CN112977462B - New energy automobile accelerator pedal torque calculation method and system and readable storage medium - Google Patents

New energy automobile accelerator pedal torque calculation method and system and readable storage medium Download PDF

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CN112977462B
CN112977462B CN202110309013.7A CN202110309013A CN112977462B CN 112977462 B CN112977462 B CN 112977462B CN 202110309013 A CN202110309013 A CN 202110309013A CN 112977462 B CN112977462 B CN 112977462B
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accelerator pedal
torque
different
speeds
wheel
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CN112977462A (en
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彭红涛
骆顺志
吴坷
梁缘
陈满
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/443—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0604—Throttle position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque

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  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a method and a system for calculating the torque of an accelerator pedal of a new energy automobile and a readable storage medium, wherein the calculating method comprises the following steps: acquiring the opening degree of an accelerator pedal; the method comprises the steps of obtaining maximum torques from power systems of different speeds to the wheel side when the opening degree of an accelerator pedal is 100%, and obtaining the maximum torques from the power systems to the wheel side required by different speeds when the opening degree of the accelerator pedal is 0%; and acquiring the torque from the power system with different accelerator pedal opening degrees to the wheel edge between 0% and 100% according to the maximum torque from the power system with different vehicle speeds to the wheel edge at the accelerator pedal opening degree of 100% and the maximum torque from the power system with different vehicle speeds to the wheel edge at the accelerator pedal opening degree of 0%. The method for calculating the torque of the accelerator pedal of the new energy automobile integrates the sliding energy recovery torque into the torque of the accelerator pedal, overcomes the defect of poor responsiveness of the conventional torque identification method, improves the torque response continuity of the accelerator pedal, better identifies the driving intention and improves the driving quality of the automobile.

Description

New energy automobile accelerator pedal torque calculation method and system and readable storage medium
Technical Field
The invention relates to the technical field of automobile accelerator pedal torque calculation, in particular to a new energy automobile accelerator pedal torque calculation method, a new energy automobile accelerator pedal torque calculation system and a readable storage medium.
Background
The torque of an accelerator pedal directly influences the driving performance of the whole vehicle, and the conventional method is mainly to simply overlap the driving torques of a power system (an engine and a driving motor) and overlap the engine torques and the driving motor torques under different accelerator pedal opening degrees to obtain the torque of the power system under different accelerator pedal opening degrees.
However, since the hybrid vehicle or the pure electric vehicle has the energy recovery function, the conventional method does not blend the energy recovery torque into the accelerator pedal torque, which may cause discontinuity of the accelerator pedal torque, especially, the problem of unsmooth driving of the vehicle due to the torque discontinuity during the switching between the acceleration state and the deceleration state.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides a method and a system for calculating the torque of an accelerator pedal of a new energy automobile and a readable storage medium.
In a first aspect, the invention provides a method for calculating torque of an accelerator pedal of a new energy automobile, which comprises the following steps:
acquiring the opening degree of an accelerator pedal;
the method comprises the steps of obtaining maximum torques from power systems of different speeds to the wheel side when the opening degree of an accelerator pedal is 100%, and obtaining the maximum torques from the power systems to the wheel side required by different speeds when the opening degree of the accelerator pedal is 0%;
and acquiring the torque from the power system to the wheel side at different vehicle speeds when the opening degree of an accelerator pedal is different between 0% and 100%.
According to the first aspect, in a first possible implementation manner of the first aspect, the step of "obtaining the accelerator pedal opening degree" specifically includes the steps of:
controlling the whole vehicle to be electrified to obtain a voltage sampling value of an accelerator pedal;
and acquiring the opening degree of the accelerator pedal according to the acquired voltage sampling value of the accelerator pedal.
According to a first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of "obtaining an accelerator pedal opening degree according to the obtained accelerator pedal voltage sampling value" includes the following steps:
judging the effective voltage range of the accelerator pedal voltage sampling value according to the obtained accelerator pedal voltage sampling value;
when the accelerator pedal voltage sampling value is detected not to exceed the preset effective voltage range, filtering the accelerator pedal voltage sampling value to obtain an accelerator pedal voltage filtering effective value;
and carrying out opening calculation on the voltage filtering effective value of the accelerator pedal to obtain the opening of the accelerator pedal.
According to the first aspect, in a third possible implementation manner of the first aspect, the step of "obtaining the maximum torque from the powertrain to the wheel side at different vehicle speeds when the accelerator pedal opening is 100%" includes the following steps:
acquiring the maximum torque from the engine to the wheel edge at different vehicle speeds according to the maximum torque from the engine to the wheel edge at different engine rotating speeds and the vehicle speed;
acquiring the maximum torque from the driving motor to the wheel edge at different speeds according to the maximum torque from the driving motor to the wheel edge at different driving motor speeds and the speed;
obtaining the maximum torque from the power system at different gears to the wheel edge at different speeds according to the maximum torque from the engine to the wheel edge and the maximum torque from the driving motor to the wheel edge;
and according to the obtained maximum torque from the power system to the wheel edge, obtaining the maximum torque from the power system to the wheel edge at different vehicle speeds when the accelerator pedal is opened by 100%.
According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of "obtaining the maximum torques from the powertrain to the wheel at different vehicle speeds at 100% of the accelerator opening degree according to the obtained maximum torques from the powertrain to the wheel" specifically includes the following steps:
and according to the obtained maximum torque from the power system to the wheel edge, carrying out interpolation and fitting processing on the maximum torque from the power systems with different speeds to the wheel edge to obtain the maximum torque from the power systems with different speeds to the wheel edge when the opening degree of an accelerator pedal is 100 percent continuously.
According to the first aspect, in a fifth possible implementation manner of the first aspect, the step of "obtaining the maximum torque from the powertrain to the wheel side required by the vehicle speed at the time of the 0% accelerator opening degree" includes the following steps:
obtaining road resistance according to the road friction coefficient and the wind resistance coefficient;
obtaining deceleration resistance at different vehicle speeds by using the sliding deceleration according to Newton's second law;
according to the obtained road resistance and the deceleration resistance, obtaining the sliding energy recovery force at different speeds when the opening degree of an accelerator pedal is 0%;
and converting the sliding energy recovery force into torque to obtain the maximum torque from the power system to the wheel side required by different vehicle speeds when the opening degree of an accelerator pedal is 0%.
According to a fifth possible implementation manner of the first aspect, in the sixth possible implementation manner of the first aspect, the step of "obtaining the coasting energy recovery force at different vehicle speeds at 0% accelerator opening degree according to the obtained road resistance and deceleration resistance" specifically includes the following steps:
according to the obtained road resistance and the deceleration resistance, subtracting the road resistance from the absolute value of the deceleration resistance to obtain the gliding deceleration force of 0% of the opening of the accelerator pedal at different speeds;
the obtained coasting deceleration force is set as the coasting energy recovery force.
According to the first aspect, in a seventh possible implementation manner of the first aspect, the step of "obtaining torques from the powertrain to the wheel side at different vehicle speeds when the accelerator opening is between 0% and 100%" includes the following steps:
obtaining the torque from the power system with different speeds to the wheel edge when the opening of the accelerator pedal is between 0% and 100% by an interpolation method according to the obtained maximum torque from the power system with different speeds to the wheel edge when the opening of the accelerator pedal is 100% and the maximum torque from the power system with different speeds to the wheel edge when the opening of the accelerator pedal is 0%;
and smoothing the torque from the power system to the wheel side at different vehicle speeds when the obtained accelerator opening is between 0% and 100% to obtain the final accelerator torque.
In a second aspect, the invention provides a new energy automobile accelerator pedal torque calculation system, which includes:
the accelerator pedal opening acquisition module is used for acquiring the accelerator pedal opening;
the wheel edge torque acquisition module is in communication connection with the accelerator pedal opening acquisition module and is used for acquiring the maximum torque from the power system at different speeds to the wheel edge when the accelerator pedal opening is 100% and acquiring the maximum torque from the power system at different speeds to the wheel edge when the accelerator pedal opening is 0%; and the number of the first and second groups,
and the pedal torque acquisition module is in communication connection with the wheel side torque acquisition module and is used for acquiring torques from the power system at different vehicle speeds to the wheel side when the opening degree of an accelerator pedal is between 0% and 100%.
In a third aspect, the invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program realizes the steps of the accelerator pedal torque calculation method of the new energy automobile.
Compared with the prior art, the invention has the following advantages:
according to the method for calculating the torque of the accelerator pedal of the new energy automobile, the maximum torque from a power system with different speeds to the wheel edge when the accelerator pedal is 100% open and the maximum torque from the power system required by different speeds to the wheel edge when the accelerator pedal is 0% open, namely the sliding energy recovery torque, the sliding energy recovery torque is blended into the torque of the accelerator pedal, so that the defect of poor responsiveness of a conventional torque identification method is overcome, the torque response continuity of the accelerator pedal is improved, the driving smoothness of the automobile in the process of switching between an acceleration state and a deceleration state is improved, the driving intention of a driver is favorably identified, the acceleration responsiveness of the automobile is improved, and the driving quality of the automobile is effectively improved.
Drawings
FIG. 1 is a schematic flow chart of a method for calculating a torque of an accelerator pedal of a new energy vehicle according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of another method for calculating the torque of the accelerator pedal of the new energy vehicle according to the embodiment of the invention;
FIG. 3 is a fitted graph of accelerator pedal torque, vehicle speed and accelerator pedal opening of the accelerator pedal torque calculation system of the new energy automobile, provided by the embodiment of the invention;
FIG. 4 is a functional module block diagram of a system for calculating accelerator pedal torque of a new energy automobile, provided by the embodiment of the invention.
In the figure, 100, an accelerator pedal opening obtaining module; 200. a wheel-side torque acquisition module; 300. and a pedal torque acquisition module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the invention provides a method for calculating a torque of an accelerator pedal of a new energy vehicle, including the following steps:
s100, obtaining the opening degree of an accelerator pedal;
s200, acquiring maximum torques from the power systems to the wheel side at different speeds when the accelerator pedal is opened by 100%, and acquiring the maximum torques from the power systems to the wheel side at different speeds when the accelerator pedal is opened by 0%;
and S300, acquiring torques from the power systems with different speeds to the wheel side when the accelerator pedal is between 0% and 100% according to the maximum torques from the power systems with different speeds to the wheel side when the accelerator pedal is 100% open and the maximum torques from the power systems with different speeds to the wheel side when the accelerator pedal is 0% open.
According to the method for calculating the torque of the accelerator pedal of the new energy automobile, the maximum torque from a power system with different speeds to a wheel edge when the accelerator pedal is 100% open and the maximum torque from the power system with different speeds to the wheel edge when the accelerator pedal is 0% open, namely the sliding energy recovery torque, the sliding energy recovery torque is blended into the torque of the accelerator pedal, so that the defect of poor responsiveness of a conventional torque identification method is overcome, the torque response continuity of the accelerator pedal is improved, the driving smoothness of the automobile in the switching process of an acceleration state and a deceleration state is improved, the driving intention of a driver is favorably identified, the acceleration responsiveness is improved, and the driving quality of the automobile is effectively improved.
As described above, according to the present application, the torques from the powertrain at different vehicle speeds to the wheel side at the accelerator pedal opening between 0% and 100% are obtained by interpolation according to the maximum torques from the powertrain at different vehicle speeds to the wheel side at the accelerator pedal opening of 100% and the maximum torques from the powertrain at different vehicle speeds to the wheel side at the accelerator pedal opening of 0%.
In an embodiment, referring to fig. 2, the step of "obtaining an accelerator pedal opening degree" includes the following steps:
s110, controlling the whole vehicle to be electrified to obtain a voltage sampling value of an accelerator pedal;
and S120, acquiring the opening degree of the accelerator pedal according to the obtained voltage sampling value of the accelerator pedal.
In an embodiment, the step of "obtaining an accelerator pedal opening degree according to the obtained accelerator pedal voltage sampling value" includes the following steps:
judging the effective voltage range of the accelerator pedal voltage sampling value according to the obtained accelerator pedal voltage sampling value;
when the accelerator pedal voltage sampling value is detected not to exceed the preset effective voltage range, filtering the accelerator pedal voltage sampling value to obtain an accelerator pedal voltage filtering effective value;
calculating the opening degree of the effective value V (k) of the accelerator pedal voltage filter to obtain an accelerator pedal opening degree P (k):
Figure BDA0002988804930000071
wherein, V min Effective sampling of minimum threshold, V, for accelerator pedal voltage signal max Effective maximum threshold value for accelerator pedal voltage signal, V (k) isThe effective value of the voltage filter of the accelerator pedal is obtained when the sampling value of the voltage of the accelerator pedal is more than V max When V (k) is 100, when the sampled value of the accelerator pedal voltage is less than V min When V (k) is 0.
In one embodiment, the step of "obtaining maximum torques from the powertrain to the wheel side at different vehicle speeds when the accelerator pedal is opened by 100%" includes the following steps:
obtaining the maximum torque T from the engine to the wheel edge under different vehicle speeds according to the maximum torque from the engine to the wheel edge under different engine rotating speeds and the vehicle speed ENG_Wheel ：
T ENG_Wheel ＝T ENG_Max ×i g_E ×i 0 ，
Wherein, T ENG_Max For maximum engine to wheel torque at different engine speeds, i g_E To connect the engine-to-transmission ratio, i 0 The speed ratio of the main reduction gearbox is adopted;
according to the maximum torque from the driving motor to the wheel edge and the vehicle speed under different driving motor rotating speeds, the maximum torque from the driving motor to the wheel edge under different vehicle speeds is obtained:
T MOT_Wheel ＝T MOT_Max ×i g_M ×i 0 ，
V＝0.377*r*n/i g_M /i 0 ，
wherein, T MOT_Wheel For maximum torque from the drive motor to the wheel at different drive motor speeds, i g_M Ratio of gearbox connected to motor i 0 The speed ratio of the main reduction gearbox.
According to the maximum torque T from the engine to the wheel edge ENG_Wheel And maximum torque T from driving motor to wheel edge MOT_Wheel Obtaining the maximum torque T from the power system of different gears to the wheel edge under different vehicle speeds Wheel_Max ：
T Wheel_Max ＝T ENG_Wheel +T MOT_Wheel 。
And according to the obtained maximum torque from the power system to the wheel edge, obtaining the maximum torque from the power system to the wheel edge at different vehicle speeds when the accelerator pedal is opened by 100%.
In one embodiment, the step of obtaining the maximum torques from the powertrain to the wheel at different vehicle speeds at 100% of the opening degree of the accelerator pedal according to the obtained maximum torques from the powertrain to the wheel includes the following steps:
and according to the obtained maximum torque from the power system to the wheel edge, carrying out interpolation and fitting processing on the maximum torque from the power systems with different speeds to the wheel edge to obtain the maximum torque from the power systems with different speeds to the wheel edge when the opening degree of an accelerator pedal is 100 percent continuously.
In one embodiment, 10 engine speeds are uniformly selected and designated as n1, n2, n3, n4, n5, n6, n7, n8, n9, and n10, wherein n1 is set to 800rpm, n10 is set to 6000rpm, and the passing speed V is 0.377 r n/i g /i 0 Wherein r is the wheel radius, and n is the engine speed, the corresponding vehicle speeds are V1, V2, V3, V4, V5, V6, V7, V8, V9, V10, i 0 Calculating the vehicle speeds at 10 rotating speeds respectively as the speed ratio of the main reduction gearbox, recording the vehicle speeds as V1, V2, V3, V4, V5, V6, V7, V8, V9 and V10, and calculating the T corresponding to 10 vehicle speeds respectively ENG_Wheel And T MOT_Wheel Then, will T ENG_Wheel And T MOT_Wheel The sum is calculated to obtain the maximum torque T from the power system of different gears to the wheel edge under 10 vehicle speeds Wheel_Max (ii) a Then evenly selecting 10 vehicle speeds V1, V2, V3, V4, V5, V6, V7, V8, V9 and V10, obtaining torques at the wheel edge corresponding to the V1, V2, V3, V4, V5, V6, V7, V8, V9 and V10 at even intervals by utilizing an interpolation method, obtaining torques at the wheel edge corresponding to the vehicle speeds V1, V2, V3, V4, V5, V6, V7, V8, V9 and V10 at even intervals, and if a value exceeds the maximum torque T from the power system at different gears to the wheel edge under different vehicle speeds in the interpolation process Wheel_Max Then, the maximum torque T from the power system of different gears to the wheel edge under different vehicle speeds is taken Wheel_Max And performing smoothing processing, thus obtaining continuous smooth torque to the wheel edge at the uniform interval vehicle speed.
In one embodiment, the step of "obtaining the maximum torque from the powertrain to the wheel side required by different vehicle speeds at 0% of the opening degree of the accelerator pedal" includes the following steps:
obtaining road resistance F according to the road friction coefficient and the wind resistance coefficient f+w ：
Figure BDA0002988804930000091
Wherein G is the vehicle weight, f is the road friction coefficient, C D Is the wind resistance coefficient, A is the windward area, and u is the vehicle speed.
According to Newton's second law, the deceleration resistance is obtained by the coasting deceleration at different vehicle speeds:
F a ＝m×a，
wherein, F a The deceleration resistance is m is the mass of the whole vehicle, a is the acceleration, and the deceleration is performed, so that a is actually the sliding deceleration, the maximum sliding energy recovery is considered in the acquisition of the sliding maximum deceleration, the sliding deceleration performance and the driving feeling of the whole vehicle are met, and the deceleration resistance can be obtained through a simulation test.
According to the obtained road resistance F f+w And a deceleration resistance F a Obtaining the sliding energy recovery force under different vehicle speeds when the opening degree of an accelerator pedal is 0 percent:
F Wheel_Min ＝ABS(F a )-F f+w ，
wherein, F Wheel_Min The sliding energy recovery force is 0% of the opening degree of an accelerator pedal and different vehicle speeds. Converting the sliding energy recovery force into sliding energy recovery torque to obtain the maximum torque T from the power system to the wheel side at different speeds when the accelerator pedal is opened by 0 percent Wheel_Min ：
T Wheel_Min ＝F Wheel_Min ×r，
Wherein r is the wheel radius.
In one embodiment, the step of obtaining the coasting energy recovery force at different vehicle speeds with 0% of the opening degree of the accelerator pedal according to the obtained road resistance and the obtained deceleration resistance specifically includes the following steps:
according to the obtained road resistance and the deceleration resistance, subtracting the road resistance from the absolute value of the deceleration resistance to obtain the deceleration force of the sliding at different speeds of the vehicle with the opening of the accelerator pedal of 0 percent:
F Wheel_Min ＝ABS(F a )-F f+w ，
wherein, F Wheel_Min Is 0% accelerator pedalThe sliding energy recovery force is generated under different vehicle speeds.
The obtained coasting deceleration force is set as the coasting energy recovery force.
In one embodiment, the step of "obtaining torques from the powertrain to the wheel side at different vehicle speeds when the opening degree of the accelerator pedal is between 0% and 100%" includes the following steps:
according to the obtained maximum torque from the power system to the wheel side at different vehicle speeds when the opening degree of an accelerator pedal is 100% and the maximum torque from the power system to the wheel side at different vehicle speeds when the opening degree of the accelerator pedal is 0%, the torque from the power system to the wheel side at different vehicle speeds when the opening degree of the accelerator pedal is between 0% and 100% is obtained through an interpolation method, as shown in fig. 3, in the figure, the abscissa is the vehicle speed, the ordinate is the maximum torque from the power system to the wheel side, each curve is the torque from the power system to the wheel side at different vehicle speeds under the corresponding opening degree of the accelerator pedal, and the opening degrees of the accelerator pedal corresponding to the curves from bottom to top are respectively 0%, 3%, 6%, 9%, 12%, 15%, 20%, 25%, 30%, 35%, 40%, 45%, 50%, 60%, 70%, and 100%.
The obtained torques from the power system with different speeds to the wheel side when the opening of the accelerator pedal is between 0% and 100% are smoothed to obtain final accelerator pedal torques corresponding to different speeds when the opening of the accelerator pedal is different, so that continuous and smooth accelerator pedal torques corresponding to different accelerator pedal openings and different speeds are obtained, the response continuity of the accelerator pedal torques is improved, the defect of poor responsiveness of a conventional torque identification method is overcome, the driving smoothness of the vehicle in the switching process of acceleration and deceleration states is improved, the driving intention of a driver is favorably identified, the acceleration responsiveness of the vehicle is improved, and the driving quality of the vehicle is effectively improved.
Based on the same inventive concept, please refer to fig. 4, the invention provides a new energy automobile accelerator pedal torque calculation system, which includes an accelerator pedal opening obtaining module 100, a wheel-side torque obtaining module 200 and a pedal torque obtaining module 300, wherein the accelerator pedal opening obtaining module 100 is used for obtaining an accelerator pedal opening; the wheel torque acquisition module 200 is in communication connection with the accelerator pedal opening acquisition module and is used for acquiring the maximum torque from the power system at different speeds to the wheel edge when the accelerator pedal opening is 100% and acquiring the maximum torque from the power system at different speeds to the wheel edge when the accelerator pedal opening is 0%; the pedal torque acquisition module 300 is in communication connection with the wheel-side torque acquisition module, and is configured to acquire torques from the power system at different vehicle speeds to the wheel side when the accelerator pedal opening is between 0% and 100%.
In an embodiment, the accelerator pedal voltage obtaining module is communicatively connected to the accelerator pedal opening obtaining module 100, and is configured to obtain an accelerator pedal voltage sampling value, send the accelerator pedal voltage sampling value to the accelerator pedal opening obtaining module, and obtain the accelerator pedal opening according to the obtained accelerator pedal voltage sampling value.
As described above, according to the present application, the accelerator pedal voltage acquisition module is configured as two sensors electrically connected to the accelerator pedal, the two sensors belong to a potentiometer sensor, the accelerator pedal opening acquisition module is integrally disposed in the ECU, the ECU is used as an accelerator pedal sensor and connected to the controller, the sensors are in communication connection with the ECU, the sensors transmit the acquired accelerator pedal voltage signals to the ECU, and the ECU processes the acquired accelerator pedal voltage signals to obtain accelerator pedal opening signals; then according to the maximum torque from the engine to the wheel edge and the maximum torque from the driving motor to the wheel edge, the maximum torque from the power system to the wheel edge at different speeds when the opening degree of the accelerator pedal is 100% is obtained; calculating the 0% accelerator pedal opening and the maximum torque at different speeds according to the automobile running dynamics through the coasting deceleration and the road resistance; calculating the maximum torque from the power system to the wheel side at different speeds when the opening of an accelerator pedal is 0% according to the automobile running dynamics through the sliding deceleration and the road resistance; obtaining torques under different vehicle speeds when the accelerator pedal opening is 0-100% through data processing; and smoothing the torques under different accelerator pedal opening degrees and different vehicle speeds to obtain the final corresponding accelerator pedal torques under different speed conditions at different accelerator pedal opening degrees.
Based on the same inventive concept, the present invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for calculating the torque of the accelerator pedal of the new energy vehicle are realized.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The processor may be a Central Processing Unit (CP U), or may be other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FP GA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory 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 (flashcard), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (7)

1. A method for calculating torque of an accelerator pedal of a new energy automobile is characterized by comprising the following steps:
acquiring the opening degree of an accelerator pedal;
the method comprises the steps of obtaining maximum torques from power systems of different speeds to the wheel side when the opening degree of an accelerator pedal is 100%, and obtaining the maximum torques from the power systems to the wheel side required by different speeds when the opening degree of the accelerator pedal is 0%;
acquiring the torque from the power system with different accelerator pedal opening degrees to the wheel edge between 0% and 100% according to the maximum torque from the power system with different vehicle speeds to the wheel edge when the accelerator pedal opening degree is 100% and the maximum torque from the power system with different vehicle speeds to the wheel edge when the accelerator pedal opening degree is 0%;
the step of obtaining the maximum torque from the power system with different vehicle speeds to the wheel side when the opening degree of the accelerator pedal is 100% specifically comprises the following steps:
acquiring the maximum torque from the engine to the wheel edge at different vehicle speeds according to the maximum torque from the engine to the wheel edge at different engine rotating speeds and the vehicle speed;
acquiring the maximum torque from the driving motor to the wheel edge at different speeds according to the maximum torque from the driving motor to the wheel edge at different driving motor speeds and the speed;
obtaining the maximum torque from the power system at different gears to the wheel edge at different speeds according to the maximum torque from the engine to the wheel edge and the maximum torque from the driving motor to the wheel edge;
and according to the obtained maximum torque from the power system to the wheel edge, obtaining the maximum torque from the power system to the wheel edge at different vehicle speeds when the accelerator pedal is opened by 100%.
2. The method for calculating the accelerator pedal torque of the new energy vehicle according to claim 1, wherein the step of obtaining the accelerator pedal opening degree specifically comprises the steps of:
controlling the whole vehicle to be electrified to obtain a voltage sampling value of an accelerator pedal;
and acquiring the opening degree of the accelerator pedal according to the acquired voltage sampling value of the accelerator pedal.
3. The method for calculating the accelerator pedal torque of the new energy vehicle according to claim 2, wherein the step of obtaining the accelerator pedal opening degree according to the obtained accelerator pedal voltage sampling value specifically comprises the following steps:
judging the effective voltage range of the accelerator pedal voltage sampling value according to the obtained accelerator pedal voltage sampling value;
when the accelerator pedal voltage sampling value is detected not to exceed the preset effective voltage range, filtering the accelerator pedal voltage sampling value to obtain an accelerator pedal voltage filtering effective value;
and (4) carrying out opening calculation on the voltage filtering effective value of the accelerator pedal to obtain the opening of the accelerator pedal.
4. The method for calculating the accelerator pedal torque of the new energy vehicle according to claim 1, wherein the step of obtaining the maximum torque from the powertrain to the wheel at different vehicle speeds at 100% accelerator pedal opening according to the obtained maximum torque from the powertrain to the wheel comprises the following steps:
and according to the obtained maximum torque from the power system to the wheel edge, carrying out interpolation and fitting processing on the maximum torque from the power systems with different speeds to the wheel edge to obtain the maximum torque from the power systems with different speeds to the wheel edge when the opening degree of an accelerator pedal is 100 percent continuously.
5. The method for calculating the accelerator pedal torque of the new energy vehicle according to claim 1, wherein the step of obtaining the maximum torque from the power system to the wheel side required by different vehicle speeds at 0% of the accelerator pedal opening degree specifically comprises the following steps:
obtaining road resistance according to the road friction coefficient and the wind resistance coefficient;
obtaining deceleration resistance at different vehicle speeds by using the sliding deceleration according to Newton's second law;
according to the obtained road resistance and the deceleration resistance, obtaining the sliding energy recovery force at different speeds when the opening degree of an accelerator pedal is 0%;
and converting the sliding energy recovery force into torque to obtain the maximum torque from the power system to the wheel side required by different vehicle speeds when the opening degree of an accelerator pedal is 0%.
6. The method for calculating the accelerator pedal torque of the new energy automobile according to claim 5, wherein the step of obtaining the coasting energy recovery force at different automobile speeds at 0% of the opening degree of the accelerator pedal according to the obtained road resistance and deceleration resistance comprises the following steps:
according to the obtained road resistance and the deceleration resistance, subtracting the road resistance from the absolute value of the deceleration resistance to obtain the gliding deceleration force at different speeds of the vehicle with the opening of the accelerator pedal of 0 percent;
the obtained coasting deceleration force is set as the coasting energy recovery force.
7. The method for calculating the accelerator pedal torque of the new energy vehicle according to claim 1, wherein the step of obtaining the torques from the power system to the wheel side at different speeds when the accelerator pedal opening is between 0% and 100% specifically comprises the following steps:
obtaining the torque from the power system with different speeds to the wheel edge when the opening of the accelerator pedal is between 0% and 100% by an interpolation method according to the obtained maximum torque from the power system with different speeds to the wheel edge when the opening of the accelerator pedal is 100% and the maximum torque from the power system with different speeds to the wheel edge when the opening of the accelerator pedal is 0%;
and smoothing the torque from the power system to the wheel side at different vehicle speeds when the obtained accelerator opening is between 0% and 100% to obtain the final accelerator torque.
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