CN112519754B - Vehicle hill starting control method and device - Google Patents
Vehicle hill starting control method and device Download PDFInfo
- Publication number
- CN112519754B CN112519754B CN202011423808.2A CN202011423808A CN112519754B CN 112519754 B CN112519754 B CN 112519754B CN 202011423808 A CN202011423808 A CN 202011423808A CN 112519754 B CN112519754 B CN 112519754B
- Authority
- CN
- China
- Prior art keywords
- engine
- torque
- required torque
- vehicle
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
Abstract
The embodiment of the application provides a control method and a control device for vehicle hill start, wherein when a vehicle is controlled in the hill start process, on the basis of determining the basic required torque of an engine in the vehicle according to the opening position of a clutch in the vehicle; the compensation torque of the engine is increased, and the total demand torque of the engine is determined according to the basic demand torque of the engine and the compensation torque of the engine; and determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and the torque threshold value of the motor in the vehicle, so that the accuracy of the required torque of the engine and the required torque of the motor is improved, and when the vehicle hill start is controlled according to the required torque of the engine and the required torque of the motor with higher accuracy, the engine and the motor are accurately controlled in the vehicle hill start process, so that the problems of rollback and flameout in the vehicle hill start process are avoided.
Description
Technical Field
The application relates to the field of vehicle control, in particular to a method and a device for controlling vehicle hill starting.
Background
The automobile as a common vehicle brings great convenience to the life of people, and is gradually an indispensable part of the daily life of people. When a vehicle starts on a slope road, the problems of insufficient power, backward slip and flameout of the vehicle caused by inaccurate engine control often occur.
In the prior art, the opening of an accelerator, the rotating speed of an engine, the axial speed of a clutch and the gradient of a road surface are obtained; and calculating the acceleration torque and the resistance torque of the vehicle so as to obtain the required torque of the engine, and finishing the hill start process of the vehicle according to the required torque of the engine.
However, the scheme determines the required torque of the engine corresponding to the clutch only through the oil pressure of the clutch, and the accuracy is low, so that the problems of insufficient power, rollback and flameout of the vehicle still occur during the vehicle on a slope.
Disclosure of Invention
The embodiment of the application provides a control method and device for vehicle hill starting, which realize the accurate control of an engine and a motor in the vehicle hill starting process, thereby avoiding the problems of backward slip and flameout in the vehicle hill starting process.
In a first aspect, an embodiment of the present application provides a method for controlling hill start of a vehicle, where the method includes:
a base demand torque of an engine in a vehicle is determined based on an opening position of a clutch in the vehicle.
Determining a total required torque of the engine according to the basic required torque of the engine and the compensation torque of the engine.
And determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and a torque threshold value of the motor in the vehicle.
And controlling the vehicle to start on a hill according to the required torque of the engine and the required torque of the motor.
In one possible implementation, the determining the required torque of the engine and the required torque of the motor based on the total required torque of the engine and a torque threshold of the motor in the vehicle includes:
and if the total required torque of the engine is smaller than or equal to the torque threshold value of the motor, determining that the required torque of the engine is 0, and determining that the required torque of the motor is the total required torque of the engine.
If the total required torque of the engine is larger than the torque threshold value of the motor, determining the required torque of the engine as the total required torque of the engine, and determining the basic required torque of the motor according to the current torque of the engine; and determining the required torque of the motor according to the basic required torque of the motor.
In one possible implementation, the determining the required torque of the electric machine according to the base required torque of the electric machine includes:
and if the basic required torque of the motor is smaller than the torque threshold value of the motor, determining the required torque of the motor as the basic required torque of the motor.
And if the basic required torque of the motor is larger than or equal to the torque threshold value of the motor, determining the required torque of the motor as the maximum torque of the motor.
In one possible implementation, the method further includes:
acquiring first parameter information of the vehicle; wherein the first parameter information includes an accelerator opening degree, a current road surface gradient, a weight of the vehicle, and a rotation speed difference of the engine.
And determining the compensation torque of the engine according to the accelerator opening, the current road surface gradient, the weight of the vehicle and the rotation speed difference of the engine.
In one possible implementation, the determining a base demand torque of an engine in a vehicle according to an opening position of a clutch in the vehicle includes:
acquiring second parameter information of the vehicle; wherein the second parameter information includes a running speed of the vehicle, a hand brake state, an actual rotation speed of the engine, a current road surface gradient, and an opening position of a brake pedal.
And if the second parameter information meets the preset condition, determining the basic required torque of the engine according to the opening position of the clutch.
In one possible implementation manner, the preset condition includes: the running speed of the vehicle is equal to 0, the hand brake state is equal to 0, the actual rotating speed of the engine is greater than the calibrated rotating speed of the engine, the current road surface gradient is greater than the calibrated gradient of the road surface, and the opening position of the brake pedal is smaller than the calibrated opening of the brake pedal.
In a second aspect, an embodiment of the present application provides a control device for hill start of a vehicle, including:
a determination unit for determining a base demand torque of an engine in a vehicle according to an opening position of a clutch in the vehicle;
a processing unit for determining a total required torque of the engine according to a basic required torque of the engine and a compensation torque of the engine;
the processing unit is further used for determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and a torque threshold value of the motor in the vehicle;
and the control unit is used for controlling the vehicle to start on a hill according to the required torque of the engine and the required torque of the motor.
In a possible implementation manner, the processing unit is specifically configured to determine that the required torque of the engine is 0 and determine that the required torque of the motor is the total required torque of the engine if the total required torque of the engine is less than or equal to the torque threshold of the motor; if the total required torque of the engine is larger than the torque threshold value of the motor, determining the required torque of the engine as the total required torque of the engine, and determining the basic required torque of the motor according to the current torque of the engine; and determining the required torque of the motor according to the basic required torque of the motor.
In a possible implementation manner, the processing unit is specifically configured to determine the required torque of the motor as the basic required torque of the motor if the basic required torque of the motor is smaller than a torque threshold of the motor; and if the basic required torque of the motor is larger than or equal to the torque threshold value of the motor, determining the required torque of the motor as the maximum torque of the motor.
In a possible implementation manner, the processing unit is further configured to obtain first parameter information of the vehicle; wherein the first parameter information includes an accelerator opening degree, a current road surface gradient, a weight of the vehicle, and a difference in rotation speed of the engine; and determining a compensation torque of the engine according to the accelerator opening, the current road surface gradient, the weight of the vehicle, and the difference in the rotational speed of the engine.
In a possible implementation manner, the determining unit is specifically configured to acquire second parameter information of the vehicle; the second parameter information comprises the running speed of the vehicle, the hand brake state, the actual rotating speed of the engine, the current road gradient and the opening position of a brake pedal; and if the second parameter information meets the preset condition, determining the basic required torque of the engine according to the opening position of the clutch.
In one possible implementation manner, the preset condition includes: the running speed of the vehicle is equal to 0, the hand brake state is equal to 0, the actual rotating speed of the engine is greater than the calibrated rotating speed of the engine, the current road surface gradient is greater than the calibrated gradient of the road surface, and the opening position of the brake pedal is smaller than the calibrated opening of the brake pedal.
In a third aspect, the present application further provides a control device for hill start of a vehicle, which may include a memory and a processor; wherein the content of the first and second substances,
the memory is used for storing the computer program.
The processor is configured to read the computer program stored in the memory, and execute the method for controlling hill start of the vehicle according to any one of the possible implementation manners of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the method for controlling hill start of a vehicle described in any one of the possible implementation manners of the first aspect is implemented.
Therefore, when the vehicle is controlled in the hill starting process, the basic required torque of the engine in the vehicle is determined according to the opening position of the clutch in the vehicle; the compensation torque of the engine is increased, and the total demand torque of the engine is determined according to the basic demand torque of the engine and the compensation torque of the engine; and determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and the torque threshold value of the motor in the vehicle, so that the accuracy of the required torque of the engine and the required torque of the motor is improved, and when the vehicle hill start is controlled according to the required torque of the engine and the required torque of the motor with higher accuracy, the accurate control of the engine and the motor in the vehicle hill start process is realized, so that the problems of rollback and flameout in the vehicle hill start process are avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic flow chart of a method for controlling hill start of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a diagram illustrating a proportional relationship between an opening position of a clutch and a basic engine torque demand provided by an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a vehicle hill start control device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another vehicle hill start control device provided in the embodiment of the present application.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In the embodiments of the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. In the description of the text of the present application, the character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The technical scheme provided by the embodiment of the application is applied to the scene of vehicle hill starting. The automobile as a common vehicle brings great convenience to the life of people, and is gradually an indispensable part of the daily life of people. However, in the process of driving the vehicle, when the vehicle is subjected to hill start, the problem that the engine is controlled inaccurately so that the vehicle is insufficient in power, slips and stalls in the hill start process often occurs.
In order to solve the problems of insufficient vehicle power, backward slip and flameout caused by inaccurate control of an engine in the process of starting a vehicle on a hill, in the prior art, the accelerator opening, the engine rotating speed, the clutch shaft speed and the road surface gradient are obtained; and calculating the acceleration torque and the resistance torque of the vehicle so as to obtain the required torque of the engine, and finishing the hill start process of the vehicle according to the required torque of the engine. However, according to the scheme, the required torque of the engine corresponding to the clutch is determined only through the oil pressure of the clutch, so that the engine is controlled to enable the vehicle to complete hill start, the control accuracy of the engine is low, and the problems of insufficient engine, backward slip and flameout of the vehicle in the hill start process still cannot be avoided.
In order to solve the problems of insufficient power, back slip and flameout caused by low accuracy of engine control in the process of hill starting of a vehicle, the basic required torque of the engine in the vehicle can be determined according to the opening position of a clutch in the vehicle, so that the obtained required torque of the engine is more accurate; meanwhile, the accuracy of the total required torque of the engine is further improved by considering the accelerator opening, the current road surface gradient, the weight of the vehicle and the compensation torque of the engine generated by the rotating speed difference of the engine; in addition, considering the control effect of the required torque of the motor on the vehicle hill start, determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and a torque threshold value of the motor in the vehicle; the engine and the motor can accurately control the vehicle when the vehicle starts on a hill, so that the problems of backward running and flameout of the vehicle in the hill starting process are solved.
The basic required torque of the engine is the torque required by the engine when the vehicle is controlled to start according to different positions of the opening degree of the clutch in the process that the engine is controlled to start through the torque.
Based on the conception, the embodiment of the application provides a vehicle hill start control method and device, when a vehicle is controlled in the hill start process, on the basis of determining the basic demand torque of an engine in the vehicle according to the opening position of a clutch in the vehicle; the compensation torque of the engine is increased, and the total demand torque of the engine is determined according to the basic demand torque of the engine and the compensation torque of the engine; and determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and the torque threshold value of the motor in the vehicle, so that the accuracy of the required torque of the engine and the required torque of the motor is improved, and when the vehicle hill start is controlled according to the required torque of the engine and the required torque of the motor with higher accuracy, the engine and the motor are accurately controlled in the vehicle hill start process, so that the problems of rollback and flameout in the vehicle hill start process are avoided.
The method for controlling hill start of a vehicle provided by the present application will be described in detail with reference to specific embodiments. It is to be understood that the following detailed description may be combined with other embodiments, and that the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic flow chart of a control method for hill start of a vehicle according to an embodiment of the present application. The vehicle hill start control method can be executed by software and/or hardware devices, for example, the hardware devices can be vehicle hill start control devices, and the vehicle hill start devices can be integrated in the vehicle. For example, referring to fig. 1, the method for controlling hill start of a vehicle may include:
and S101, determining basic required torque of an engine in the vehicle according to the opening position of a clutch in the vehicle.
The basic required torque of the engine is the torque required by the engine when the vehicle is controlled to start according to different positions of the opening degree of the clutch in the process that the engine is controlled to start through the torque.
It can be understood that the proportional relationship between the opening position of the clutch and the basic required torque of the engine in the vehicle is shown in fig. 2, and fig. 2 is a schematic diagram of the proportional relationship between the opening position of the clutch and the basic required torque of the engine provided by the embodiment of the application. For different vehicles and engines of different models, the opening position of the clutch and the basic required torque of the engine are different, and the embodiment of the present application is only described by taking fig. 2 as an example, but the embodiment of the present application is not limited thereto.
As can be seen from fig. 2, the opening position of the clutch is in direct proportion to the basic required torque of the engine, but the corresponding proportionality coefficients of the clutch at different opening positions are different, which is expressed as: when the opening position of the clutch is at the beginning of closing but not combined with the sliding friction point, namely the clutch is in the idle stroke eliminating stage, the basic required torque of the engine corresponding to the opening position of the clutch is 0, until the opening position of the clutch is close to one half of the sliding film point, the basic required torque of the engine corresponding to the opening position of the clutch begins to increase, the basic required torque of the engine is increased in proportion, and the proportionality coefficient is increased firstly and then decreased; the basic required torque of the engine corresponding to the opening position of the clutch at the stage is small, and the basic required torque is mainly used for providing the rotating speed for the engine.
When the opening position of the clutch is between the slip point and the half-joint point, the basic required torque of the engine corresponding to the opening position of the clutch is increased in proportion, and the proportionality coefficient is gradually increased along with the change of the opening position of the clutch; the clutch transmits the required torque of the engine corresponding to the opening position of the clutch to the engine, the engine is controlled to provide power for the vehicle, at the moment, the basic required torque of the engine is small, the engine provides less power for the vehicle according to the basic required torque, therefore, the vehicle is not allowed to start, and the problem that the vehicle is flameout due to insufficient power is solved. When the opening position of the clutch is between a half joint point and a full joint point, namely the clutch is in a half joint state, the basic required torque of the engine corresponding to the opening position of the clutch is still increased in proportion, and the proportionality coefficient is gradually reduced to be infinitely close to 0 along with the change of the opening position of the clutch; in the process, along with the continuous increase of the required torque of the engine, the acceleration of the vehicle is gradually increased, so that the vehicle hill starting process is accelerated; and when the opening position of the clutch is at the complete combination point, namely the clutch is in the complete combination state, the vehicle finishes the hill starting process. Therefore, the basic required torque of the engine is determined through the opening position of the clutch, the accuracy of the required torque of the engine can be improved, sufficient power can be obtained in the vehicle hill starting process, and the problem of flameout is avoided.
For example, when the basic required torque of an engine in a vehicle is determined according to the opening position of a clutch in the vehicle, the position of the opening of the clutch is collected through a sensor; determining basic required torque of the engine according to the required torque of the engine corresponding to the opening position of the clutch; the embodiment of the present application is not particularly limited to the type of the sensor used for acquiring the opening position of the clutch.
For example, before determining the basic required torque of the engine in the vehicle according to the opening position of the clutch in the vehicle, second parameter information of the vehicle needs to be acquired, wherein the second parameter information comprises the running speed of the vehicle, the hand brake state, the actual rotating speed of the engine, the current road surface gradient and the opening position of a brake pedal; if the second parameter information meets the preset condition, determining the basic required torque of the engine according to the opening position of the clutch; wherein the preset conditions include: the running speed of the vehicle is equal to 0, the hand brake state is equal to 0, the actual rotating speed of the engine is greater than the calibrated rotating speed of the engine, the current road surface gradient is greater than the calibrated gradient of the road surface, and the opening position of the brake pedal is smaller than the calibrated opening of the brake pedal.
It can be understood that the running speed information, the hand brake state, the current road surface gradient and the opening position information of the brake pedal of the vehicle are all collected by different sensors in real time, and the application does not limit the specific sensor types; the actual rotation speed of the engine may be determined by detecting the rotation speed of the crankshaft, or may be determined by other methods.
In addition, the calibrated rotating speed of the engine is slightly lower than the idling speed of the engine, the calibrated rotating speeds of the engines with different models and specifications are different, and the calibrated rotating speed of the engine can be set according to the actual situation, so that the embodiment of the application is not limited specifically; the calibration slope of the road surface and the calibration opening degree of the brake pedal are preset according to actual conditions, and the calibration slope of the road surface and the calibration opening degree of the brake pedal are determined according to specific conditions.
And S102, determining the total required torque of the engine according to the basic required torque of the engine and the compensation torque of the engine.
For example, when the total required torque of the engine is determined according to the basic required torque of the engine and the compensation torque of the engine, first parameter information of the vehicle is obtained, wherein the first parameter information comprises an accelerator opening, a current road surface gradient, the weight of the vehicle and a rotation speed difference of the engine; determining a compensation torque of an engine corresponding to the accelerator opening of the engine, a compensation torque of the engine corresponding to the current road surface gradient, a compensation torque of the engine corresponding to the weight of the vehicle and a compensation torque of the engine corresponding to the rotation speed difference of the engine according to the accelerator opening of the vehicle, the current road surface gradient, the weight of the vehicle and the rotation speed difference of the engine; adding the compensation torques of the engine corresponding to the accelerator opening, the current road surface gradient, the weight of the vehicle and the rotating speed difference of the engine respectively to obtain the compensation torque of the engine; and determining the total required torque of the engine according to the sum of the basic required torque of the engine and the compensation torque of the engine.
It can be understood that the information of the throttle opening of the vehicle and the weight of the vehicle may be collected by a sensor, or may be collected by other methods, and the embodiment of the present application is not limited to a specific collection method and a type of the sensor. In addition, when the rotating speed difference of the engine is obtained, the required rotating speed of the engine is obtained according to the current road surface gradient information collected by the sensor, and the difference value obtained by subtracting the actual rotating speed of the engine from the required rotating speed of the engine is used as the rotating speed difference of the engine; if the rotational speed difference of the engine is greater than 0, the compensation torque of the engine corresponding to the rotational speed difference of the engine is positive torque, and conversely, the compensation torque of the engine corresponding to the rotational speed difference of the engine is negative torque.
When the motor operates as a motor, the motor torque performs positive work, and the positive torque rotates positively to drive a load to operate; when the motor operates as a generator, the external torque does positive work, the motor outputs electric energy, the torque generated by the electric energy does negative work and is negative torque, but the motor rotates positively under the action of the external torque.
Further, the accelerator opening of the engine and the compensation torque of the engine corresponding thereto, the current road surface gradient and the compensation torque of the engine corresponding thereto, the weight of the vehicle and the compensation torque of the engine corresponding thereto, and the difference in the rotational speed of the engine and the compensation torque of the engine corresponding thereto are all in a proportional relationship.
And S103, determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and the torque threshold value of the motor in the vehicle.
For example, when the required torque of the engine and the required torque of the motor are determined according to the total required torque of the engine and the torque threshold value of the motor in the vehicle, the required torque of the engine and the required torque of the motor are firstly judged, so that the required torque of the engine and the required torque of the motor are determined; if the total required torque of the engine is smaller than or equal to the torque threshold value of the motor, determining that the required torque of the engine is 0, and determining that the required torque of the motor is the total required torque of the engine; if the total required torque of the engine is larger than the torque threshold value of the motor, determining the required torque of the engine as the total required torque of the engine, and determining the basic required torque of the motor according to the current torque of the engine; and determining the required torque of the motor according to the basic required torque of the motor.
It can be understood that when the torque threshold of the motor is determined, the maximum torque of the motor is calculated according to the actual rotating speed of the motor, and the difference value between the maximum torque of the motor and the torque margin calibration value of the motor is determined as the torque threshold of the motor; the actual rotating speed of the motor is monitored in real time through a measuring instrument, and the application does not limit the instrument for monitoring the actual rotating speed of the motor; the torque margin calibration value of the motor is preset according to the specification of the motor, and therefore, the embodiment of the application is not limited at all.
Further, when the required torque of the motor is determined according to the basic required torque of the motor, the basic required torque of the motor and the torque threshold of the motor need to be judged, and if the basic required torque of the motor is smaller than the torque threshold of the motor, the required torque of the motor is determined to be the basic required torque of the motor; and if the basic required torque of the motor is larger than or equal to the torque threshold value of the motor, determining the required torque of the motor as the maximum torque of the motor.
When the basic required torque of the motor is determined, the actual required torque of the engine is detected, and the difference value between the total required torque of the engine and the actual required torque of the engine is determined as the basic required torque of the motor.
For example, the motor in the vehicle may be a Belt-drive Starter Generator (BSG) motor, or may be another type of motor, and the embodiment of the present application is not particularly limited.
And S104, controlling the vehicle to start on a hill according to the required torque of the engine and the required torque of the motor.
It can be understood that, in the above steps, after the second parameter information is determined to meet the preset condition, that is, after the vehicle is determined to be in the hill start state, the position of the clutch opening is collected by the sensor only when the vehicle does not finish hill start, so as to determine the basic required torque of the engine, and if the vehicle finishes hill start, the basic required torque of the engine does not need to be determined by the position of the clutch opening; for example, after it is determined that the second parameter information meets the preset condition, whether the vehicle completes hill start or not may be determined according to the parameter of the vehicle; the embodiment of the present application is described as an example, but the embodiment of the present application is not limited to this, and if the actual engine speed is greater than the calibrated engine speed, the clutch state is a combined state, and the actual vehicle speed is greater than the calibrated vehicle speed, it is determined that the vehicle completes hill start.
It follows that in controlling a vehicle during a hill start, a basic required torque of an engine in the vehicle is determined based on an opening position of a clutch in the vehicle; the compensation torque of the engine is increased, and the total demand torque of the engine is determined according to the basic demand torque of the engine and the compensation torque of the engine; and determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and the torque threshold value of the motor in the vehicle, so that the accuracy of the required torque of the engine and the required torque of the motor is improved, and when the vehicle hill start is controlled according to the required torque of the engine and the required torque of the motor with higher accuracy, the engine and the motor are accurately controlled in the vehicle hill start process, so that the problems of rollback and flameout in the vehicle hill start process are avoided.
Fig. 3 is a schematic structural diagram of a vehicle hill start control device 30 according to an embodiment of the present application, and for example, referring to fig. 3, the vehicle hill start control device 30 may include:
a determination unit 301 for determining a base demand torque of an engine in a vehicle according to an opening position of a clutch in the vehicle;
a processing unit 302 for determining a total required torque of the engine according to the basic required torque of the engine and the compensation torque of the engine;
the processing unit 302 is further configured to determine a required torque of the engine and a required torque of the motor according to a total required torque of the engine and a torque threshold of the motor in the vehicle;
and the control unit 303 is used for controlling the vehicle to start on a hill according to the required torque of the engine and the required torque of the motor.
Optionally, the processing unit 302 is specifically configured to determine that the required torque of the engine is 0 and determine that the required torque of the motor is the total required torque of the engine if the total required torque of the engine is less than or equal to the torque threshold of the motor; if the total required torque of the engine is larger than the torque threshold value of the motor, determining the required torque of the engine as the total required torque of the engine, and determining the basic required torque of the motor according to the current torque of the engine; and determining the required torque of the motor according to the basic required torque of the motor.
Optionally, the processing unit 302 is specifically configured to determine the required torque of the motor as the basic required torque of the motor if the basic required torque of the motor is smaller than a torque threshold of the motor; and if the basic required torque of the motor is larger than or equal to the torque threshold value of the motor, determining the required torque of the motor as the maximum torque of the motor.
Optionally, the processing unit 302 is further configured to obtain first parameter information of the vehicle; the first parameter information comprises an accelerator opening, a current road surface gradient, the weight of the vehicle and the rotation speed difference of the engine; and determining the compensation torque of the engine according to the accelerator opening, the current road surface gradient, the weight of the vehicle and the rotation speed difference of the engine.
Optionally, the determining unit 301 is specifically configured to obtain second parameter information of the vehicle; the second parameter information comprises the running speed of the vehicle, the hand brake state, the actual rotating speed of the engine, the current road gradient and the opening position of a brake pedal; and if the second parameter information meets the preset condition, determining the basic required torque of the engine according to the opening position of the clutch.
Optionally, the preset conditions include: the running speed of the vehicle is equal to 0, the hand brake state is equal to 0, the actual rotating speed of the engine is greater than the calibrated rotating speed of the engine, the current road surface gradient is greater than the calibrated gradient of the road surface, and the opening position of the brake pedal is smaller than the calibrated opening of the brake pedal.
The control device 30 for vehicle hill start provided in the embodiment of the present application may execute the technical solution of the control method for vehicle hill start in any of the above embodiments, and its implementation principle and beneficial effects are similar to those of the control method for vehicle hill start.
Fig. 4 is a schematic structural diagram of another vehicle hill-start control device 40 provided in the embodiment of the present application, and for example, please refer to fig. 4, the vehicle hill-start control device 40 may include a processor 401 and a memory 402; wherein the content of the first and second substances,
the memory 402 is used for storing computer programs.
The processor 401 is configured to read the computer program stored in the memory 402, and execute the technical solution of the vehicle hill start control method in any of the embodiments according to the computer program in the memory 402.
Alternatively, the memory 402 may be separate or integrated with the processor 401. When the memory 402 is a device separate from the processor 401, the control apparatus 40 for vehicle hill start may further include: a bus for connecting the memory 402 and the processor 401.
Optionally, this embodiment further includes: a communication interface that may be connected to the processor 401 through a bus. The processor 401 may control the communication interface to implement the functions of receiving and transmitting of the vehicle hill start control device 40 described above.
The control device 40 for vehicle hill start shown in the embodiment of the application may execute the technical solution of the control method for vehicle hill start in any of the embodiments, and the implementation principle and the beneficial effects thereof are similar to those of the control method for vehicle hill start.
The embodiment of the present application further provides a computer-readable storage medium, where a computer-executable instruction is stored in the computer-readable storage medium, and when a processor executes the computer-executable instruction, the technical solution of the method for controlling vehicle hill-start in any of the above embodiments is implemented, and the implementation principle and the beneficial effects of the method are similar to those of the method for controlling vehicle hill-start, which can be referred to the implementation principle and the beneficial effects of the method for controlling vehicle hill-start, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts shown as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The computer-readable storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. A control method for hill start of a vehicle, characterized by comprising:
determining a basic demand torque of an engine in the vehicle according to a proportional relationship between an opening position of a clutch in the vehicle and the basic demand torque of the engine;
acquiring first parameter information of the vehicle; wherein the first parameter information includes an accelerator opening degree, a current road surface gradient, a weight of the vehicle, and a difference in rotation speed of the engine; the rotating speed difference of the engine is the difference value of the required rotating speed of the engine minus the actual rotating speed of the engine;
adding the compensation torques of the engine corresponding to the accelerator opening, the current road surface gradient, the weight of the vehicle and the rotation speed difference of the engine respectively to obtain the compensation torque of the engine;
determining a total required torque of the engine according to the basic required torque of the engine and the compensation torque of the engine;
determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and a torque threshold value of the motor in the vehicle;
and controlling the vehicle to start on a hill according to the required torque of the engine and the required torque of the motor.
2. The method of claim 1, wherein determining the requested torque of the engine and the requested torque of the electric machine based on the total requested torque of the engine and a torque threshold of the electric machine in the vehicle comprises:
if the total required torque of the engine is smaller than or equal to the torque threshold value of the motor, determining that the required torque of the engine is 0, and determining that the required torque of the motor is the total required torque of the engine;
if the total required torque of the engine is larger than the torque threshold value of the motor, determining the required torque of the engine as the total required torque of the engine, and determining the basic required torque of the motor according to the current torque of the engine; and determining the required torque of the motor according to the basic required torque of the motor.
3. The method of claim 2, wherein determining the requested torque for the electric machine based on the base requested torque for the electric machine comprises:
if the basic required torque of the motor is smaller than the torque threshold value of the motor, determining the required torque of the motor as the basic required torque of the motor;
and if the basic required torque of the motor is larger than or equal to the torque threshold value of the motor, determining the required torque of the motor as the maximum torque of the motor.
4. The method according to any one of claims 1-3, wherein determining the base demand torque of the engine in the vehicle based on the opening position of the clutch in the vehicle comprises:
acquiring second parameter information of the vehicle; the second parameter information comprises the running speed of the vehicle, the hand brake state, the actual rotating speed of the engine, the current road gradient and the opening position of a brake pedal;
and if the second parameter information meets the preset condition, determining the basic required torque of the engine according to the opening position of the clutch.
5. The method of claim 4,
the preset conditions include: the running speed of the vehicle is equal to 0, the hand brake state is equal to 0, the actual rotating speed of the engine is greater than the calibrated rotating speed of the engine, the current road surface gradient is greater than the calibrated gradient of the road surface, and the opening position of the brake pedal is smaller than the calibrated opening of the brake pedal.
6. A control device for hill start of a vehicle, characterized by comprising:
a determination unit for determining a base demand torque of an engine in a vehicle according to a proportional relationship between an opening position of a clutch in the vehicle and the base demand torque of the engine;
a processing unit for determining a total required torque of the engine according to a basic required torque of the engine and a compensation torque of the engine;
the processing unit is further used for determining the required torque of the engine and the required torque of the motor according to the total required torque of the engine and a torque threshold value of the motor in the vehicle;
the control unit is used for controlling the vehicle to start on a slope according to the required torque of the engine and the required torque of the motor;
the processing unit is further used for acquiring first parameter information of the vehicle; the first parameter information comprises an accelerator opening, a current road surface gradient, the weight of the vehicle and the rotation speed difference of the engine; the rotating speed difference of the engine is the difference value of the required rotating speed of the engine minus the actual rotating speed of the engine; and adding the compensation torques of the engine corresponding to the accelerator opening, the current road surface gradient, the weight of the vehicle and the rotation speed difference of the engine respectively to obtain the compensation torque of the engine.
7. The apparatus of claim 6,
the processing unit is specifically configured to determine that the required torque of the engine is 0 and determine that the required torque of the motor is the total required torque of the engine if the total required torque of the engine is less than or equal to the torque threshold of the motor; if the total required torque of the engine is larger than the torque threshold value of the motor, determining the required torque of the engine as the total required torque of the engine, and determining the basic required torque of the motor according to the current torque of the engine; and determining the required torque of the motor according to the basic required torque of the motor.
8. A control device for vehicle hill start is characterized by comprising a memory and a processor; wherein the content of the first and second substances,
the memory for storing a computer program;
the processor is used for reading the computer program stored in the memory and executing the vehicle hill-start control method according to any one of the claims 1-5.
9. A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when executed by a processor, the computer-readable storage medium implements a method for controlling hill start of a vehicle according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423808.2A CN112519754B (en) | 2020-12-08 | 2020-12-08 | Vehicle hill starting control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423808.2A CN112519754B (en) | 2020-12-08 | 2020-12-08 | Vehicle hill starting control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112519754A CN112519754A (en) | 2021-03-19 |
| CN112519754B true CN112519754B (en) | 2022-04-05 |
Family
ID=74998230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011423808.2A Active CN112519754B (en) | 2020-12-08 | 2020-12-08 | Vehicle hill starting control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112519754B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112628396B (en) * | 2020-12-16 | 2022-08-30 | 东风汽车有限公司 | Double-clutch transmission step-crossing control method, storage medium and electronic equipment |
| CN113183963B (en) * | 2021-06-10 | 2023-06-30 | 嘉兴鲁棒实特车辆智能科技有限公司 | Vehicle starting control method and device, vehicle controller, vehicle and storage medium |
| CN113335284B (en) * | 2021-06-29 | 2022-11-18 | 东风华神汽车有限公司 | Control method and control system for automobile hill start |
| CN113581179B (en) * | 2021-07-29 | 2023-06-23 | 东风柳州汽车有限公司 | Vehicle hill start control method, device, equipment and storage medium |
| CN113787916B (en) * | 2021-10-14 | 2022-04-26 | 河南嘉晨智能控制股份有限公司 | Processing method suitable for preventing industrial vehicle from sliding on slope during half-slope starting |
| CN115257664A (en) * | 2022-07-21 | 2022-11-01 | 中联重科股份有限公司 | Control method and control device for engineering vehicle, controller and engineering vehicle |
| CN115571107B (en) * | 2022-12-07 | 2023-03-21 | 潍柴动力股份有限公司 | Vehicle starting clutch control method and device, hybrid vehicle and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2918338B1 (en) * | 2007-07-06 | 2009-10-30 | Renault Sas | DEVICE AND METHOD FOR ASSISTING A VEHICLE. |
| US9108621B2 (en) * | 2012-05-07 | 2015-08-18 | Ford Global Technologies, Llc | Controlling powertrain components for hill-holding in a hybrid electric vehicle |
| CN105235683B (en) * | 2014-07-09 | 2018-01-23 | 比亚迪股份有限公司 | The uphill starting control method and hill-start control device of vehicle and vehicle |
| CN104875742B (en) * | 2015-05-15 | 2017-10-10 | 北汽福田汽车股份有限公司 | Hill start control method, system and the hybrid vehicle of bimodulus hybrid vehicle |
| CN106428011B (en) * | 2016-11-25 | 2020-01-24 | 浙江吉利控股集团有限公司 | Electric automobile creep torque control method and control system and electric automobile |
| CN109278751B (en) * | 2018-10-09 | 2020-08-21 | 浙江力邦合信智能制动系统股份有限公司 | Hill start control method and control system for manual-gear vehicle |
-
2020
- 2020-12-08 CN CN202011423808.2A patent/CN112519754B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112519754A (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112519754B (en) | Vehicle hill starting control method and device | |
| WO2019205014A1 (en) | Driving behavior analysis method and driving behavior analysis device | |
| CN113060015A (en) | Vehicle torque processing method, device and equipment | |
| CN106004513B (en) | Motor speed control method and system for improving running resistance evaluation performance | |
| WO2022037324A1 (en) | Method and apparatus for controlling travel of vehicle, and vehicle, device, program and medium | |
| CN112706771A (en) | Automobile crawling control method and automobile | |
| CN109720314B (en) | Braking method, device and system | |
| CN114321216B (en) | Clutch control method, control device, storage medium, and program product | |
| CN108974005B (en) | System and method for estimating power cut-off duration of vehicle | |
| CN112610688B (en) | Vehicle gear shifting control method and device and automatic gearbox control unit | |
| CN110552800B (en) | Throttle control method and device | |
| CN115123175A (en) | Vehicle control method and device and vehicle | |
| KR20220084852A (en) | System and method for controlling engine starting of hybrid electric vehicle | |
| CN114013447B (en) | Method, device, equipment and storage medium for determining vehicle load | |
| US20130103276A1 (en) | Method and apparatus for evaluating deceleration of a vehicle | |
| CN113928303B (en) | Vehicle power generation control method and device and vehicle | |
| CN116494940B (en) | Automatic slope parking method, system, storage medium and equipment for new energy automobile | |
| CN113734146B (en) | Vehicle driving mode selection method, device, equipment and medium | |
| CN112208525B (en) | Hybrid vehicle cruise control method and apparatus | |
| CN113565622A (en) | Method and device for controlling auxiliary electric water pump of turbocharger | |
| CN110873013A (en) | Control method and device for starting engine and vehicle | |
| CN111717191B (en) | Method and device for clutch torque adaptive learning | |
| US20140156156A1 (en) | Real time modeling of engine load addition due to alternator with an over-run clutch | |
| CN115952380A (en) | Starting sliding friction work calculation method, system, equipment and storage medium | |
| FR3037912A1 (en) | METHOD FOR ESTIMATING THE MASS OF A HYBRID OR ELECTRIC MOTOR VEHICLE |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |