CN112644296B - Control method for driving torque of pure electric vehicle - Google Patents
Control method for driving torque of pure electric vehicle Download PDFInfo
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- CN112644296B CN112644296B CN202110008136.7A CN202110008136A CN112644296B CN 112644296 B CN112644296 B CN 112644296B CN 202110008136 A CN202110008136 A CN 202110008136A CN 112644296 B CN112644296 B CN 112644296B
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- 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
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- 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
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- 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
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a control method of a pure electric vehicle driving torque, which limits the driving torque according to the gear condition of a vehicle, the torque required by a driver, the vehicle speed, the chassis torque intervention function activation condition and the speed limit function activation condition, and can avoid great unexpected acceleration generated when the software data of a controller overflows, thereby reducing the driving risk of the vehicle and reducing the safety threat to the driver.
Description
Technical Field
The invention belongs to the technical field of pure electric vehicles, and particularly relates to a control method of a driving torque of a pure electric vehicle.
Background
Because the pure electric vehicle uses the motor as a power source, the pure electric vehicle has strong acceleration performance, the hundred kilometers acceleration time is generally within 10s, even within 5s, when the software data of the controller overflows, unexpected driving torque can be generated, great unexpected acceleration can be generated in a short time, the driving danger of the vehicle is high, and further great threat is caused to the safety of a driver.
Disclosure of Invention
The invention aims to provide a control method of a driving torque of a pure electric vehicle, which is used for limiting the driving torque and reducing the safety threat to a driver.
The control method of the driving torque of the pure electric vehicle comprises the following steps:
the controller obtains and judges the gear state, the torque required by the driver, the vehicle speed, the chassis torque intervention function activation zone bit and the speed limit function activation zone bit.
When the vehicle is in a non-driving gear (such as P gear, N gear, invalid gear and the like), the controller controls the driving torque to be 0.
When the vehicle gear is switched from the R range (i.e., reverse range) to the D range (i.e., forward range), the controller controls the driving torque to be the preset first torque threshold N1 if the driver required torque is less than the preset first torque threshold N1, controls the driving torque to be the preset second torque threshold N2 if the driver required torque is greater than the preset second torque threshold N2, and controls the driving torque to be the driver required torque if the driver required torque is greater than or equal to the preset first torque threshold N1 and less than or equal to the preset second torque threshold N2. The driving torque when the gear R is switched to the gear D is processed excessively, so that the driving torque can be prevented from changing direction when the gear is shifted, and the occurrence of gear shifting impact is avoided.
When the vehicle is in the D range and the vehicle speed is less than the preset vehicle speed threshold, the controller controls the driving torque to be the preset third torque threshold N3 if the driver required torque is less than the preset third torque threshold N3, and controls the driving torque to be the driver required torque if the driver required torque is greater than or equal to the preset third torque threshold N3. The vehicle is controlled to be in D range without unexpected driving torque, which is expressed by no large negative torque (negative torque is defined as torque in the reverse direction) at low vehicle speed. Since the pure electric vehicle has a recovery torque (a torque in a reverse direction) in the D range, the torque limit protection for the D range is only provided at a low vehicle speed (less than a preset vehicle speed threshold).
When the vehicle gear is switched from the D gear to the R gear, the controller controls the driving torque to be the preset fourth torque threshold N4 if the driver required torque is less than the preset fourth torque threshold N4, controls the driving torque to be the preset fifth torque threshold N5 if the driver required torque is greater than the preset fifth torque threshold N5, and controls the driving torque to be the driver required torque if the driver required torque is greater than or equal to the preset fourth torque threshold N4 and less than or equal to the preset fifth torque threshold N5. The driving torque when the D gear is switched to the R gear is subjected to over-treatment, so that the driving torque can be prevented from changing direction when the gear is shifted, and the occurrence of gear shifting impact can be avoided.
When the vehicle is in the R range, the controller controls the driving torque to be the preset sixth torque threshold N6 if the driver required torque is greater than the preset sixth torque threshold N6, and controls the driving torque to be the driver required torque if the driver required torque is less than or equal to the preset sixth torque threshold N6. The vehicle is controlled to be in the R gear without unexpected driving torque, and positive torque (defined as torque in the forward direction) is not generated.
Preferably, in the case where the vehicle is in a non-driving range and neither the chassis torque intervention function nor the speed limit function is activated, if the driver demand torque is greater than 0, the controller adjusts the gradient G according to a preset negative torque min Controlling the driving torque to be 0 (i.e. the controller controls the driving motor to G min Adjusting the driving torque to 0) as the adjustment speed), if the driver required torque is less than 0, the controller is in accordance with a presetPositive torque modulation gradient G max The driving torque is controlled to be 0 (i.e. the controller controls the driving motor to G max As the adjustment speed, the driving torque is adjusted to 0), and if the driver required torque is equal to 0, the controller controls the driving torque to the driver required torque. And under the condition that the vehicle is in a non-driving gear and the chassis torque intervention function is activated or the speed limit function is activated, the controller controls the driving torque to be 0 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated. Under the condition that the chassis torque intervention function and the speed limit function are not activated, gradient processing is carried out when the driving torque is limited, so that the change of the driving torque is within the acceptance range of a driver, the driving performance is ensured, and the chassis torque intervention function and the speed limit function are not influenced.
Preferably, in the case where the vehicle gear is shifted from the R gear to the D gear and neither the chassis torque intervention function nor the speed limit function is activated, the controller adjusts the gradient G according to a preset forward torque if the driver demand torque is less than a preset first torque threshold N1 max Controlling the driving torque to a preset first torque threshold value N1 (i.e. the controller controls the driving motor to G max As an adjustment speed, the driving torque is adjusted to a preset first torque threshold value N1), if the driver required torque is greater than a preset second torque threshold value N2, the controller adjusts the gradient G in accordance with a preset negative torque adjustment min Controlling the driving torque to be the preset second torque threshold value N2 (i.e. the controller controls the driving motor to G min As the adjustment speed, the driving torque is adjusted to the preset second torque threshold value N2), and if the driver required torque is greater than or equal to the preset first torque threshold value N1 and less than or equal to the preset second torque threshold value N2, the controller controls the driving torque to be the driver required torque. Under the condition that the vehicle gear is switched from the R gear to the D gear, and the chassis torque intervention function is activated or the speed limiting function is activated, if the required torque of a driver is smaller than a preset first torque threshold value N1, the controller controls the driving torque to be a preset first torque threshold value N1 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limiting function is activated, and if the required torque of the driver is larger than the required torque of the driverAnd if the driver required torque is greater than or equal to the preset first torque threshold value N1 and less than or equal to the preset second torque threshold value N2, the controller controls the driving torque to be the driver required torque. Under the condition that the chassis torque intervention function and the speed limit function are not activated, gradient processing is carried out when the driving torque is limited, so that the change of the driving torque is within the acceptance range of a driver, the driving performance is ensured, and the chassis torque intervention function and the speed limit function are not influenced.
Preferably, in the case where the vehicle is in the D-range and the vehicle speed is less than the preset vehicle speed threshold, and neither the chassis torque intervention function nor the speed limit function is activated, if the driver requested torque is less than the preset third torque threshold N3, the controller adjusts the gradient G according to the preset forward torque max The driving torque is controlled to the preset third torque threshold value N3, and if the driver required torque is greater than or equal to the preset third torque threshold value N3, the controller controls the driving torque to the driver required torque. Under the condition that the vehicle is in a D gear, the vehicle speed is smaller than a preset vehicle speed threshold, and the chassis torque intervention function or the speed limit function is activated, if the driver required torque is smaller than a preset third torque threshold N3, the controller controls the driving torque to be a preset third torque threshold N3 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and if the driver required torque is larger than or equal to a preset third torque threshold N3, the controller controls the driving torque to be the driver required torque. The gradient processing is carried out under the condition that the chassis torque intervention function and the speed limit function are not activated, so that the driving performance is ensured, the change of the driving torque is within the acceptance range of a driver when the driving torque is limited, and the chassis torque intervention function and the speed limit function are not influenced.
Preferably, in the case where the vehicle gear is shifted from the D gear to the R gear and neither the chassis torque intervention function nor the speed limit function is activated, if the driver required torque is less than a preset fourth torqueThreshold N4, the controller adjusts the gradient G according to the preset positive torque max Controlling the driving torque to be a preset fourth torque threshold value N4, and if the driver required torque is greater than a preset fifth torque threshold value N5, adjusting the gradient G according to a preset negative torque by the controller min The driving torque is controlled to be the preset fifth torque threshold value N5, and if the driver required torque is greater than or equal to the preset fourth torque threshold value N4 and less than or equal to the preset fifth torque threshold value N5, the controller controls the driving torque to be the driver required torque. Under the condition that the vehicle gear is switched from the D gear to the R gear, and the chassis torque intervention function is activated or the speed limit function is activated, if the driver required torque is smaller than a preset fourth torque threshold value N4, the controller controls the driving torque to be a preset fourth torque threshold value N4 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, if the driver required torque is larger than a preset fifth torque threshold value N5, the controller controls the driving torque to be a preset fifth torque threshold value N5 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and if the driver required torque is larger than or equal to a preset fourth torque threshold value N4 and smaller than or equal to a preset fifth torque threshold value N5, the controller controls the driving torque to be the driver required torque. Under the condition that the chassis torque intervention function and the speed limit function are not activated, gradient processing is carried out when the driving torque is limited, so that the change of the driving torque is within the acceptance range of a driver, the driving performance is ensured, and the chassis torque intervention function and the speed limit function are not influenced.
Preferably, in the case where the vehicle is in the R range and neither the chassis torque intervention function nor the speed limit function is active, if the driver demand torque is greater than a preset sixth torque threshold N6, the controller adjusts the gradient G according to a preset negative torque adjustment min The driving torque is controlled to the preset sixth torque threshold N6, and if the driver required torque is less than or equal to the preset sixth torque threshold N6, the controller controls the driving torque to the driver required torque. In the case of a vehicle in R range with the chassis torque intervention function activated or the speed limit function activated, if the driver demand is offAnd if the torque is greater than a preset sixth torque threshold value N6, the controller controls the driving torque to be the preset sixth torque threshold value N6 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and if the driver required torque is less than or equal to the preset sixth torque threshold value N6, the controller controls the driving torque to be the driver required torque. Under the condition that the chassis torque intervention function and the speed limit function are not activated, gradient processing is carried out when the driving torque is limited, so that the change of the driving torque is within the acceptance range of a driver, the driving performance is ensured, and the chassis torque intervention function and the speed limit function are not influenced.
Preferably, the preset positive torque adjustment gradient G max And a preset negative torque regulation gradient G min Obtained by the following formula:
G max ＝aV 2 +bN+c
G min ＝dV 2 +eN+f
wherein V represents the current vehicle speed, N represents the driving torque of the previous period, a, b, c, d, e and f represent adjusting coefficients, and a, b, c, d, e and f are obtained by actual vehicle calibration.
Preferably, the preset first torque threshold N1 is-10N · m, the preset second torque threshold N2 is 0, the preset third torque threshold N3 is 0N · m, the preset fourth torque threshold N4 is 0, the preset fifth torque threshold N5 is 10N · m, the preset sixth torque threshold N6 is 0, and the preset vehicle speed threshold is 10 km/h.
The invention limits the driving torque according to the gear condition of the vehicle, the torque required by the driver, the vehicle speed, the chassis torque intervention function activation condition and the speed limit function activation condition, avoids great unexpected acceleration generated when the controller software data overflows, reduces the vehicle driving danger and reduces the safety threat to the driver.
Drawings
FIG. 1 is a schematic diagram of a control principle of a driving torque of a pure electric vehicle according to the present invention.
FIG. 2 is a flowchart of a method for controlling a driving torque of a pure electric vehicle according to the present invention.
Fig. 3 is a second flowchart of the method for controlling the driving torque of the pure electric vehicle according to the present invention.
FIG. 4 is a third flowchart of a control method for driving torque of a pure electric vehicle according to the present invention.
FIG. 5 is a fourth flowchart of a control method for driving torque of a pure electric vehicle according to the present invention.
Fig. 6 is a fifth flowchart of the control method for the driving torque of the pure electric vehicle according to the present invention.
Fig. 7 is a sixth flowchart of a control method for driving torque of a pure electric vehicle according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 2 to 7, a control method of driving torque of an electric vehicle is executed by a controller (such as a vehicle control unit VCU), and includes:
the method comprises the steps of firstly, acquiring a gear state, a driver required torque, a vehicle speed, a chassis torque intervention function activation zone bit (the chassis torque intervention function activation zone bit can reflect whether a chassis torque intervention function is activated) and a speed limit function activation zone bit (the speed limit function activation zone bit can reflect whether a speed limit function is activated), and then executing a second step; the chassis torque intervention function may be one or more of a body electronic stability system ESP, a traction control system TCS, an anti-lock braking system ABS, an automatic emergency braking system AEB;
secondly, judging whether the vehicle is in a non-driving gear (such as a P gear, an N gear, an invalid gear and the like), if so, executing a third step, otherwise, executing a tenth step;
thirdly, judging whether the chassis torque intervention function and the speed limit function are not activated, if so, executing a fifth step, otherwise (namely activating the chassis torque intervention function or activating the speed limit function) executing a fourth step;
fourthly, controlling the driving torque to be 0 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and then finishing;
fifthly, judging whether the torque required by the driver is larger than 0, if so, executing the sixth step, otherwise, executing the seventh step;
sixthly, adjusting the gradient G according to the preset negative torque min Controlling the driving torque to 0 (see fig. 1), and then ending;
seventhly, judging whether the torque required by the driver is smaller than 0, if so, executing the eighth step, otherwise, executing the ninth step;
step eight, adjusting the gradient G according to the preset positive torque max Controlling the driving torque to 0 (see fig. 1), and then ending;
the ninth step, controlling the driving torque to the driver required torque (see fig. 1), and then ending;
step ten, judging whether the gear of the vehicle is switched from the R gear to the D gear, if so, executing the step eleventh, otherwise, executing the step twenty;
the eleventh step, judging whether the chassis torque intervention function and the speed limit function are not activated, if so, executing the twelfth step, otherwise (namely the chassis torque intervention function is activated or the speed limit function is activated) executing the seventeenth step;
a twelfth step of judging whether the torque required by the driver is smaller than-10 N.m, if so, executing the thirteenth step, otherwise, executing the fourteenth step;
step thirteen, adjusting the gradient G according to the preset positive torque max Controlling the driving torque to-10N · m (see fig. 1), and then ending;
fourteenth, judging whether the torque required by the driver is larger than 0, if so, executing the fifteenth step, otherwise, executing the sixteenth step;
fifteenth step, adjusting gradient G according to preset negative torque min Controlling the driving torque to 0 (see fig. 1), and then ending;
sixthly, controlling the driving torque to be the torque required by the driver, and then finishing;
seventeenth step, judging whether the torque required by the driver is smaller than-10 N.m, if so, executing eighteenth step, otherwise, executing nineteenth step;
eighteenth, controlling the driving torque to be-10 N.m according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and then finishing;
nineteenth step, judging whether the torque required by the driver is larger than 0, if so, executing the twentieth step, otherwise, executing the twentieth step;
twentieth, controlling the driving torque to be 0 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and then finishing;
twenty-first step, controlling the driving torque to be the torque required by the driver, and then ending;
twenty-second step, judging whether the vehicle is in D gear and the vehicle speed is less than 10km/h, if so, executing the twenty-third step, otherwise, executing the thirty-third step;
a twenty-fourth step is executed if the chassis torque intervention function and the speed limit function are not activated, and a twenty-seventh step is executed if the chassis torque intervention function and the speed limit function are not activated (namely the chassis torque intervention function or the speed limit function is activated);
the twenty-fourth step of judging whether the torque required by the driver is smaller than 0, if so, executing the twenty-fifth step, otherwise, executing the twenty-sixth step;
twenty-fifth step, adjusting gradient G according to preset positive torque max Controlling the driving torque to 0 (see fig. 1), and then ending;
twenty-sixth step, controlling the driving torque to be the torque required by the driver, and then ending;
twenty-seventh step, judging whether the torque required by the driver is less than 0, if so, executing twenty-eighth step, otherwise, executing twenty-ninth step;
twenty-eighth step, controlling the driving torque to be 0 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and then finishing;
twenty-ninth step, controlling the driving torque to be the torque required by the driver, and then ending;
step thirty, judging whether the gear of the vehicle is switched from the D gear to the R gear, if so, executing the step thirty, otherwise, executing the step forty;
a thirty-first step of judging whether the chassis torque intervention function and the speed limit function are not activated, if so, executing the thirty-second step, otherwise (namely the chassis torque intervention function is activated or the speed limit function is activated) executing the thirty-seventh step;
a thirty-second step of judging whether the torque required by the driver is less than 0, if so, executing a thirty-third step, otherwise, executing a thirty-fourth step;
thirty-third step, regulating gradient G according to preset positive torque max Controlling the driving torque to 0 (see fig. 1), and then ending;
thirty-fourth step, judging whether the torque required by the driver is larger than 10 N.m, if so, executing thirty-fifth step, otherwise, executing thirty-sixth step;
thirty-fifth step, adjusting the gradient G according to the preset negative torque min Controlling the driving torque to be 10N · m (see fig. 1), and then ending;
thirty-sixth step, controlling the driving torque to be the torque required by the driver, and then ending;
thirty-seventh step, judging whether the torque required by the driver is less than 0, if so, executing thirty-eighth step, otherwise, executing nineteenth step;
thirty-eighth step, controlling the driving torque to be 0 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and then finishing;
thirty-ninth step, judging whether the driver required torque is larger than 10N m, if so, executing the forty-fourth step, otherwise, executing the forty-fourth step;
fourthly, controlling the driving torque to be 10 Nm according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and then finishing;
a forty-first step of controlling the driving torque to be the driver required torque and then ending;
step forty, judging whether the vehicle is in the R gear, if so, executing the step forty, otherwise, executing the step fifty;
step forty, judging whether the chassis torque intervention function and the speed limit function are not activated, if so, executing the step forty-fourth, otherwise (namely activating the chassis torque intervention function or activating the speed limit function) executing the step forty-seventh;
the forty-fourth step of judging whether the torque required by the driver is larger than 0, if so, executing the forty-fifth step, otherwise, executing the forty-sixth step;
a forty-fifth step of regulating the gradient G according to a preset negative torque min Controlling the driving torque to 0 (see fig. 1), and then ending;
step forty-sixth, controlling the driving torque to be the torque required by the driver, and then ending;
step forty-seventh, judging whether the driver required torque is larger than 0, if so, executing step forty-eighth, otherwise, executing step forty-ninth;
forty-eighth step, controlling the driving torque to be 0 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, and then finishing;
step forty-ninth, controlling the driving torque to be the torque required by the driver, and then ending;
and fiftieth step, controlling the driving torque to be the driver required torque and then ending.
Wherein a predetermined positive torque modulation gradient G max And a preset negative torque regulation gradient G min Obtained by the following formula:
G max ＝aV 2 +bN+c
G min ＝dV 2 +eN+f
v represents the current vehicle speed, N represents the driving torque of the last period, a, b, c, d, e and f represent regulating coefficients, a is a positive number, b is a negative number, c can be positive or negative, d is a negative number, e is a negative number, f can be positive or negative, and a, b, c, d, e and f are obtained by actual vehicle calibration.
Claims (9)
1. A control method for driving torque of a pure electric vehicle is characterized by comprising the following steps:
the controller acquires a gear state, a driver required torque, a vehicle speed, a chassis torque intervention function activation zone bit and a speed limit function activation zone bit, and judges;
when the vehicle is in a non-driving gear, the controller controls the driving torque to be 0;
when the vehicle gear is switched from the R gear to the D gear, if the driver required torque is smaller than a preset first torque threshold value N1, the controller controls the driving torque to be a preset first torque threshold value N1, if the driver required torque is larger than a preset second torque threshold value N2, the controller controls the driving torque to be a preset second torque threshold value N2, otherwise, the controller controls the driving torque to be the driver required torque;
when the vehicle is in a D gear and the vehicle speed is smaller than a preset vehicle speed threshold value, if the driver required torque is smaller than a preset third torque threshold value N3, the controller controls the driving torque to be a preset third torque threshold value N3, otherwise, the controller controls the driving torque to be the driver required torque;
when the vehicle gear is switched from the D gear to the R gear, if the driver required torque is smaller than a preset fourth torque threshold value N4, the controller controls the driving torque to be a preset fourth torque threshold value N4, if the driver required torque is larger than a preset fifth torque threshold value N5, the controller controls the driving torque to be a preset fifth torque threshold value N5, otherwise, the controller controls the driving torque to be the driver required torque;
when the vehicle is in the R gear, if the driver required torque is larger than a preset sixth torque threshold value N6, the controller controls the driving torque to be a preset sixth torque threshold value N6, otherwise, the controller controls the driving torque to be the driver required torque;
the vehicle speed control system comprises a first preset torque threshold value N1, a second preset torque threshold value N2, a third preset torque threshold value N3, a fourth preset torque threshold value N4, a fifth preset torque threshold value N5, a sixth preset torque threshold value N6 and a vehicle speed threshold value, wherein the first preset torque threshold value N1 is-10N · m, the second preset torque threshold value N2 is 0, the third preset torque threshold value N3 is 0, the fourth preset torque threshold value N4 is 0, the fifth preset torque threshold value N5 is 10N · m, the sixth preset torque threshold value N6 is 0, and the preset vehicle speed threshold value is 10 km/h.
2. The pure electric vehicle driving torque control method according to claim 1, characterized in that:
under the condition that the vehicle is in a non-driving gear and the chassis torque intervention function and the speed limit function are not activated, if the torque required by the driver is larger than 0, the controller adjusts the gradient G according to the preset negative torque min Controlling the driving torque to be 0, and if the driver required torque is less than 0, the controller adjusting the gradient G according to the preset positive torque max Controlling the driving torque to be 0, otherwise, controlling the driving torque to be the torque required by the driver by the controller;
and under the condition that the vehicle is in a non-driving gear and the chassis torque intervention function is activated or the speed limit function is activated, the controller controls the driving torque to be 0 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated.
3. The pure electric vehicle driving torque control method according to claim 1, characterized in that:
in the case where the vehicle gear is shifted from the R gear to the D gear and neither the chassis torque intervention function nor the speed limit function is activated, if the driver demand torque is less than a preset first torque threshold N1, the controller adjusts the gradient G according to a preset forward torque max The driving torque is controlled to a preset first torque threshold value N1, and if the driver demand torque is greater than a preset second torque threshold value N2, the controller adjusts the gradient G according to a preset negative torque min Controlling the driving torque to be a preset second torque threshold value N2, otherwise, controlling the driving torque to be the driver required torque by the controller;
under the condition that the vehicle gear is switched from the R gear to the D gear, and the chassis torque intervention function or the speed limiting function is activated, if the required torque of a driver is smaller than a preset first torque threshold value N1, the controller controls the driving torque to be a preset first torque threshold value N1 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limiting function is activated, if the required torque of the driver is larger than a preset second torque threshold value N2, the controller controls the driving torque to be a preset second torque threshold value N2 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limiting function is activated, and otherwise, the controller controls the driving torque to be the required torque of the driver.
4. The pure electric vehicle driving torque control method according to claim 1, characterized in that:
under the condition that the vehicle is in a D gear, the vehicle speed is less than a preset vehicle speed threshold value, and the chassis torque intervention function and the speed limit function are not activated, if the driver required torque is less than a preset third torque threshold value N3, the controller adjusts the gradient G according to a preset forward torque max Controlling the driving torque to be a preset third torque threshold value N3, otherwise, controlling the driving torque to be the driver required torque by the controller;
under the condition that the vehicle is in a D gear, the vehicle speed is smaller than a preset vehicle speed threshold, and the chassis torque intervention function is activated or the speed limit function is activated, if the driver required torque is smaller than a preset third torque threshold N3, the controller controls the driving torque to be a preset third torque threshold N3 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limit function is activated, otherwise, the controller controls the driving torque to be the driver required torque.
5. The pure electric vehicle driving torque control method according to claim 1, characterized in that:
under the condition that the vehicle gear is switched from the D gear to the R gear, and the chassis torque intervention function and the speed limit function are not activated, if the driver required torque is smaller than a preset fourth torque threshold value N4, the controller adjusts the gradient G according to a preset positive torque max Controlling the driving torque to be a preset fourth torque threshold value N4, and if the driver required torque is greater than a preset fifth torque threshold value N5, adjusting the gradient G according to a preset negative torque by the controller min Controlling the driving torque to be a preset fifth torque threshold value N5, otherwise, controlling the driving torque to be the driver required torque by the controller;
under the condition that the vehicle gear is switched from the D gear to the R gear, and the chassis torque intervention function or the speed limiting function is activated, if the required torque of the driver is smaller than a preset fourth torque threshold value N4, the controller controls the driving torque to be a preset fourth torque threshold value N4 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limiting function is activated, if the required torque of the driver is larger than a preset fifth torque threshold value N5, the controller controls the driving torque to be a preset fifth torque threshold value N5 according to the corresponding torque change speed after the chassis torque intervention function is activated or the speed limiting function is activated, and otherwise, the controller controls the driving torque to be the required torque of the driver.
6. The pure electric vehicle driving torque control method according to claim 1, characterized in that:
under the condition that the vehicle is in the R gear and the chassis torque intervention function and the speed limit function are not activated, if the driver required torque is larger than a preset sixth torque threshold value N6, the controller adjusts the gradient G according to the preset negative torque min Controlling the driving torque to be a preset sixth torque threshold value N6, otherwise, controlling the driving torque to be the driver required torque by the controller;
under the condition that the vehicle is in the R gear and the chassis torque intervention function or the speed limit function is activated, if the required torque of the driver is larger than a preset sixth torque threshold value N6, the controller controls the driving torque to be a preset sixth torque threshold value N6 according to the corresponding torque change speed after the chassis torque intervention function or the speed limit function is activated, otherwise, the controller controls the driving torque to be the required torque of the driver.
7. A pure electric vehicle driving torque control method according to claim 2, 3 or 5, characterized in that: the predetermined forward torque modulation gradient G max And a preset negative torque regulation gradient G min Obtained by the following formula:
G max ＝aV 2 +bN+c
G min ＝dV 2 +eN+f
wherein V represents the current vehicle speed, N represents the driving torque of the previous period, a, b, c, d, e and f represent adjusting coefficients, and a, b, c, d, e and f are obtained by actual vehicle calibration.
8. The pure electric vehicle driving torque control method according to claim 4, characterized in that: the preset positive torque regulation gradient G max Obtained by the following formula:
G max ＝aV 2 +bN+c
wherein V represents the current vehicle speed, N represents the driving torque of the previous period, a, b and c represent regulating coefficients, and a, b and c are obtained by actual vehicle calibration.
9. The pure electric vehicle driving torque control method according to claim 6, characterized in that: the preset negative torque regulation gradient G min Obtained by the following formula:
G min ＝dV 2 +eN+f
wherein V represents the current vehicle speed, N represents the driving torque of the previous period, d, e and f represent adjusting coefficients, and d, e and f are obtained by actual vehicle calibration.
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| CN113734073B (en) * | 2021-09-26 | 2023-09-15 | 重庆长安汽车股份有限公司 | Control method and control system for driver demand torque of pure electric vehicle |
| CN113815433A (en) * | 2021-10-29 | 2021-12-21 | 重庆长安新能源汽车科技有限公司 | Electric vehicle torque limit control method and system and electric vehicle |
| CN115742754B (en) * | 2022-11-30 | 2024-06-04 | 深蓝汽车科技有限公司 | Torque detection and fault processing method and system for pure electric automobile |
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