set mass range and is smaller than the no-load mass of the whole vehicle, the actual mass of the whole vehicle is the no-load mass of the whole vehicle; if the detected actual mass of the whole vehicle is out of the set mass range, the torque interpolation coefficient r is made to be 0.5; and the full load mass of the whole vehicle and the no-load mass of the whole vehicle are within a set mass range.
5. A vehicle torque output device comprising a memory and a processor for executing instructions stored in the memory to implement a method comprising:
detecting the actual quality, the current speed and the current opening degree of an accelerator pedal of the whole vehicle;
obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the relation between the actual quality of the whole vehicle and the no-load quality and the full-load quality of the whole vehicle, the engine/driving motor output torque calibration value under the no-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree, and the engine/driving motor output torque calibration value under the full-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree; the larger the actual mass of the whole vehicle is, the larger the output torque value of an engine/driving motor corresponding to the actual mass of the whole vehicle is under the current vehicle speed and the current opening degree of an accelerator pedal;
outputting the obtained output torque value of the engine/driving motor corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal to the engine/driving motor for controlling the engine/driving motor;
the output torque value of the engine/driving motor corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal is as follows:
Torque_Demand＝r*Torque_Empty+(1-r)*Torque_Full
r＝(m_Max-m_Real)/(m_Max-m_Min)
the Torque _ Demand is an engine/driving motor output Torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening; the Torque _ Empty is a calibration value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the no-load state of the whole vehicle; the Torque _ Full is a calibrated value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the Full-load state of the whole vehicle; r is a torque interpolation coefficient and represents the relation between the actual mass of the whole vehicle and the no-load mass and the full-load mass of the whole vehicle; m _ Max is the full load mass of the whole vehicle, m _ Real is the actual mass of the whole vehicle, and m _ Min is the no-load mass of the whole vehicle;
the Torque _ Empty and Torque _ Full are obtained before the method is implemented.
6. The vehicle torque output device according to claim 5, wherein when the engine/drive motor output torque calibration value in the vehicle no-load state under the current vehicle speed and the accelerator pedal opening degree and the engine/drive motor output torque calibration value in the vehicle full-load state under the current vehicle speed and the accelerator pedal opening degree are obtained, the power performance indexes of the vehicle no-load state and the vehicle full-load state are consistent, and the power performance indexes include: maximum acceleration, maximum vehicle speed, maximum climbing gradient and acceleration time of 0-50 km/h.
7. A vehicle comprising a vehicle body, further comprising a vehicle torque output device comprising a memory and a processor for executing instructions stored in the memory to implement a method comprising:
detecting the actual quality, the current speed and the current opening degree of an accelerator pedal of the whole vehicle;
obtaining an engine/driving motor output torque value corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree according to the relation between the actual quality of the whole vehicle and the no-load quality and the full-load quality of the whole vehicle, the engine/driving motor output torque calibration value under the no-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree, and the engine/driving motor output torque calibration value under the full-load state of the whole vehicle under the current vehicle speed and the current accelerator pedal opening degree; the larger the actual mass of the whole vehicle is, the larger the output torque value of an engine/driving motor corresponding to the actual mass of the whole vehicle is under the current vehicle speed and the current opening degree of an accelerator pedal;
outputting the obtained output torque value of the engine/driving motor corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal to the engine/driving motor for controlling the engine/driving motor;
the output torque value of the engine/driving motor corresponding to the actual quality of the whole vehicle under the current vehicle speed and the current opening degree of the accelerator pedal is as follows:
Torque_Demand＝r*Torque_Empty+(1-r)*Torque_Full
r＝(m_Max-m_Real)/(m_Max-m_Min)
the Torque _ Demand is an engine/driving motor output Torque value corresponding to the actual mass of the whole vehicle under the current vehicle speed and the current accelerator pedal opening; the Torque _ Empty is a calibration value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the no-load state of the whole vehicle; the Torque _ Full is a calibrated value of the output Torque of the engine/driving motor under the current vehicle speed and the current opening degree of an accelerator pedal and in the Full-load state of the whole vehicle; r is a torque interpolation coefficient and represents the relation between the actual mass of the whole vehicle and the no-load mass and the full-load mass of the whole vehicle; m _ Max is the full load mass of the whole vehicle, m _ Real is the actual mass of the whole vehicle, and m _ Min is the no-load mass of the whole vehicle;
the Torque _ Empty and Torque _ Full are obtained before the method is implemented.
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