CN112660110A - Torque limit value determining method and device - Google Patents
Torque limit value determining method and device Download PDFInfo
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- CN112660110A CN112660110A CN202011565365.0A CN202011565365A CN112660110A CN 112660110 A CN112660110 A CN 112660110A CN 202011565365 A CN202011565365 A CN 202011565365A CN 112660110 A CN112660110 A CN 112660110A
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Abstract
The invention discloses a method and a device for determining a torque limit value, which comprises the following steps: determining the current vertical load of the vehicle according to the three-way acceleration and the relevant parameters of the wheel track of the whole vehicle; determining the current road surface adhesion coefficient according to the longitudinal force of the whole vehicle and the current vertical load; estimating the friction circle radius of the current road surface and the friction circle radius of the road surface in the next time period according to the current road surface adhesion coefficient and the current vertical load; inquiring in a pre-established tire model parameter comparison table based on the current vehicle attitude and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period; and generating a maximum torque limit value according to the friction circle radius of the current road surface, the road surface friction circle radius of the next time period, the current tire stress limit parameter and the tire stress limit parameter of the next time period. The implementation of the invention ensures that the vehicle can be driven in a safe and stable state in real time, and has better real-time performance and safety.
Description
Technical Field
The invention relates to the field of vehicle safety control, in particular to a method and a device for determining a torque limit value.
Background
The recent progress in the related art is in the body Electronic Stability Program (ESP) of bosch, which monitors the steering angle of the steering wheel, the actual speed of the vehicle, the wheel speed sensors, the side slip sensor, the three-way acceleration sensor, the yaw rate, and other signals, calculates the current vehicle information in the controller, and compares the current vehicle information with the preset data stored in the memory to estimate the current driving state of the vehicle. When the driving state of the vehicle deviates, the intervention of braking torque can be carried out, the driving posture is adjusted through the change of driving torque, the safety and the stability of the vehicle are ensured, but the feedback control can be carried out only under the condition that the vehicle is unstable so as to correct the posture of the vehicle and the stability of operation, the predictive control cannot be carried out in a targeted manner, and the predictive torque reduction protection is realized.
Disclosure of Invention
Aiming at the problems in the prior art, the invention mainly solves the problems that in the road condition that the vehicle enters a bend, only feedback control is carried out after the vehicle is unstable, and active safety control on the limit working condition is not carried out. Accordingly, the present invention provides a torque limit value determining method comprising:
determining the current vertical load of the vehicle according to the three-way acceleration and the relevant parameters of the wheel track of the whole vehicle;
determining a current road surface adhesion coefficient according to the longitudinal force of the whole vehicle and the current vertical load;
estimating the radius of a friction circle of the current road surface and the radius of a friction circle of the road surface in the next time period according to the current road surface adhesion coefficient and the current vertical load;
inquiring in a pre-established tire model parameter comparison table based on the current vehicle attitude and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period;
and generating a maximum torque limit value according to the friction circle radius of the current road surface, the road surface friction circle radius of the next time period, the current tire stress limit parameter and the tire stress limit parameter of the next time period.
Further, the track width-related parameters include: the distance between the front axle of the vehicle and the center of mass, the distance between the rear axle of the vehicle and the center of mass, and the height of the center of mass;
the method for determining the current vertical load of the vehicle according to the three-direction acceleration and the relevant wheel track parameters of the whole vehicle comprises the following steps:
the three-direction acceleration, the distance between the front axle and the center of mass of the vehicle, the distance between the rear axle and the center of mass of the vehicle and the height of the center of mass determine the current vertical load of the vehicle.
Further, the entire vehicle longitudinal force is calculated according to the driving force, the braking force, the system response characteristic and the system transmission characteristic of the wheels.
Further, the current vehicle attitude comprises: a centroid slip angle and a steering wheel angle;
the method for inquiring and obtaining the current tire stress limit parameter and the tire stress limit parameter of the next time period in a pre-established tire model parameter comparison table based on the current vehicle attitude and the current vertical load comprises the following steps:
and inquiring in a pre-established tire model parameter comparison table based on the centroid slip angle, the steering wheel angle and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period.
Further, the centroid slip angle is determined according to the three-way acceleration, the yaw rate and the current vehicle speed.
Further, still include:
and regulating and controlling the vehicle torque based on the maximum torque limit value.
In another aspect, the present invention provides a torque limit value determining apparatus comprising:
the vertical load determining module is configured to determine the current vertical load of the vehicle according to the three-direction acceleration and the wheel track related parameters of the whole vehicle;
a road adhesion coefficient determination module configured to perform a determination of a current road adhesion coefficient from a vehicle longitudinal force and the current vertical load;
a friction circle radius determination module configured to perform estimation of a friction circle radius of a current road surface and a road surface friction circle radius of a next time period according to the current road surface adhesion coefficient and the current vertical load;
the tire stress determining module is configured to execute query in a pre-established tire model parameter comparison table to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period based on the current vehicle attitude and the current vertical load;
a torque limit value generating module configured to execute generating a maximum torque limit value according to the friction circle radius of the current road surface, the road surface friction circle radius of the next time period, the current tire stress limit parameter and the tire stress limit parameter of the next time period.
Further, still include:
a torque regulation module configured to perform regulation of vehicle torque based on the maximum torque limit value.
In another aspect, the present invention provides a torque limit value determining apparatus, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the torque limit value determining method as described above.
In yet another aspect, the present invention provides a computer readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or at least one program being loaded and executed by a processor to implement the torque limit value determination method as described above.
The method and the device for determining the torque limit value have the following beneficial effects:
the method can judge the friction circle radius of the current vehicle in real time, predict the vehicle state and actively limit the driving torque, ensure the safety and stability of the vehicle during turning and avoid the instability abnormality of the motion state of the vehicle;
the driving torque is further limited through the lateral force limit characteristic of the tire, and the lateral force limit which can be reached by the vehicle is guaranteed not to be exceeded.
The vehicle is monitored in real time, the maximum lateral force limit value which can be provided by the current ground is estimated, active driving torque limitation is carried out through real-time prediction control, the vehicle can be driven in a safe and stable state in real time, driving safety and stability of the vehicle are actively guaranteed, the vehicle posture is prevented from being adjusted after the vehicle is unstable, and the vehicle has better real-time performance and safety.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic flow chart diagram illustrating a torque limit determination method provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram illustrating another torque limit determination method provided by an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a torque limit value determining method and apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another torque limit determination method apparatus provided by an embodiment of the invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
The system comprises a 710-vertical load determining module, a 720-road surface adhesion coefficient determining module, a 730-friction circle radius determining module, a 740-tire stress determining module, a 750-torque limit value generating module and a 760-torque regulating module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
As shown in fig. 1, fig. 1 is a schematic flowchart of a method for determining a torque limit value according to an embodiment of the present application, where an execution subject of the method may be an Electronic Control Unit (ECU) of an automobile (e.g., a pure electric automobile, a hybrid automobile, and a conventional fuel automobile), and the method includes:
s102, determining the current vertical load of the vehicle according to the three-way acceleration and the relevant parameters of the wheel track of the whole vehicle;
in a specific implementation, the three-directional acceleration may be obtained by an acceleration sensor, and the three-directional acceleration may include: lateral acceleration, longitudinal acceleration and vertical acceleration, different accelerations in the three-directional acceleration are mutually perpendicular, the three-directional acceleration can form a three-dimensional coordinate system, the origin of the three-dimensional coordinate system is not specifically limited in the embodiment of the specification, and the three-dimensional acceleration can be set according to actual needs. The longitudinal acceleration is the acceleration corresponding to the length axis of the vehicle, the lateral acceleration is the acceleration corresponding to the width axis of the vehicle, and the vertical acceleration is the acceleration in the direction perpendicular to the longitudinal acceleration and the lateral acceleration respectively. The current vertical load represents the vertical pressure of the vehicle against the ground during travel.
The track width-related parameters may include: the distance between the front axle of the vehicle and the center of mass, the distance between the rear axle of the vehicle and the center of mass, and the height of the center of mass.
It will be appreciated that the distance of the vehicle front axle from the centre of mass, the distance of the vehicle rear axle from the centre of mass and the height of the centre of mass belong to basic parameters of the vehicle, which may be determined after production of the vehicle or calculated from sensors.
The method for determining the current vertical load of the vehicle according to the three-direction acceleration and the relevant wheel track parameters of the whole vehicle comprises the following steps:
and determining the current vertical load of the vehicle according to the three-way acceleration, the distance between the front axle and the mass center of the vehicle, the distance between the rear axle and the mass center of the vehicle and the height of the mass center.
In a specific implementation process, the basic formula of the estimation of the front axle load of the vehicle is Fzfl＝(mgb-maxh)/2(a+b)-mayha/((a+b)*Lfwhl)，Fzfr＝(mgb-maxh)/2(a+b)+mayha/((a+b)*Lfwhl)，Fzrl＝(mgb+maxh)/2(a+b)-mayha/((a+b)*Lfwhl)，Fzrr＝(mgb+maxh)/2(a+b)+mayha/((a+b)*Lfwhl) Wherein, the load of the front axle of the vehicle is the vertical load corresponding to each wheel, m is the mass of the whole vehicle, a is the distance from the front axle to the mass center, b is the distance from the rear axle to the mass center, h is the height of the mass center, axFor longitudinal acceleration, ayFor lateral acceleration, LfwhlIs the front wheel track, LrwhlIs a rear partThe wheel track, Fzfl is the vertical load of the front left wheel of the vehicle, Fzfr is the vertical load of the front right wheel of the vehicle, Fzrl is the vertical load of the rear right wheel of the vehicle, and Fzrr is the vertical load of the rear right wheel of the vehicle. It will be appreciated that the sum of the vehicle front axle load and the vehicle rear axle load is the current vertical load.
And S104, determining the current road adhesion coefficient according to the longitudinal force of the whole vehicle and the current vertical load.
In a specific implementation, the current road adhesion coefficient may be used to indicate the slip condition of each tire, and may be calculated using the following formula, where μ ═ Fx/FzWhere μ is the current road adhesion coefficient, FxLongitudinal force of the entire vehicle, FzThe current vertical load of the vehicle.
The longitudinal force of the whole vehicle can be obtained by multiplying the driving force by the system response characteristic by the system transmission characteristic and then subtracting the braking force, wherein the system response characteristic and the system transmission characteristic are corresponding characteristic parameters responding to acceleration or deceleration after the accelerator of the vehicle is pressed down or released.
And S106, estimating the friction circle radius of the current road surface and the friction circle radius of the road surface in the next time period according to the current road surface adhesion coefficient and the current vertical load.
In a specific implementation process, the next time period is not specifically limited in this embodiment of the present specification, and may be 0.01s, each time period may represent a time for calculating a road friction circle radius, summarize current road adhesion condition information (current road adhesion coefficient) and vehicle load information (current vertical load), estimate a current road friction circle radius, and predict a possible state of the road friction circle radius, as shown in the following formula.
And S108, inquiring in a pre-established tire model parameter comparison table based on the current vehicle posture and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period.
In a specific implementation process, the tire model parameter comparison table stores a current tire stress limit parameter corresponding to the current vehicle attitude and the current vertical load and a tire stress limit parameter of the next time period.
On the basis of the above embodiments, in one embodiment of the present specification, the current vehicle attitude may include: a centroid slip angle and a steering wheel angle;
the method for inquiring and obtaining the current tire stress limit parameter and the tire stress limit parameter of the next time period in a pre-established tire model parameter comparison table based on the current vehicle attitude and the current vertical load comprises the following steps:
and inquiring in a pre-established tire model parameter comparison table based on the centroid slip angle, the steering wheel angle and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period.
The centroid slip angle and the steering wheel angle can be used for judging the vehicle attitude and the estimation of the tire slip angle, when the vehicle turns, the current tire stress limit parameter is obtained by inquiring in a tire model parameter comparison table according to the steering wheel angle, the centroid slip angle and the current vertical load, and the tire stress limit parameter of the next time period is predicted, wherein the tire stress limit parameter of the next time period can be obtained by multiplying the lateral acceleration change rate by dtTo be determined. The lateral acceleration rate can be derived by differentiating the lateral acceleration. Wherein d istThe time interval between the current time and the predicted time.
In addition to the above embodiments, in one embodiment of the present disclosure, the centroid slip angle is determined according to the three-directional acceleration, the yaw rate, the current vehicle speed, and the steering wheel angle.
In a specific implementation, the centroid slip angle may be estimated in real time according to the three-directional acceleration, the yaw rate, and the current vehicle speed of the vehicle, and the basic estimation formula may be β ═ ^ a ^ c (a ^ c)yV- ω) dt, where β is the centroid slip angle, ayThe lateral acceleration, v the current vehicle speed, and ω the actual yaw rate.
And S110, generating a maximum torque limit value according to the friction circle radius of the current road surface, the road surface friction circle radius of the next time period, the current tire stress limit parameter and the tire stress limit parameter of the next time period.
In a specific implementation process, the current torque limit value Axmax can be calculated according to the current friction circle radius of the road surface and the current tire stress limit parameter:
the torque limit value of the next time period can be calculated according to the radius of the road friction circle of the next time period and the tire stress limit parameter of the next time period:
and selecting the torque limit value with the smaller value of the current torque limit value and the torque limit value in the next time period as the maximum torque limit value.
Limiting the allowable longitudinal acceleration, and thus the allowable torque, by this formula;
the lateral force limit is then determined by multiplying the rate of change of the current lateral acceleration by dtA predicted lateral acceleration is obtained and the allowable longitudinal force is limited based on the predicted lateral acceleration and the current lateral force limit difference, (i.e., Aypre m). Aypre is dtAnd (5) predicting the lateral acceleration after time, wherein m is the mass of the whole vehicle.
On the basis of the foregoing embodiments, in an embodiment of the present specification, fig. 2 is a schematic flowchart of another torque limit value determining method provided in the embodiment of the present application, and as shown in fig. 2, the method further includes:
and S112, regulating and controlling the vehicle torque based on the maximum torque limit value.
In a specific implementation, the ECU may control the output of the motor according to the maximum torque limit value to regulate the vehicle torque.
The method can judge the friction circle radius of the current vehicle in real time, predict the vehicle state and actively limit the driving torque, ensure the safety and stability of the vehicle during turning and avoid the instability abnormality of the motion state of the vehicle;
the driving torque is further limited through the lateral force limit characteristic of the tire, and the lateral force limit which can be reached by the vehicle is guaranteed not to be exceeded.
The vehicle is monitored in real time, the maximum lateral force limit value which can be provided by the current ground is estimated, active driving torque limitation is carried out through real-time prediction control, the vehicle can be driven in a safe and stable state in real time, driving safety and stability of the vehicle are actively guaranteed, the vehicle posture is prevented from being adjusted after the vehicle is unstable, and the vehicle has better real-time performance and safety.
On the other hand, an embodiment of the present specification provides a torque limit value determining device, and fig. 3 is a schematic structural diagram of a torque limit value determining method device provided in an embodiment of the present invention, as shown in fig. 3, including:
a vertical load determination module 710 configured to perform determining a current vertical load of the vehicle according to a three-directional acceleration of the entire vehicle and the track related parameter;
a road adhesion coefficient determination module 720 configured to perform determining a current road adhesion coefficient according to the entire vehicle longitudinal force and the current vertical load;
a circle of friction radius determination module 730 configured to perform estimating a circle of friction radius of a current road surface and a circle of friction radius of a road surface for a next time period according to the current road surface adhesion coefficient and the current vertical load;
a tire stress determining module 740 configured to perform query in a pre-established tire model parameter lookup table based on a current vehicle attitude and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter for a next time period;
a torque limit value generating module 750 configured to execute generating a maximum torque limit value according to the friction circle radius of the current road surface, the road surface friction circle radius of the next time period, the current tire stress limit parameter, and the tire stress limit parameter of the next time period.
On the basis of the foregoing embodiment, in an embodiment of this specification, fig. 4 is a schematic structural diagram of another torque limit value determination method apparatus provided in the embodiment of the present invention, and as shown in fig. 4, the method further includes:
a torque regulation module 760 configured to perform regulation of vehicle torque based on the maximum torque limit value.
It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
On the other hand, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 5, the present invention provides a torque limit value determining device, which includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or at least one program is loaded and executed by the processor to implement the torque limit value determining method as described above.
In yet another aspect, the present invention provides a computer readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or at least one program being loaded and executed by a processor to implement the torque limit value determination method as described above.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The implementation principle and the generated technical effect of the testing method provided by the embodiment of the invention are the same as those of the system embodiment, and for the sake of brief description, the corresponding contents in the system embodiment can be referred to where the method embodiment is not mentioned.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
In a specific embodiment, as shown in fig. 5, a schematic structural diagram of an electronic device provided in an embodiment of the present invention is shown. The electronic device 800 may include components such as memory 810 for one or more computer-readable storage media, a processor 820 for one or more processing cores, an input unit 830, a display unit 840, Radio Frequency (RF) circuitry 850, a wireless fidelity (WiFi) module 860, and a power supply 870. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 5 does not constitute a limitation of electronic device 800, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components. Wherein:
the memory 810 may be used to store software programs and modules, and the processor 820 executes various functional applications and data processing by operating or executing the software programs and modules stored in the memory 810 and calling data stored in the memory 810. The memory 810 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 810 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device. Accordingly, memory 810 may also include a memory controller to provide processor 820 with access to memory 810.
The processor 820 is a control center of the electronic device 800, connects various parts of the whole electronic device by using various interfaces and lines, and performs various functions of the electronic device 800 and processes data by operating or executing software programs and/or modules stored in the memory 810 and calling data stored in the memory 810, thereby performing overall monitoring of the electronic device 800. The Processor 820 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The input unit 830 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. Specifically, the input unit 830 may include an image input device 831 and other input devices 832. The image input device 831 may be a camera or a photoelectric scanning device. The input unit 830 may include other input devices 832 in addition to the image input device 831. In particular, other input devices 832 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 840 may be used to display information input by or provided to a user and various graphical user interfaces of an electronic device, which may be made up of graphics, text, icons, video, and any combination thereof. The Display unit 840 may include a Display panel 841, and the Display panel 841 may be configured, optionally, in the form of a Liquid Crystal Display (LCD), an organic Light-emitting Diode (OLED), or the like.
The RF circuit 850 may be used for receiving and transmitting signals during a message transmission or communication process, and in particular, for receiving downlink messages from a base station and then processing the received downlink messages by the one or more processors 820; in addition, data relating to uplink is transmitted to the base station. In general, RF circuitry 850 includes, but is not limited to, an antenna, at least one Amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a Low noise Amplifier (LKA), a duplexer, and the like. In addition, the RF circuit 850 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to Global System for Mobile communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Message Service (SMS), and the like.
WiFi belongs to short-range wireless transmission technology, and the electronic device 800 can help the user send and receive e-mails, browse web pages, access streaming media, etc. through the WiFi module 860, and it provides the user with wireless broadband internet access. Although fig. 5 shows WiFi module 860, it is understood that it does not belong to the essential components of electronic device 800, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The electronic device 800 also includes a power supply 870 (e.g., a battery) for powering the various components, which may be logically coupled to the processor 820 via a power management system to manage charging, discharging, and power consumption via the power management system. The power source 870 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
It should be noted that, although not shown, the electronic device 800 may further include a bluetooth module, and the like, which is not described herein again.
An embodiment of the present invention further provides a storage medium, where at least one instruction, at least one program, a code set, or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set, or the instruction set is executable by a processor of an electronic device to perform any one of the foregoing methods.
Optionally, in an embodiment of the present invention, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a usb disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, the electronic device and the storage medium embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
Finally, it should be noted that: the above-mentioned embodiments are only for illustrating the technical solutions of the present invention, but not for limiting the same, and the scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the above claims.
Claims (10)
1. A torque limit value determination method, characterized by comprising:
determining the current vertical load of the vehicle according to the three-way acceleration and the relevant parameters of the wheel track of the whole vehicle;
determining a current road surface adhesion coefficient according to the longitudinal force of the whole vehicle and the current vertical load;
estimating the radius of a friction circle of the current road surface and the radius of a friction circle of the road surface in the next time period according to the current road surface adhesion coefficient and the current vertical load;
inquiring in a pre-established tire model parameter comparison table based on the current vehicle attitude and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period;
and generating a maximum torque limit value according to the friction circle radius of the current road surface, the road surface friction circle radius of the next time period, the current tire stress limit parameter and the tire stress limit parameter of the next time period.
2. The torque limit value determining method according to claim 1, wherein the track width-related parameter includes: the distance between the front axle of the vehicle and the center of mass, the distance between the rear axle of the vehicle and the center of mass, and the height of the center of mass;
the method for determining the current vertical load of the vehicle according to the three-direction acceleration and the relevant wheel track parameters of the whole vehicle comprises the following steps:
the three-direction acceleration, the distance between the front axle and the center of mass of the vehicle, the distance between the rear axle and the center of mass of the vehicle and the height of the center of mass determine the current vertical load of the vehicle.
3. The torque limit value determining method according to claim 1, wherein the vehicle longitudinal force is calculated from a driving force of a wheel, a braking force, a system response characteristic, and a system transfer characteristic.
4. The torque limit value determining method according to claim 1, wherein the current vehicle attitude includes: a centroid slip angle and a steering wheel angle;
the method for inquiring and obtaining the current tire stress limit parameter and the tire stress limit parameter of the next time period in a pre-established tire model parameter comparison table based on the current vehicle attitude and the current vertical load comprises the following steps:
and inquiring in a pre-established tire model parameter comparison table based on the centroid slip angle, the steering wheel angle and the current vertical load to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period.
5. The torque limit value determining method according to claim 4, wherein the centroid slip angle is determined based on the three-way acceleration, the yaw rate, and the current vehicle speed.
6. The torque limit value determining method according to claim 1, characterized by further comprising:
and regulating and controlling the vehicle torque based on the maximum torque limit value.
7. A torque limit value determining apparatus, characterized by comprising:
the vertical load determining module is configured to determine the current vertical load of the vehicle according to the three-direction acceleration and the wheel track related parameters of the whole vehicle;
a road adhesion coefficient determination module configured to perform a determination of a current road adhesion coefficient from a vehicle longitudinal force and the current vertical load;
a friction circle radius determination module configured to perform estimation of a friction circle radius of a current road surface and a road surface friction circle radius of a next time period according to the current road surface adhesion coefficient and the current vertical load;
the tire stress determining module is configured to execute query in a pre-established tire model parameter comparison table to obtain a current tire stress limit parameter and a tire stress limit parameter of the next time period based on the current vehicle attitude and the current vertical load;
a torque limit value generating module configured to execute generating a maximum torque limit value according to the friction circle radius of the current road surface, the road surface friction circle radius of the next time period, the current tire stress limit parameter and the tire stress limit parameter of the next time period.
8. The torque limit value determining apparatus according to claim 7, further comprising:
a torque regulation module configured to perform regulation of vehicle torque based on the maximum torque limit value.
9. A torque limit value determining apparatus, characterized in that the apparatus comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement the torque limit value determining method according to any one of claims 1 to 6.
10. A computer-readable storage medium, wherein at least one instruction or at least one program is stored, the at least one instruction or the at least one program being loaded and executed by a processor to implement the torque limit value determining method according to any one of claims 1 to 6.
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