CN112644409A - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN112644409A CN112644409A CN202011603095.8A CN202011603095A CN112644409A CN 112644409 A CN112644409 A CN 112644409A CN 202011603095 A CN202011603095 A CN 202011603095A CN 112644409 A CN112644409 A CN 112644409A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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Abstract
The invention provides a vehicle control method and a vehicle control device, which comprise the following steps: after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state; determining that the vehicle is in an unexpected acceleration state and generating a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value; controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state in accordance with the first torque request. The method determines whether the vehicle is accelerating unexpectedly by comparing the actual acceleration value of the vehicle with the creep acceleration threshold value; if the vehicle is unexpectedly accelerated, the power unit of the vehicle outputs overlarge torque, and the vehicle is controlled to output the torque which can be separated from an unexpected acceleration state, so that the irrecoverable damage accident is avoided, and the running safety of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device.
Background
To improve the ride experience when the vehicle is traveling at low speeds, more and more vehicles are beginning to be equipped with a creep mode. After entering the crawling mode, the user can slowly run at a more stable speed under the condition that the user does not step on or steps on the accelerator pedal for a small extent.
In the prior art, state parameters such as the running speed and the opening degree of an accelerator pedal of a vehicle are monitored in the running process of the vehicle, and if the state parameters of the vehicle meet a crawling condition (for example, the vehicle speed is lower than 10km/h and the opening degree of the accelerator pedal is less than 10%), a user can start a crawling mode to enable the vehicle to run in a crawling state; and when the vehicle is in a creeping state, if parameters such as the running speed of the vehicle, the opening degree of an accelerator pedal and the like do not meet the creeping condition any more, controlling the vehicle to exit the creeping state.
When the vehicle outputs wrong torque in a creeping mode, the vehicle can be accelerated unexpectedly, but the prior art cannot timely separate the vehicle from an unexpected acceleration state, and cannot effectively ensure the safety of the vehicle in the creeping mode.
Disclosure of Invention
In view of this, embodiments of the present invention provide a vehicle control method and apparatus, so as to solve the problem in the prior art that the torque output of the vehicle in the creep state cannot be effectively monitored, so that the vehicle is prone to unexpected acceleration.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle control method is applied to a vehicle control unit of a vehicle, and comprises the following steps:
after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state;
determining that the vehicle is in an unexpected acceleration state and generating a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value;
controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state in accordance with the first torque request.
Further, the determining an actual acceleration of the vehicle comprises:
acquiring a plurality of rotating speed values of the power unit at preset time intervals, wherein the power unit comprises an electric motor and/or an internal combustion engine;
calculating a rotation speed difference value between the adjacent rotation speed values;
and determining the actual acceleration according to the ratio of the rotating speed difference value to the preset time interval.
Further, the determining the creep acceleration threshold value includes:
and inquiring an acceleration threshold value corresponding to the target road gradient value from a preset mapping relation, and taking the acceleration threshold value corresponding to the target road gradient value as the crawling acceleration threshold value, wherein the preset mapping relation comprises the corresponding relation between the road gradient value and the acceleration threshold value.
Further, characterized in that the method further comprises:
acquiring a first state parameter for reflecting user input and a vehicle state;
and generating a crawling state judgment result according to the first state parameter, and controlling the vehicle to enter the crawling state under the condition that the crawling state judgment result is that the crawling state is allowed to be activated.
Further, the preset states further include a torque control state, and the method further comprises:
acquiring a second state parameter for reflecting the user input and the vehicle state;
and generating a crawling state verification result according to the second state parameter, and controlling the vehicle to enter a torque control state under the condition that the crawling state judgment result and the crawling state verification result are in the state of allowing to activate the crawling state.
Further, the first state parameter comprises at least one of an accelerator pedal opening, a brake pedal opening, a gear lever position, a vehicle running speed, a vehicle starting state, a diagnosis fault identifier, a vehicle body electronic stability system state and an electronic parking brake system state;
the second state parameter includes at least one of an accelerator pedal opening, a brake pedal opening, a shift lever position, and a vehicle running speed.
Further, the method further comprises:
under the condition that the crawling state judgment result is inconsistent with the crawling state verification result, controlling the vehicle to enter a crawling fault state and generating a second torque request, wherein the second torque request is used for enabling the vehicle to decelerate;
under the condition that the vehicle is in the crawling state, acquiring a crawling torque value corresponding to the crawling state, wherein the crawling torque value is used for controlling the vehicle to maintain the crawling state;
controlling the power unit to output torque according to the creep torque value if the creep torque value is generated and the first torque request and the second torque request are not generated;
controlling the power unit to output torque according to the first torque request in a case where the first torque request is generated;
controlling the power unit to output torque in accordance with the second torque request if the second torque request is generated.
Further, the acquiring a creep torque value corresponding to the creep state includes:
under the condition that the vehicle is in the crawling state, acquiring a target crawling speed, wherein the target crawling speed is generated according to calculation of an opening degree of an accelerator pedal;
calculating and generating a creep basic torque value according to the difference value between the vehicle running speed and the target creep speed;
and calculating to generate a creep torque value according to the target road grade value and the creep basic torque value.
Further, the first torque request comprises: a zero torque request or a negative torque request;
the second torque request comprises: a zero torque request or a negative torque request.
A vehicle control device is applied to a vehicle control unit of a vehicle, and comprises:
the parameter determination module is used for determining an actual acceleration value and a creeping acceleration threshold value of the vehicle after determining that the vehicle enters a preset state, wherein the preset state comprises a creeping state;
a first request module to determine that the vehicle is in an unexpected acceleration state and generate a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value;
a torque control module to control a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state based on the first torque request.
Further, the parameter determination module comprises:
the actual acceleration determining submodule is used for acquiring a plurality of rotating speed values of the power unit at preset time intervals, wherein the power unit comprises an electric motor and/or an internal combustion engine; calculating a rotation speed difference value between the adjacent rotation speed values; and determining the actual acceleration according to the ratio of the rotating speed difference value to the preset time interval.
Further, the parameter determination module comprises:
the threshold value determining sub-module is used for inquiring an acceleration threshold value corresponding to a target road slope value from a preset mapping relation, and taking the acceleration threshold value corresponding to the target road slope value as the crawling acceleration threshold value, wherein the preset mapping relation comprises the corresponding relation between the road slope value and the acceleration threshold value.
Further, the apparatus further comprises:
the crawling state determining module is used for acquiring a first state parameter for reflecting user input and a vehicle state; and generating a crawling state judgment result according to the first state parameter, and controlling the vehicle to enter the crawling state under the condition that the crawling state judgment result is that the crawling state is allowed to be activated.
Further, the preset states further include a torque control state, and the apparatus further includes:
the crawling checking module is used for acquiring a second state parameter for reflecting the user input and the vehicle state; generating a crawling state check result according to the second state parameter;
and the torque control state judging module is used for controlling the vehicle to enter a torque control state under the condition that the crawling state judging result and the crawling state verifying result are both in the condition of allowing to activate the crawling state.
Further, the first state parameter comprises at least one of an accelerator pedal opening, a brake pedal opening, a gear lever position, a vehicle running speed, a vehicle starting state, a diagnosis fault identifier, a vehicle body electronic stability system state and an electronic parking brake system state;
the second state parameter includes at least one of an accelerator pedal opening, a brake pedal opening, a shift lever position, and a vehicle running speed.
Further, the apparatus further comprises:
the second request module is used for controlling the vehicle to enter a crawling fault state and generating a second torque request under the condition that the crawling state judgment result is inconsistent with the crawling state verification result, and the second torque request is used for enabling the vehicle to decelerate;
the crawling torque acquisition module is used for acquiring a crawling torque value corresponding to the crawling state under the condition that the vehicle is in the crawling state, and the crawling torque value is used for controlling the vehicle to maintain the crawling state;
a torque arbitration module to control the power unit to output torque in accordance with the creep torque value if the creep torque value is generated and the first and second torque requests are not generated; controlling the power unit to output torque according to the first torque request in a case where the first torque request is generated; controlling the power unit to output torque in accordance with the second torque request if the second torque request is generated.
Further, the creep torque acquisition module comprises:
the basic torque acquisition submodule is used for acquiring a target crawling speed under the condition that the vehicle is in the crawling state, wherein the target crawling speed is generated according to calculation of an opening degree of an accelerator pedal; calculating and generating a creep basic torque value according to the difference value between the vehicle running speed and the target creep speed;
and the creep torque acquisition submodule is used for calculating and generating a creep torque value according to the target road grade value and the creep basic torque value.
Further, the first torque request comprises: a zero torque request or a negative torque request;
the second torque request comprises: a zero torque request or a negative torque request.
A vehicle comprising a vehicle control apparatus as described above.
Compared with the prior art, the vehicle control method and the vehicle control device have the following advantages:
in the embodiment of the invention, the method comprises the following steps: after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state; determining that the vehicle is in an unexpected acceleration state and generating a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value; controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state in accordance with the first torque request. The method comprises the steps of obtaining an actual acceleration value and a crawling acceleration threshold value of the vehicle in a crawling mode, and determining whether the vehicle is accelerating unexpectedly according to the magnitude relation between the actual acceleration value and the crawling acceleration threshold value; if the vehicle is in unexpected acceleration, it indicates that the power unit of the vehicle is outputting excessive torque, at this time, a first torque request is generated, so that the power unit of the vehicle outputs torque capable of making the vehicle break away from an unexpected acceleration state according to the first torque request, the monitoring of the output torque of the power unit of the vehicle is indirectly realized by monitoring the acceleration of the vehicle, the torque output of the power unit can be timely found and intervened when the vehicle is in unexpected acceleration, the vehicle breaks away from the unexpected acceleration state, the occurrence of irrecoverable injury accidents is avoided, and the driving safety of the vehicle is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart illustrating steps of a method for controlling a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps of another method for controlling a vehicle according to an embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle control system according to an embodiment of the present invention;
fig. 4 is a block diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In the embodiment of the present invention, the vehicle may be a vehicle powered by an internal combustion engine, a vehicle powered by an electric motor, a hybrid vehicle powered by an internal combustion engine and an electric motor working together, or a vehicle powered by other manners, which is not limited herein.
A Vehicle Control Unit (VCU) is a main controller of the Vehicle, and the Vehicle Control Unit is responsible for receiving parameter information of each component of the Vehicle, integrating and processing the received information, and sending an instruction to a low-level controller and a device according to a processing result so as to enable each function of the Vehicle to operate normally.
Referring to fig. 1, a flowchart illustrating steps of a vehicle control method according to an embodiment of the present invention is shown.
The embodiment of the invention provides a vehicle control method which is applied to a vehicle controller of a vehicle.
Step 101, after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state;
and when the vehicle is determined to enter the preset state, acquiring the actual acceleration value and the creep acceleration threshold value of the vehicle. Generally, after the vehicle enters a creep state, a power unit of the vehicle outputs creep torque, and the creep torque of the vehicle is considered to be monitored. The preset state may include a creep state, that is, the vehicle starts to acquire an actual acceleration value and a creep acceleration threshold value after entering the creep state, so as to indirectly monitor the torque output of the vehicle in the creep state.
The actual acceleration value is used to indicate the current actual acceleration of the vehicle, e.g. 1m/s2. The creep acceleration threshold is used to indicate the maximum acceleration allowed for the vehicle in a creep condition, e.g., 2m/s2. The creep acceleration threshold value can be obtained according to a road slope value of the vehicle, and when the road slope value is large, the allowable creep acceleration threshold value is generally small for safety consideration.
The vehicle can slowly run at a low speed in a creeping state, and the torque output of the vehicle can be automatically adjusted by the vehicle at the moment so as to keep the vehicle running at a constant speed as much as possible, for example, the running resistance of the vehicle constantly changes on a rough road surface, and a user needs to continuously adjust the torque output of the vehicle when the user wants to make the vehicle run at the constant speed, so that the difficulty is high, the energy is consumed, and the user can control the vehicle to enter the creeping state at the moment, and the vehicle can automatically adjust the torque output so as to keep the vehicle running quickly.
The user may enter commands to cause the vehicle to enter a creep state via the vehicle's human-machine interface or other means. For example, a user may enter the vehicle into a creep state by clicking a "creep mode" button in the human-machine interface. The user can also set the entering mode of the crawling state as automatic entering, at the moment, the running state of the vehicle starts to be monitored, and when the running state of the vehicle meets the crawling state entering condition, the vehicle is automatically controlled to enter the crawling state.
Step 102, determining that the vehicle is in an unexpected acceleration state and generating a first torque request when the actual acceleration value is greater than or equal to the creep acceleration threshold value.
The unexpected acceleration state is a driving state in which the actual acceleration of the vehicle exceeds the maximum creep acceleration corresponding to the target road grade value in the creep state of the vehicle. Since the actual acceleration of the vehicle in the creep state is determined by the creep torque output by the power unit, the actual acceleration of the vehicle in the creep state is larger when the power unit outputs larger creep torque, and the calculation process of the creep torque is limited by the creep acceleration threshold value, when an unexpected acceleration state occurs, possibly because an error is generated in the calculation process of the creep torque, the vehicle may mistakenly assume that the correct creep torque is being output, and further, no intervention is performed, so that the vehicle is continuously in the unexpected acceleration state and cannot automatically leave the state.
If the actual acceleration value of the current vehicle is greater than or equal to the creep acceleration threshold value under the current road, it can be shown that the vehicle is running with wrong creep torque at the moment, so that the vehicle is in an unexpected acceleration state, the vehicle can be brought into a torque failure state, and at the moment, a first torque request can be generated, so that the vehicle power unit outputs power according to the first torque request, and further the vehicle is separated from the unexpected acceleration state.
Since the calculation and output process of creep torque is strictly limited by the creep acceleration threshold value in the creep state, the vehicle power unit can not output wrong torque to cause unexpected acceleration of the vehicle under the normal condition. If the vehicle is detected to be in an unexpected acceleration state, the situation shows that the vehicle is likely to have serious faults and is not suitable for running continuously. Therefore, an error alarm can be sent to the user through the human-computer interaction interface to instruct the user to safely stop the vehicle as soon as possible or check the vehicle as soon as possible.
When it is determined that the vehicle is in an unintended acceleration state, a torque output of a power unit of the vehicle needs to be adjusted, and a first torque request may be generated that may bring the vehicle out of the unintended acceleration state.
Step 103, controlling a power unit of the vehicle to output power according to the first torque request so as to enable the vehicle to be out of the unexpected acceleration state.
After the first torque request is generated, the power unit of the vehicle outputs corresponding torque according to the first torque request, so that the vehicle can run at a constant speed or run at a reduced speed to be out of an unexpected acceleration state.
Since the vehicle is already in an unexpected acceleration state before the first torque request is generated, which indicates that the vehicle has failed, the power unit is being controlled to output a wrong torque, and any step on the torque transmission path may occur due to the failure, the vehicle power unit can be controlled to directly respond to the first torque request without performing coordination and matching operations on the first torque request according to the state of the whole vehicle, and the failure generated in the coordination and matching is prevented from influencing the output of the first torque request. The vehicle power unit is enabled to output torque directly according to the first torque request, and the first torque request is prevented from being interfered by vehicle faults, so that the vehicle can be ensured to be out of an unexpected acceleration state.
In summary, a vehicle control method provided in an embodiment of the present invention includes: after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state; determining that the vehicle is in an unexpected acceleration state and generating a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value; controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state in accordance with the first torque request. The method comprises the steps of obtaining an actual acceleration value and a crawling acceleration threshold value of the vehicle in a crawling mode, and determining whether the vehicle is accelerating unexpectedly according to the magnitude relation between the actual acceleration value and the crawling acceleration threshold value; if the vehicle is in unexpected acceleration, it indicates that the power unit of the vehicle is outputting excessive torque, at this time, a first torque request is generated, the power unit of the vehicle outputs torque capable of making the vehicle break away from an unexpected acceleration state according to the first torque request, monitoring of the output torque of the power unit of the vehicle is indirectly realized by monitoring the acceleration of the vehicle, the torque output of the power unit can be timely found and intervened when the vehicle is in unexpected acceleration, so that the vehicle breaks away from the unexpected acceleration state, the occurrence of irreparable injury accidents is avoided, and the driving safety of the vehicle is improved.
Referring to FIG. 2, a flowchart illustrating steps of another vehicle control method according to an embodiment of the present invention is shown. The vehicle control method provided by the embodiment of the invention is applied to a vehicle control unit in a vehicle.
Step 201, after determining that the vehicle enters a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, where the preset state includes a creep state.
The preset state is used for indicating that the torque output of the vehicle in the creeping state needs to be monitored, and after the vehicle is determined to enter the preset state, the vehicle can be controlled to enter the creeping torque monitoring state, and the actual acceleration value and the creeping acceleration threshold value of the vehicle are obtained. Generally, after the vehicle enters a creep state, the power unit of the vehicle outputs creep torque, and at this time, it may be considered that the creep torque of the vehicle needs to be monitored, so the preset state may include a creep state, that is, after the vehicle enters the creep state, the vehicle is controlled to enter the creep torque monitoring state, and the actual acceleration value and the creep acceleration threshold value of the vehicle start to be acquired.
Optionally, the predetermined conditions may also include a torque control condition, which is described below in step 207.
Optionally, step 201 includes:
a sub-step 2011 of obtaining a plurality of values of the rotation speed of the power unit at preset time intervals, wherein the power unit comprises an electric motor and/or an internal combustion engine.
To improve the calculation accuracy, the preset time interval may be set to a shorter time interval, for example, 0.1 s. The power unit may be a driving device that outputs power through a rotating shaft, such as an electric motor, an internal combustion engine, or the like, and when the power unit is an electric motor, a rotation speed value of a rotor of the electric motor is acquired, and when the power unit is an internal combustion engine, a rotation speed value of a crankshaft of the internal combustion engine is acquired.
The plurality of rotating speed values can continuously obtain the rotating speed values of 2 power units at a preset time interval of 0.1 second, and also can continuously obtain the rotating speed values of 10 power units at a preset time interval of 0.1 second.
And a substep 2012 of calculating a rotation speed difference between adjacent said rotation speed values.
Because the acquisition time interval of adjacent rotating speed values is preset, the rotating speed difference value between the adjacent rotating speed values can reflect the variation of the rotating speed of the power unit in the preset time.
It should be noted that the rotation speed difference may be calculated by subtracting the rotation speed value with the earlier acquisition time from the rotation speed value with the later acquisition time, so that if the rotation speed difference is a positive value, it indicates that the vehicle is accelerating, and if the rotation speed difference is a negative value, it indicates that the vehicle is decelerating.
And a substep 2013 of determining the actual acceleration according to the ratio of the rotating speed difference value to the preset time interval.
And then, filtering the initial vehicle acceleration curve, and removing invalid acceleration coordinate points to obtain a stable vehicle actual acceleration curve, wherein the actual acceleration curve reflects the actual acceleration of the vehicle in one or more continuous preset times, and the actual acceleration can be approximate to the actual acceleration of the vehicle at the current moment because the preset time length is short (for example, 0.1 second).
The unit conversion method may be: dividing the ratio of the rotation speed difference value to the preset time by the transmission ratio of the vehicle, and multiplying the result by the circumference of the tire of the vehicle, wherein the transmission ratio is the ratio of the rotation speed of the rotating shaft of the vehicle power unit to the rotation speed of the corresponding tire, for example, when the rotation speed of the rotating shaft of the vehicle power unit is 1000rpm, the rotation speed of the corresponding vehicle tire is 500rpm, and the transmission ratio of the vehicle is 2.
For example, two rotation speed values of the power unit, which are successively obtained at a preset time interval of 0.1 second, are 1000rpm and 1001rpm respectively, so that the rotation speed difference value is 1rpm, and the ratio of the rotation speed difference value to the preset time interval is 10, and after unit conversion (for example, the transmission ratio of the vehicle is 5, and the circumference of the tire is 1.5 meters), the average acceleration of the vehicle in the preset time interval is 3m/s2And the average acceleration value in a preset time interval can be directly used as the actual acceleration value of the vehicle without filtering calculation because the average acceleration value in the preset time interval is only obtained under the condition of obtaining two rotating speed values.
By implementing the optional embodiment, the angular acceleration of the rotating shaft of the power unit of the vehicle can be calculated by acquiring a plurality of angular velocity values of the rotating shaft of the power unit of the vehicle, and then the actual acceleration of the vehicle is obtained through unit conversion, so that the problem that when the acceleration of the vehicle is acquired through an acceleration sensor, signals of the sensor are easily interfered by accelerations in various directions (such as lateral acceleration and longitudinal acceleration) is solved, and the accuracy of acquiring the actual acceleration of the vehicle is improved.
Optionally, step 201 includes:
sub-step 2014, determining a creep acceleration threshold value, includes:
and inquiring an acceleration threshold value corresponding to the target road gradient value from a preset mapping relation, and taking the acceleration threshold value corresponding to the target road gradient value as the crawling acceleration threshold value, wherein the preset mapping relation comprises the corresponding relation between the road gradient value and the acceleration threshold value.
The target road gradient value is an actual gradient value of a road surface where the current vehicle is located, and may be a positive value when the vehicle advancing direction is an uphill direction, and may be a negative value when the vehicle advancing direction is a downhill direction. The target road slope value can be calculated according to the included angle between the gravity acceleration direction of the vehicle and the vehicle body.
The preset mapping relationship comprises a plurality of corresponding relationships between road gradient values and acceleration threshold values, wherein the road gradient values in the preset mapping relationship may comprise a positive gradient value (the vehicle advancing direction is an ascending direction), a zero gradient value and a negative gradient value (the vehicle advancing direction is a descending direction). Preferably, the acceleration threshold value corresponding to the road slope value with the larger absolute value is smaller than the acceleration threshold value corresponding to the road slope value with the smaller absolute value.
When the target road slope value cannot be accurately matched with the road slope value in the preset mapping relationship, the acceleration threshold value corresponding to the road slope value closest to the target road slope value in the preset mapping relationship may be used as the query return value.
For example, the preset mapping relationship includes:
| road gradient value (degree) | -8 | -4 | 0 | 4 | 8 |
| Creep acceleration threshold (m/s)2) | 1 | 2 | 3 | 2 | 1 |
TABLE 1
If the target road gradient value of the driving road surface of the vehicle is 3 degrees, the preset mapping relation shown in the table 1 does not contain the corresponding relation of the road gradient values of 3 degrees, at this time, the acceleration threshold value corresponding to the road gradient value closest to 3 degrees in the table 1 can be returned, namely 2m/s is used2As a creep acceleration threshold value corresponding to the target road grade value.
By implementing the optional embodiment, the grade value of the road where the vehicle is located at present can be calculated, the maximum allowable creep acceleration value under the current grade value is obtained according to the grade value of the road, and the acceleration threshold value corresponding to the road grade value with the larger absolute value is smaller than the acceleration threshold value corresponding to the road grade value with the smaller absolute value, so that the vehicle can be controlled to creep on the road with the larger gradient at the smaller maximum acceleration, and the safety of the vehicle in creeping on the road with the gradient is improved.
Step 202, determining that the vehicle is in an unexpected acceleration state and generating a first torque request when the actual acceleration value is greater than or equal to the creep acceleration threshold value.
This step may specifically refer to step 103, which is not described herein again.
Wherein the first torque request may include a zero torque request and a negative torque request,
the zero torque request may enable the power output by the vehicle power unit to not exert forces on the vehicle, including tractive and braking forces, from continuing to accelerate the vehicle according to the wrong creep torque, out of an unintended acceleration state. The negative torque request may be a torque request for the vehicle power unit to generate a braking force on the vehicle, for example, when the vehicle power unit is an electric motor, the electric motor may be controlled to convert kinetic energy into electrical energy to charge a vehicle battery pack to achieve a negative torque output.
Step 203, controlling a power unit of the vehicle to output power according to the first torque request so as to enable the vehicle to be out of the unexpected acceleration state.
This step may specifically refer to step 103, which is not described herein again.
Optionally, the method may further include:
at step 204, a first state parameter reflecting the user input and the vehicle state is obtained.
The vehicle control unit can acquire a first state parameter of the vehicle after receiving a crawling mode starting command input by a user.
The first state parameter may include one or more of user operation and setting of the vehicle, for example, a depth at which a user steps on an accelerator pedal (accelerator pedal opening), a depth at which a user steps on a brake pedal (brake pedal opening), a shift position selected by the user (a shift lever position, such as neutral, a driving range, and the like), a steering wheel rotation angle, and the like. The first state parameter may also include one or more of vehicle states, such as vehicle start-up state, current actual vehicle speed, vehicle diagnostic fault flag, vehicle body electronic stability system state, electronic parking brake system state, and the like.
Step 205, generating a crawling state determination result according to the first state parameter, and controlling the vehicle to enter the crawling state under the condition that the crawling state determination result is that the crawling state is allowed to be activated.
And if the first state parameter meets the condition that the vehicle enters the crawling state, generating a judgment result of allowing the crawling state to be activated, and enabling the crawling state judgment result to be allowed. And if the first state parameter does not meet the condition that the vehicle enters the crawling state, generating a judgment result of not allowing to activate the crawling state, and enabling the crawling state judgment result to be not allowed.
The determining whether the first state parameter meets the condition that the vehicle enters the crawling state may be by respectively determining each of the first state parameters, determining that the first state parameter meets the condition that the vehicle enters the crawling state when each of the first state parameters meets a preset requirement, and determining that the first state parameter does not meet the condition that the vehicle enters the crawling state when one or more of the first state parameters do not meet the preset requirement.
For example, when the first state parameters include an accelerator pedal opening, a brake pedal state, a lever position, a vehicle start state, a diagnostic trouble flag state, a vehicle body stabilization system state, an electronic parking brake system state, and a vehicle running speed, each of the first state parameters is required to simultaneously correspond to the conditions that the accelerator pedal opening is less than a certain value (e.g., opening less than 10%), the brake pedal state is in a release state, the lever position is in a driving gear (e.g., forward gear), the vehicle is in a start state, the diagnostic trouble flag state is not activated, the vehicle body stabilization system state is in a creep-affecting state, the electronic parking brake system state is in an inactive state, and the vehicle speed is lower than a certain value (e.g., 10km/h), it is determined that the first state parameters meet the condition that the vehicle enters the creep state.
If the crawling state determination result is that activation of the crawling state is allowed, it indicates that the current state of the vehicle meets the crawling condition, the vehicle can enter the crawling state according to the instruction of the user, and meanwhile, prompt information of success in entering the crawling mode can be fed back to the user, and the prompt information may include a voice prompt, an image prompt, a vibration prompt and the like, which is not limited herein.
If the crawling state determination result is that activation of the crawling state is allowed, it indicates that the current state of the vehicle does not meet the crawling condition, the vehicle cannot enter the crawling mode, and a prompt message indicating failure in entering the crawling mode can be fed back to the user, where the prompt message may include a voice prompt, an image prompt, a vibration prompt, and the like, and the prompt message may also include a reason why the current crawling mode fails to enter the crawling mode and a text and/or voice prompt of a solution, for example, "the vehicle speed is too high, try again after the vehicle speed is reduced," or "the brake pedal is pressed down, and cannot enter the crawling mode," and the invention is not limited herein.
At step 206, a second state parameter reflecting the user input and the vehicle state is obtained.
The vehicle control unit can acquire a second state parameter after receiving a crawling mode starting command input by a user.
The second state parameter may include parameters completely identical to the first state parameter, or may be partial parameters of the first state parameter.
And step 207, generating a crawling state verification result according to the second state parameter, and controlling the vehicle to enter a torque control state under the condition that the crawling state judgment result and the crawling state verification result are in the state of allowing to activate the crawling state.
And if the second state parameter meets the condition that the vehicle enters the crawling state, generating a judgment result of allowing to activate the crawling state, and enabling the crawling state verification result to be allowed. And if the second state parameter does not meet the condition that the vehicle enters the crawling state, generating a judgment result of not allowing to activate the crawling state, and enabling the crawling state verification result to be not allowed.
The specific manner of generating the crawling check determination result according to the second state parameter may refer to the manner of generating the crawling state determination result according to the first state parameter, and the generation processes of the two are the same, which is not described herein again.
And when the crawling state judgment result is consistent with the crawling state verification result and both the crawling state judgment result and the crawling state verification result are allowed to enter the crawling state, the vehicle enters a torque control state.
The creep state check result and the creep state determination result are respectively generated by two independent units (independent calculation modules) with the same circuit and/or program.
Optionally, after step 207, the method may further include:
and 208, controlling the vehicle to enter a creep fault state and generating a second torque request when the creep state judgment result is inconsistent with the creep state verification result, wherein the second torque request is used for decelerating the vehicle.
Because the crawling state verification result and the crawling state judgment result are respectively generated by two independent units (independent calculation modules) with the same circuit and/or program, when the crawling state verification result is different from the crawling state judgment result, an error is generated in the crawling state judgment process or the crawling state judgment process, one of the independent units fails, the crawling state judgment result is unreliable and possibly wrong, and at the moment, a crawling failure instruction can be triggered, the vehicle is controlled to enter a crawling failure state, and a second torque request is generated.
Optionally, the second torque request may include: a zero torque request or a negative torque request.
And 209, acquiring a creep torque value corresponding to the creep state under the condition that the vehicle is in the creep state, wherein the creep torque value is used for controlling the vehicle to maintain the creep state.
Optionally, step 209 may specifically include:
substep 2091, obtaining a target creep speed when the vehicle is in the creep state, wherein the target creep speed is calculated and generated according to an opening degree of an accelerator pedal.
The target creep speed is used to indicate the speed that the vehicle needs to maintain in a creep condition. The opening degree of the accelerator pedal is controlled by the depth of the accelerator pedal which is stepped by the user, the opening degree of the accelerator pedal is larger when the user steps the accelerator pedal deeper, and the opening degree of the accelerator pedal is the smallest, namely 0, when the user does not step the accelerator pedal.
The target creep speed may be calculated from the opening degree of an accelerator pedal. When the opening degree of the accelerator pedal is minimum, the target creep speed is the minimum creep speed, for example, 3 km/h. When the accelerator pedal opening exceeds a preset opening (e.g., 10% opening), the vehicle automatically exits the creep state. The target creep speed is greater the accelerator opening when the accelerator opening is smaller than the preset opening, and the target creep speed reaches a maximum speed, for example, 10km/h, when the accelerator opening reaches the maximum preset opening.
Substep 2092, calculating a creep base torque value based on a difference between the vehicle speed and the target creep speed.
The creep basic torque value is used for representing the torque required to be output by the vehicle to accelerate or decelerate from the current running speed to the target creep speed on a horizontal road surface in the creep mode. The larger the difference between the vehicle running speed and the target crawling speed is, the larger the crawling basic torque value calculated according to the difference is, so that the vehicle can quickly reach the target crawling speed, and when the difference between the vehicle running speed and the target crawling speed is 0, the crawling basic torque value is the torque value required for keeping the vehicle running on a horizontal road at a constant speed.
Substep 2093, calculating and generating a creep torque value according to the target road grade value and the creep basic torque value.
And correcting the creep basic torque value according to the target road gradient value to obtain a creep torque value, wherein the creep torque value represents the torque required to be output when the vehicle is accelerated or decelerated to the target creep speed from the current vehicle running speed on the current road.
Optionally, the creep torque value is coordinated and matched according to the state of the whole vehicle, and the vehicle power unit is controlled to output power according to the creep torque value.
Step 210, controlling the power unit to output torque according to the creep torque value if the creep torque value is generated and the first torque request and the second torque request are not generated.
If the first torque request and the second torque request are not generated, the fact that the vehicle does not enter an unexpected acceleration state or does not trigger a creep fault command is indicated, and at the moment, the power unit can be controlled to output power according to the creep torque value, so that the vehicle can normally run in a creep mode.
Step 211, controlling the power unit to output torque according to the first torque request in case of generating the first torque request.
When the vehicle is detected to enter the unexpected acceleration state, a first torque request is generated, namely, the vehicle has a fault at this time, and the vehicle cannot trigger a creep state exit mechanism due to the fault and cannot timely leave the unexpected acceleration state, so that all other torque requests can be ignored when the first torque request is generated, and the power unit is controlled to output power according to the first torque request only, so that the torque output of the vehicle is not interfered, and the vehicle can be ensured to leave the unexpected acceleration state.
And 212, controlling the power unit to output torque according to the second torque request under the condition of generating the second torque request.
The second torque request is generated when the vehicle triggers a creep fault command. Thus, when the second torque request is generated, indicating that the vehicle has failed, which may result in the vehicle being unable to trigger the creep state exit mechanism, the torque output of the power unit may be controlled by only the second torque request.
The embodiment of the present invention further provides a vehicle control system, which is applied to a vehicle controller of a vehicle, and referring to fig. 3, a structural block diagram of the vehicle control system applied to the vehicle controller according to the embodiment of the present invention is shown, specifically as follows:
ful the crawling state module acquires the first state parameter and outputs the crawling state judgment result, and the SM1 crawling state module acquires the second state parameter and outputs the crawling state verification result. If the crawling state judgment result is that the crawling state is allowed to be entered, the Fu1 crawling torque calculation module calculates crawling torque according to the vehicle speed and the road slope value, the Fu1 whole vehicle torque coordination and limitation module coordinates and matches the crawling torque according to the whole vehicle state, and sends a torque request to the SM motor required torque arbitration module.
The SM1 crawling state comparison module compares a result output by the Fu1 crawling state module with a result output by the SM1 crawling state module, if a crawling state judgment result is the same as a crawling state verification result and is a crawling state allowed, the SM2 crawling acceleration start comparison module compares a crawling acceleration threshold value obtained by calculation according to a road gradient with an actual acceleration value obtained by calculation according to a motor rotating speed of the SM2 vehicle actual acceleration module, if the actual acceleration value is larger than or equal to the crawling acceleration threshold value, the SM2 crawling acceleration comparison module triggers a crawling acceleration fault command, and the SM2 crawling acceleration fault response module responds to the command and sends a first torque request to the SM motor torque demand arbitration module.
The SM motor demand torque arbitration module, upon receiving a second torque request sent by the SM1 creep state error fault response module, controls the motor controller in accordance with the second torque request to cause the motor to output a torque in accordance with the second torque request.
The SM motor demand torque arbitration module, upon receiving the first torque request sent by the SM2 creep state error fault response module, controls the motor controller in accordance with the first torque request to cause the motor to output torque in accordance with the first torque request.
In summary, a vehicle control method provided in an embodiment of the present invention includes: after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state; determining that the vehicle is in an unexpected acceleration state and generating a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value; controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state in accordance with the first torque request. The method comprises the steps of obtaining an actual acceleration value and a crawling acceleration threshold value of the vehicle in a crawling mode, and determining whether the vehicle is accelerating unexpectedly according to the magnitude relation between the actual acceleration value and the crawling acceleration threshold value; if the vehicle is in unexpected acceleration, it indicates that the power unit of the vehicle is outputting excessive torque, at this time, a first torque request is generated, the power unit of the vehicle outputs torque capable of making the vehicle break away from an unexpected acceleration state according to the first torque request, monitoring of the output torque of the power unit of the vehicle is indirectly realized by monitoring the acceleration of the vehicle, the torque output of the power unit can be timely found and intervened when the vehicle is in unexpected acceleration, so that the vehicle breaks away from the unexpected acceleration state, the occurrence of irreparable injury accidents is avoided, and the driving safety of the vehicle is improved.
On the basis of the above embodiment, the embodiment of the invention also provides a vehicle control device.
Referring to fig. 4, a block diagram of a vehicle control device applied to a vehicle control unit according to an embodiment of the present invention is shown, and may specifically include the following modules:
the parameter determining module 301 is configured to determine an actual acceleration value and a creep acceleration threshold value of the vehicle after determining that the vehicle enters a preset state, where the preset state includes a creep state.
Optionally, the parameter determining module 301 includes:
the actual acceleration determining submodule is used for acquiring a plurality of rotating speed values of the power unit at preset time intervals, wherein the power unit comprises an electric motor and/or an internal combustion engine; calculating a rotation speed difference value between the adjacent rotation speed values; and determining the actual acceleration according to the ratio of the rotating speed difference value to the preset time interval.
The threshold value determining sub-module is used for inquiring an acceleration threshold value corresponding to a target road slope value from a preset mapping relation, and taking the acceleration threshold value corresponding to the target road slope value as the crawling acceleration threshold value, wherein the preset mapping relation comprises the corresponding relation between the road slope value and the acceleration threshold value.
A first request module 302 to determine that the vehicle is in an unexpected acceleration state and generate a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value.
A torque control module 303 for controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state based on the first torque request
Optionally, the apparatus further comprises:
the crawling state determining module is used for acquiring a first state parameter for reflecting user input and a vehicle state; and generating a crawling state judgment result according to the first state parameter, and controlling the vehicle to enter the crawling state under the condition that the crawling state judgment result is that the crawling state is allowed to be activated.
The crawling checking module is used for acquiring a second state parameter for reflecting the user input and the vehicle state; and generating a crawling state checking result according to the second state parameter.
And the torque control state judging module is used for controlling the vehicle to enter a torque control state under the condition that the crawling state judging result and the crawling state verifying result are both in the condition of allowing to activate the crawling state.
And the second request module is used for controlling the vehicle to enter a crawling fault state and generating a second torque request under the condition that the crawling state judgment result is inconsistent with the crawling state verification result, wherein the second torque request is used for enabling the vehicle to decelerate.
The crawling torque acquisition module is used for acquiring a crawling torque value corresponding to the crawling state under the condition that the vehicle is in the crawling state, and the crawling torque value is used for controlling the vehicle to maintain the crawling state.
Optionally, the creep torque acquiring module includes:
the basic torque acquisition submodule is used for acquiring a target crawling speed under the condition that the vehicle is in the crawling state, wherein the target crawling speed is generated according to calculation of an opening degree of an accelerator pedal; and calculating to generate a creep basic torque value according to the difference value between the vehicle running speed and the target creep speed.
And the creep torque acquisition submodule is used for calculating and generating a creep torque value according to the target road grade value and the creep basic torque value.
A torque arbitration module to control the power unit to output torque in accordance with the creep torque value if the creep torque value is generated and the first and second torque requests are not generated; controlling the power unit to output torque according to the first torque request in a case where the first torque request is generated; controlling the power unit to output torque in accordance with the second torque request if the second torque request is generated.
In summary, a vehicle control apparatus according to an embodiment of the present invention includes: after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state; determining that the vehicle is in an unexpected acceleration state and generating a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value; controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state in accordance with the first torque request. The method comprises the steps of obtaining an actual acceleration value and a crawling acceleration threshold value of the vehicle in a crawling mode, and determining whether the vehicle is accelerating unexpectedly according to the magnitude relation between the actual acceleration value and the crawling acceleration threshold value; if the vehicle is in unexpected acceleration, it indicates that the power unit of the vehicle is outputting excessive torque, at this time, a first torque request is generated, the power unit of the vehicle outputs torque capable of making the vehicle break away from an unexpected acceleration state according to the first torque request, monitoring of the output torque of the power unit of the vehicle is indirectly realized by monitoring the acceleration of the vehicle, the torque output of the power unit can be timely found and intervened when the vehicle is in unexpected acceleration, so that the vehicle breaks away from the unexpected acceleration state, the occurrence of irreparable injury accidents is avoided, and the driving safety of the vehicle is improved.
The embodiment of the invention also provides a vehicle which comprises the vehicle control device.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle control method is applied to a vehicle control unit of a vehicle, and is characterized by comprising the following steps:
after the vehicle is determined to enter a preset state, determining an actual acceleration value and a creep acceleration threshold value of the vehicle, wherein the preset state comprises a creep state;
determining that the vehicle is in an unexpected acceleration state and generating a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value;
controlling a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state in accordance with the first torque request.
2. The method of claim 1, wherein said determining an actual acceleration of said vehicle comprises:
acquiring a plurality of rotating speed values of the power unit at preset time intervals, wherein the power unit comprises an electric motor and/or an internal combustion engine;
calculating a rotation speed difference value between the adjacent rotation speed values;
and determining the actual acceleration according to the ratio of the rotating speed difference value to the preset time interval.
3. The method of claim 1, wherein the determining a creep acceleration threshold value comprises:
and inquiring an acceleration threshold value corresponding to the target road gradient value from a preset mapping relation, and taking the acceleration threshold value corresponding to the target road gradient value as the crawling acceleration threshold value, wherein the preset mapping relation comprises the corresponding relation between the road gradient value and the acceleration threshold value.
4. The method of claim 1, further comprising:
acquiring a first state parameter for reflecting user input and a vehicle state;
and generating a crawling state judgment result according to the first state parameter, and controlling the vehicle to enter the crawling state under the condition that the crawling state judgment result is that the crawling state is allowed to be activated.
5. The method of claim 4, wherein the preset states further comprise a torque control state, the method further comprising:
acquiring a second state parameter for reflecting the user input and the vehicle state;
and generating a crawling state verification result according to the second state parameter, and controlling the vehicle to enter a torque control state under the condition that the crawling state judgment result and the crawling state verification result are in the state of allowing to activate the crawling state.
6. The method of claim 5, wherein the first state parameter comprises at least one of an accelerator pedal opening, a brake pedal opening, a gear lever position, a vehicle travel speed, a vehicle start-up state, a diagnostic fault flag, a vehicle body electronic stability system state, and an electronic parking brake system state;
the second state parameter includes at least one of an accelerator pedal opening, a brake pedal opening, a shift lever position, and a vehicle running speed.
7. The method of claim 5, further comprising:
under the condition that the crawling state judgment result is inconsistent with the crawling state verification result, controlling the vehicle to enter a crawling fault state and generating a second torque request, wherein the second torque request is used for enabling the vehicle to decelerate;
under the condition that the vehicle is in the crawling state, acquiring a crawling torque value corresponding to the crawling state, wherein the crawling torque value is used for controlling the vehicle to maintain the crawling state;
controlling the power unit to output torque according to the creep torque value if the creep torque value is generated and the first torque request and the second torque request are not generated;
controlling the power unit to output torque according to the first torque request in a case where the first torque request is generated;
controlling the power unit to output torque in accordance with the second torque request if the second torque request is generated.
8. The method of claim 7, wherein said obtaining a creep torque value corresponding to said creep condition comprises:
under the condition that the vehicle is in the crawling state, acquiring a target crawling speed, wherein the target crawling speed is generated according to calculation of an opening degree of an accelerator pedal;
calculating and generating a creep basic torque value according to the difference value between the vehicle running speed and the target creep speed;
and calculating to generate a creep torque value according to the target road grade value and the creep basic torque value.
9. The method of claim 7, wherein the first torque request comprises: a zero torque request or a negative torque request;
the second torque request comprises: a zero torque request or a negative torque request.
10. A vehicle control apparatus applied to a vehicle controller of a vehicle, the apparatus comprising:
the parameter determination module is used for determining an actual acceleration value and a creeping acceleration threshold value of the vehicle after determining that the vehicle enters a preset state, wherein the preset state comprises a creeping state;
a first request module to determine that the vehicle is in an unexpected acceleration state and generate a first torque request if the actual acceleration value is greater than or equal to the creep acceleration threshold value;
a torque control module to control a power unit of the vehicle to output power to bring the vehicle out of the unintended acceleration state based on the first torque request.
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| CN114347988A (en) * | 2021-04-30 | 2022-04-15 | 长城汽车股份有限公司 | Creep control method and device for P0 hybrid vehicle and P0 hybrid vehicle |
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