CN113060015A - Vehicle torque processing method, device and equipment - Google Patents

Vehicle torque processing method, device and equipment Download PDF

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Publication number
CN113060015A
CN113060015A CN202110437275.1A CN202110437275A CN113060015A CN 113060015 A CN113060015 A CN 113060015A CN 202110437275 A CN202110437275 A CN 202110437275A CN 113060015 A CN113060015 A CN 113060015A
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Prior art keywords
torque
vehicle
demand
determining
demand type
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于航飞
冯琳
侯明月
刘绍辉
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Priority to CN202110437275.1A priority Critical patent/CN113060015A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The application provides a vehicle torque processing method, a vehicle torque processing device and vehicle torque processing equipment. The method comprises the following steps: determining a driver's required torque based on a vehicle running state and an accelerator opening degree; determining a target torque demand type corresponding to the demand torque by combining torque boundaries corresponding to different pre-calibrated torque demand types, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy and dynamic performance; and distributing the torque for each motor of the vehicle based on a torque distribution rule corresponding to the target torque demand type. Therefore, the torque demand of the driver can be intelligently judged, the torque boundary of different pre-calibrated torque demand types is combined, the torque distribution scheme can be rapidly formulated, the fact that the VCU of the whole vehicle controller continuously calculates the system efficiency is avoided, and the working efficiency of the VCU is effectively improved.

Description

Vehicle torque processing method, device and equipment
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method, an apparatus, and a device for processing vehicle torque.
Background
With the rapid development of the technology level, the control level of the new energy vehicle is higher and higher, so that the new energy pure electric vehicle is rapidly developed and popularized. For most two-axle driven electric vehicles, the torque distribution strategy of the front axle motor and the rear axle motor is a matter that must be considered.
The existing vehicle carries out front and rear axle torque distribution according to a fixed proportion, and single vehicle dynamic performance is realized; or calculating and distributing according to the total system efficiency of the motor; the former method cannot realize intelligent torque distribution, so that the problem that a front axle motor or a rear axle motor has insufficient torque or excessive torque under certain working conditions is caused, the latter torque distribution scheme only starts from efficiency and cannot give consideration to power requirements, and a Vehicle Control Unit (VCU) is required to continuously calculate the system efficiency in the working process, so that the workload of the VCU is increased, and the working efficiency of the VCU is reduced.
Accordingly, there is a need to provide a more intelligent and efficient vehicle torque handling scheme.
Disclosure of Invention
The embodiment of the application provides a vehicle torque processing method, which is used for avoiding the need of continuously calculating the system efficiency by a Vehicle Control Unit (VCU), so that the working efficiency of the VCU is effectively improved.
The embodiment of the present application further provides a vehicle torque processing method, which is characterized by including:
determining a driver's required torque based on a vehicle running state and an accelerator opening degree;
determining a target torque demand type corresponding to the demand torque by combining torque boundaries corresponding to different pre-calibrated torque demand types, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy or dynamic performance;
and distributing the torque for each motor of the vehicle based on a torque distribution rule corresponding to the target torque demand type.
The embodiment of the present application further provides a vehicle torque processing apparatus, including:
a first determination module for determining a driver's required torque based on a vehicle running state and an accelerator opening degree;
the second determining module is used for determining a target torque demand type corresponding to the demand torque by combining torque boundaries corresponding to different pre-calibrated torque demand types, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy or dynamics;
and the distribution module is used for distributing the torque to each motor of the vehicle based on the torque distribution rule corresponding to the target torque demand type.
The embodiment of the application also provides an electronic device, which comprises a processor and a memory electrically connected with the processor, wherein the memory is used for storing a computer program, and the processor is used for calling the computer program to execute the method.
Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, where the computer program can be executed by a processor to implement the above-mentioned method.
According to the method and the device, the required torque of the driver is intelligently judged according to the running state of the vehicle and the opening degree of the accelerator pedal, and then the torque distribution scheme can be rapidly formulated by combining the torque boundaries of different pre-calibrated torque demand types, so that the situation that the VCU of the vehicle control unit continuously calculates the system efficiency is avoided, and the working efficiency of the VCU is effectively improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart illustrating a vehicle torque processing method according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a relationship between vehicle speed and accelerator pedal opening and torque threshold for different torque request types according to an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a corresponding relationship between grade and compensation torque provided by an embodiment of the present application;
FIG. 4 is a schematic flow chart diagram illustrating a vehicle torque processing method according to another embodiment of the present application;
FIG. 5 is a schematic structural diagram of a torque processing device for a vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given in the present application without making any creative effort, shall fall within the protection scope of this document.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a vehicle torque processing method according to an embodiment of the present application, and referring to fig. 1, the vehicle torque processing method may specifically include the following steps:
step 202, determining the required torque of a driver based on the running state of the vehicle and the opening degree of an accelerator pedal;
the accelerator pedal is mainly used for adjusting the torque output of the power system, the opening degree of the accelerator pedal can be acquired through the accelerator pedal position sensor, the larger the opening degree of the general accelerator pedal is, the larger the torque required by the driver is, and on the contrary, the smaller the opening degree of the accelerator pedal is, the smaller the torque required by the driver is.
One implementation of step 102 may be:
determining an initial required torque of a driver based on a vehicle running state and an accelerator opening degree; and taking the minimum value of the initial required torque and the maximum limit value torque currently allowed by the vehicle system as the required torque of the driver.
Specific examples thereof may be: the VCU acquires a required torque of a driver by acquiring an accelerator pedal position signal and a vehicle running state, and records the required torque as an initial required torque; judging whether the maximum limit torque currently allowed by the system is exceeded or not by combining vehicle running state data mainly comprising a battery BMS state, a motor working state, an accessory power consumption state and the like, and if so, outputting the maximum limit torque of the system as the required torque of a driver; if not, the driver's required torque is output as the driver's required torque.
Based on this, in the embodiment, firstly, an accelerator pedal position signal and a vehicle running state are introduced, the required torque of the driver is intelligently judged, then, the maximum limiting torque of the system is considered, and the required torque of the driver is comprehensively configured, so that the purpose of intelligently configuring the required torque of the driver is achieved.
Step 204, determining a target torque demand type corresponding to the demand torque by combining pre-calibrated torque boundaries corresponding to different torque demand types, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy or dynamics;
wherein the torque demand types include at least: the driver's driving force control system comprises an economic demand type (economy domain) for reflecting the driver's demand tendency for low energy consumption, a power demand type (power domain) for reflecting the driver's demand tendency for maximum power, and a transitional demand type for reflecting the driver's demand tendency from low energy consumption to maximum power.
One implementation of step 204 may be:
determining that the required torque corresponds to an economic demand type if the required torque is lower than a torque threshold value; if the required torque is higher than the torque threshold value, determining the torque requirement type of the vehicle in the previous sampling period; if the torque demand type of the previous sampling period is a power demand type, determining that the demand torque corresponds to the power demand type; and if the torque demand type of the previous sampling period is a non-power demand type, determining that the demand torque corresponds to a transition demand type.
Based on this, the present embodiment can determine the torque demand type of the driver according to the opening degree of the accelerator pedal of the driver and the threshold value of the response by introducing the concept of the torque demand type and the determination method thereof.
Further, the embodiment also provides the step of configuring the torque threshold, and one implementation manner of the step may be:
determining the current speed information of the vehicle; and searching a pre-established database to obtain the current vehicle speed information and a torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores different vehicle speed information and corresponding relations between the opening degree of the accelerator pedal and the torque threshold value. That is, the calculated torque threshold value may be different for different vehicle speeds and accelerator opening degrees.
Based on this, in the embodiment, by configuring the corresponding relationship between the vehicle speed information and the opening degree of the accelerator pedal and the torque threshold value, the calculation accuracy of the torque threshold value can be effectively improved, and the type of the torque demand required by the driver can be accurately determined.
Another implementation manner may be:
determining current driving modes and vehicle speed information of the vehicle, wherein the driving modes at least comprise an efficient energy-saving 'ECO economic mode', a stable performance 'NORMAL standard mode' and a dynamic surge 'SPORT movement mode'; and searching a pre-established database to obtain the current driving mode, the vehicle speed information and the torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores the corresponding relation between the vehicle speed information and the opening degree of the accelerator pedal and the torque threshold value under different current driving modes. That is, on the basis of the former implementation, in the present embodiment, the correspondence relationship between the vehicle speed information and the accelerator pedal opening degree and the torque threshold value may be different in different driving modes, see fig. 2.
Based on this, the present embodiment further considers the torque demand of the driver reflected by the existing driving mode, and configures the corresponding relationship between the vehicle speed information and the accelerator pedal opening and the torque threshold value for different driving modes, respectively, so as to determine the type of the torque demand required by the driver more accurately.
Furthermore, the present embodiment also considers the influence on the torque distribution of the vehicle under a specific physical environment, such as the influence of a slope section on the torques of the front and rear motors of the vehicle, and therefore, the present embodiment further provides a step of correcting the torque threshold, specifically:
determining the road gradient of the vehicle at present; and correcting the torque threshold value based on the road gradient, wherein the road gradient can be obtained by sensing through a gradient sensor. Referring to fig. 3, when the vehicle is in a climbing state, a target compensation torque corresponding to the current gradient is determined based on the correspondence relationship between the gradient and the compensation torque shown in fig. 3, and the torque threshold value is compensated based on the target compensation torque.
Based on this, in the embodiment, the external physical environment is considered, the influence on the torque demand type required by the driver is taken into account, and the gradient value is introduced, so that the judgment threshold is corrected, the power and economic requirements under different gradients are fully considered, and the torque demand type required by the driver is ensured to be accurately determined.
And step 206, distributing the torque to each motor of the vehicle based on the torque distribution rule corresponding to the target torque demand type.
Specifically, the method comprises the following steps: determining initial torque distribution coefficients respectively distributed to a front motor and a rear motor of the vehicle according to a torque distribution rule corresponding to the target torque demand type; and determining target torques which need to be respectively distributed to the front motor and the rear motor based on the corresponding initial torque distribution coefficients of the front motor and the rear motor, and respectively distributing torques to the front motor and the rear motor of the vehicle according to the target torques which need to be distributed.
Step 206 is illustratively described below in terms of different torque request types:
example 1, when the driver's torque demand type is the economy demand type
Determining a first initial torque distribution coefficient corresponding to a pre-configured front motor and a second initial torque distribution coefficient corresponding to a rear motor, wherein the value of the first initial torque distribution coefficient is 0 or 1, and the sum of the first initial torque distribution coefficient and the second initial torque distribution coefficient is 1; distributing torque for each motor of the vehicle based on the first initial torque distribution coefficient and the second initial torque distribution coefficient.
For example, first, the front motor initial torque distribution coefficient is aeAnd the initial torque distribution coefficient of the rear motor is b ═ 1-ae) Wherein a iseThe initial value of the motor is a preset value which is 1 or 0 according to the calibration and matching of the front motor and the rear motor;
then, based on the distribution coefficients of the front and rear motors, target torques TR1 and TR2 of the front and rear motors are calculated, respectively:
TR1＝T*ae，TR2＝T*(1-ae) Where T is the total target required torque of the driver.
Example 2, when the driver's torque demand type is the power demand type
Determining a third initial torque distribution coefficient corresponding to a pre-configured front motor and a fourth initial torque distribution coefficient corresponding to a rear motor, wherein the third initial torque distribution coefficient is determined according to the proportion of front and rear driving motors to the sum of total system torques, and the sum of the third initial torque distribution coefficient and the fourth initial torque distribution coefficient is 1; distributing torque to each motor of the vehicle based on the third initial torque distribution coefficient and the fourth initial torque distribution coefficient.
For example, first, the front motor initial torque distribution coefficient is asAnd the torque distribution coefficient of the rear motor is b ═ 1-as) Wherein a issThe initial value of the motor is determined according to the proportion of the front and rear driving motors to the sum of the total torque of the system;
then, based on the distribution coefficients of the front and rear motors, target torques TR1 and TR2 of the front and rear motors are calculated, respectively:
TR1＝T*as,TR2＝T*(1-as) Where T is the total target required torque of the driver.
In addition, a iseAnd asThe values of (A) may be different or the same, and are not limited herein.
Example 3, when the driver's torque demand type is the transient demand type
Determining matrix distribution coefficients of a front motor and a rear motor of the vehicle to be a third initial torque distribution coefficient and a fourth initial torque distribution coefficient corresponding to the power demand type respectively; and adjusting the matrix distribution coefficients of the front motor and the rear motor to respectively transit from the current values to the third initial torque distribution coefficient and the fourth initial torque distribution coefficient by a specific step length, and adjusting the torque distributed to each motor of the vehicle according to the latest torque distribution coefficient.
For example, first, the torque target distribution coefficients of the front and rear motors are determined as initial torque distribution coefficients of the front and rear motors in the power domain, respectively, and the torque distribution coefficients of the front and rear motors are transited from the current values to the target distribution coefficients in a specific step p. Then, the target torques TR1 and TR2 of the front and rear motors are adjusted in real time by the rear motor torque distribution coefficient.
Based on this, in the embodiment, different torque distribution rules are configured for each torque demand type in advance, so that after the torque demand type of the driver is determined, the torque distribution operation can be directly performed based on the corresponding torque distribution rule, the torque distribution response speed can be effectively improved, the need that the vehicle control unit VCU continuously calculates the system efficiency can be avoided, and the working efficiency of the VCU can be effectively improved.
Further, after completing the torque distribution scheme of each motor, the embodiment further provides a torque adjustment scheme according to the vehicle running state, and referring to fig. 4, the method specifically includes the following steps:
402, acquiring operation data of each driving wheel of the vehicle and the speed of the whole vehicle of the vehicle;
step 404, respectively judging whether each driving wheel slips or not based on the running data of each driving wheel and the speed of the whole vehicle;
if yes, go to step 404; if not, the current torque distribution scheme is maintained.
And step 404, determining a corresponding torque adjustment rule based on the slipping driving wheel and the target torque demand type, and adjusting the torque distributed to each motor of the vehicle according to the torque adjustment rule.
The following exemplary torque adjustment options are described in terms of different types of torque requests:
example 1, when the driver's torque demand type is the economy demand type
a) Judging whether the front and rear wheels slip
The front driving wheel slipping state is represented by a mark position R1S, and when slipping, the front driving wheel slipping state is set to 1, otherwise, the front driving wheel slipping state is set to 0; the front driving wheel slip coefficient R1 is R1 ω 1/V, when R1 is R1 ω 1/V is more than or equal to K1 (R1 is the rolling radius of the front driving wheel, ω 1 is the rotating angular speed of the front wheel, V is the vehicle speed of the whole vehicle, K1 is the boundary of the calibrated front driving wheel slip coefficient), the front wheel slip is judged, and the flag R1S is 1;
the slip state of the rear driving wheels is represented by a mark position R2S, and when the rear driving wheels slip, the slip state is set to 1, otherwise, the slip state is set to 0; the rear driving wheel slip coefficient R2 is R1 ω 2/V, and when R2 is R2 ω 2/V is not less than K2 (R2 is the rolling radius of the rear driving wheel, ω 2 is the rotational angular velocity of the rear wheel, V is the vehicle speed, and K2 is the boundary of the calibrated rear driving wheel slip coefficient), it is determined that the rear wheel is slipping, and the flag R2S is 1.
b) And adjusting the target torques of the front wheel and the rear wheel by 1:
when R1S is equal to 1 and R2S is equal to 0, only the front drive wheel is in a slipping state, at which time the front drive wheel torque distribution coefficient a is reduced by a fixed step ratio p (percent) (1-p) × aeThe rear wheel drive torque distribution coefficient is b ═ p × aeWherein the minimum of limits a and b is 0, based on which the updated front-wheel drive torque is T1 ═ T a, and the updated rear-wheel drive torque is T2 ═ T b
Step d) of the calculation is iterated until R1S is 0 and R2S is 0.
c) And adjusting the target torques of the front wheel and the rear wheel 2:
when R1S is 0 and R2S is 1, only the rear drive wheels are slipping, and the rear drive wheel torque distribution coefficient b is reduced by a fixed step ratio p (percent) to (1-p) (1-a)e) The front wheel drive torque distribution coefficient is a ═ ae+p*(1-ae) Wherein the minimum value of the limits a and b is 0 and the maximum value is 1; based on the updated front-wheel drive torque T1 ═ ta, the updated rear-wheel drive torque T2 ═ aT*b
Step d) of the calculation is iterated until R1S is 0 and R2S is 0.
d) And adjusting the target torques of the front wheel and the rear wheel 3:
when R1S is equal to 1 and R2S is equal to 1, both the front and rear drive wheels are slipping, and the torque distribution coefficient a of the front and rear drive wheels is reduced by a fixed step ratio p (percent) (1-p) ae，b＝(1-p)*(1-ae) Wherein the minimum value of the limits a and b is 0 and the maximum value is 1; based on the updated front wheel drive torque T1 ═ ta, the updated rear wheel drive torque T2 ═ T b
Step d) of the calculation is iterated until R1S is 0 and R2S is 0.
Example 2, when the driver's torque demand type is the power demand type
a) Judging whether the front and rear wheels slip
The front driving wheel slipping state is represented by a mark position R1S, and when slipping, the front driving wheel slipping state is set to 1, otherwise, the front driving wheel slipping state is set to 0; the front driving wheel slip coefficient R1 is R1 ω 1/V, when R1 is R1 ω 1/V is more than or equal to K1 (R1 is the rolling radius of the front driving wheel, ω 1 is the rotating angular speed of the front wheel, V is the vehicle speed of the whole vehicle, K1 is the boundary of the calibrated front driving wheel slip coefficient), the front wheel slip is judged, and the flag R1S is 1;
the slip state of the rear driving wheels is represented by a mark position R2S, and when the rear driving wheels slip, the slip state is set to 1, otherwise, the slip state is set to 0; the rear driving wheel slip coefficient R2 is R1 ω 2/V, and when R2 is R2 ω 2/V is not less than K2 (R2 is the rolling radius of the rear driving wheel, ω 2 is the rotational angular velocity of the rear wheel, V is the vehicle speed, and K2 is the boundary of the calibrated rear driving wheel slip coefficient), it is determined that the rear wheel is slipping, and the flag R2S is 1.
b) Adjusting the target torques of the front wheel and the rear wheel:
when R2S is equal to 0, no slip occurs in the rear wheels, and the front axle target distribution coefficient is calculated from the axle load transfer coefficient Δ c and the adjustment coefficient: a ═ as-Δc*kc,b＝1-as+Δc*kc；
Δ c is the axial load transfer coefficient, k, related to accelerationcCalibrating an adjustment coefficient;
the adjustment of the torque distribution coefficient of the rear axle is increased according to the step length p, and the torque distribution coefficient of the rear axle is not increased when the rear axle slips;
at this time, the front wheel drive torque is T1 ═ T a, and the renewed rear wheel drive torque is T2 ═ T b.
Example 3 when the driver's torque demand type transitions from an economic demand to a power demand
At this time, the front and rear motor torque target distribution coefficients are target distribution coefficients in the power mode, and the front and rear motor torque distribution coefficients are transited from the current values to the target distribution coefficients by a specific step p.
Based on this, the present embodiment can quickly respond to the motor torque adjustment of the front and rear axles by calculating the slip condition of the front and rear drive wheels independently from each other.
To sum up, according to the embodiment, firstly, the required torque of the driver is intelligently judged according to the vehicle running state and the opening degree of the accelerator pedal, and then, the torque distribution scheme can be rapidly formulated by combining the torque boundaries of different torque demand types which are calibrated in advance, so that the situation that the VCU of the vehicle control unit needs to continuously calculate the system efficiency is avoided, and the working efficiency of the VCU is effectively improved.
Fig. 4 is a schematic flow chart of a vehicle torque processing method provided in another embodiment of the present application, and referring to fig. 4, the method may specifically include the following steps:
step 402, acquiring a driver required torque;
specifically, the method comprises the following steps: firstly, the VCU acquires the torque demand of a driver according to the running state of the vehicle and the position information of the accelerator pedal pressed by the driver, synthesizes the current state of the whole vehicle and calculates the comprehensive target demand torque of the driver.
Step 404, judging the torque demand type of the driver;
specifically, the method comprises the following steps: according to the target demand torque of the driver, the demand mode judging module is combined to judge whether the demand of the driver is an economic demand or a dynamic demand, and therefore the driver enters a corresponding economic demand type or a corresponding power demand type. The transition demand type is determined when the driver's demand makes a power demand from an economy demand.
Step 406, calculating the torque distribution coefficients of the front motor and the rear motor under different torque demand types;
specifically, the method comprises the following steps: and according to the type of the torque demand, adopting corresponding initial torque distribution coefficients to further calculate the target distribution torque of the front motor and the rear motor.
Step 408, calculating the target torque of the front motor and the rear motor;
step 410, judging whether the front and rear driving wheels slip;
if yes, go to step 412; otherwise, go to step 408;
step 412, calculate the actual torque distribution of the front and rear motors.
It follows that the present embodiment first introduces differentiation and determination of the type of power and economic demand. The strategy is beneficial to simultaneously considering the economic demand and the power demand of the driver; secondly, after the VCU firstly judges whether the demand intention of a driver is an economic demand or a power demand, the torque distribution calculation is carried out on the front axle driving motor and the rear axle driving motor according to different demand types, so that a large amount of complex calculation of the VCU is reduced, and more reasonable torque distribution is realized.
Fig. 5 is a schematic structural diagram of a vehicle torque processing device according to an embodiment of the present application, and referring to fig. 5, the vehicle torque processing device may specifically include: a first determining module 501, a second determining module 502, and an assigning module 503, wherein:
a first determination module 501 for determining a driver's required torque based on a vehicle running state and an accelerator opening degree;
a second determining module 502, configured to determine, by combining torque boundaries corresponding to different pre-calibrated torque demand types, a target torque demand type corresponding to the demand torque, where the torque demand type is used to reflect a driver's demand tendency for economy or dynamics;
and the allocating module 503 is configured to allocate torque to each motor of the vehicle based on a torque allocation rule corresponding to the target torque demand type.
Optionally, the first determining module is specifically configured to:
determining an initial required torque of a driver based on a vehicle running state and an accelerator opening degree; and taking the minimum value of the initial required torque and the maximum limit value torque currently allowed by the vehicle system as the required torque of the driver.
Optionally, the second determining module is specifically configured to:
determining that the required torque corresponds to an economic demand type if the required torque is lower than a torque threshold value; if the required torque is higher than the torque threshold value, determining the type of the torque requirement of the vehicle in the previous sampling period; if the torque demand type of the previous sampling period is a power demand type, determining that the demand torque corresponds to the power demand type; and if the torque demand type of the previous sampling period is a non-power demand type, determining that the demand torque corresponds to a transition demand type.
Optionally, the apparatus further comprises:
the first torque threshold value determining module is used for determining the current speed information of the vehicle; and searching a pre-established database to obtain the current vehicle speed information and a torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores different vehicle speed information and corresponding relations between the opening degree of the accelerator pedal and the torque threshold value.
Optionally, the apparatus further comprises:
the second torque threshold value determining module is used for determining the current driving mode and the vehicle speed information of the vehicle; and searching a pre-established database to obtain the current driving mode, the vehicle speed information and the torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores the corresponding relations among different current driving modes, the vehicle speed information, the opening degree of the accelerator pedal and the torque threshold value.
Optionally, the apparatus further comprises:
the torque threshold value correction module is used for determining the road gradient where the vehicle is located currently; and correcting the torque threshold value based on the road gradient.
Optionally, the allocation module is specifically configured to:
determining initial torque distribution coefficients respectively distributed to a front motor and a rear motor of the vehicle according to a torque distribution rule corresponding to the target torque demand type; and determining target torques which need to be respectively distributed to the front motor and the rear motor based on the corresponding initial torque distribution coefficients of the front motor and the rear motor, and respectively distributing torques to the front motor and the rear motor of the vehicle according to the target torques which need to be distributed.
Optionally, the apparatus further comprises:
the torque adjusting module is used for acquiring the operation data of each driving wheel of the vehicle and the speed of the whole vehicle of the vehicle; respectively judging whether each driving wheel slips or not based on the running data of each driving wheel and the speed of the whole vehicle; and if so, determining a corresponding torque adjustment rule based on the driving wheel with the slipping and the target torque demand type, and adjusting the torque distributed to each motor of the vehicle according to the torque adjustment rule.
It follows that the present embodiment first introduces differentiation and determination of the type of power and economic demand. The strategy is beneficial to simultaneously considering the economic demand and the power demand of the driver; secondly, after the VCU firstly judges whether the demand intention of a driver is an economic demand or a power demand, the torque distribution calculation is carried out on the front axle driving motor and the rear axle driving motor according to different demand types, so that a large amount of complex calculation of the VCU is reduced, and more reasonable torque distribution is realized. Further, it should be noted that, in the respective components of the apparatus of the present application, the components therein are logically divided according to the functions to be realized, but the present application is not limited thereto, and the respective components may be newly divided or combined as necessary.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and referring to fig. 6, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include hardware required by other services. The processor reads a corresponding computer program from the non-volatile memory into the memory and then runs, forming the vehicle torque processing device on a logical level. Of course, besides the software implementation, the present application does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.
The network interface, the processor and the memory may be interconnected by a bus system. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.
The memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The Memory may include a Random-Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory.
The processor is used for executing the program stored in the memory and specifically executing:
determining a driver's required torque based on a vehicle running state and an accelerator opening degree;
determining a target torque demand type corresponding to the demand torque by combining torque boundaries corresponding to different pre-calibrated torque demand types, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy or dynamic performance;
and distributing the torque for each motor of the vehicle based on a torque distribution rule corresponding to the target torque demand type.
The method performed by the vehicle torque processing device or manager (Master) node as disclosed above in the embodiment of FIG. 5 of the present application may be implemented in or by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The vehicle torque processing device may also execute the methods of FIGS. 1-4 and implement the methods performed by the supervisor node.
Based on the same invention, the embodiment of the application also provides a computer readable storage medium, which stores one or more programs, and when the one or more programs are executed by an electronic device comprising a plurality of application programs, the electronic device is enabled to execute the vehicle torque processing method provided by the corresponding embodiment of fig. 1-4.
Fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application, and referring to fig. 7, the vehicle includes: a processor 701 (or VCU), an accelerator pedal position sensor 702 connected with the processor 701, a vehicle driving state acquisition device 703 and a memory 704;
an accelerator pedal position sensor 702 senses the opening of the vehicle accelerator pedal;
the vehicle running state acquisition device 703 acquires the running state of the vehicle;
the processor 701 determines the driver's required torque based on the vehicle running state and the accelerator opening degree; reading torque boundaries corresponding to different torque demand types from the memory 704, and determining a target torque demand type corresponding to the demand torque, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy or dynamics;
the processor 701 allocates torque to each motor of the vehicle based on a torque allocation rule corresponding to the target torque demand type.
Alternatively, the processor 701 determines the initial torque demand of the driver based on the vehicle running state and the accelerator opening degree; and taking the minimum value of the initial required torque and the maximum limit value torque currently allowed by the vehicle system as the required torque of the driver.
Optionally, if the required torque is lower than a torque threshold, the processor 701 determines that the required torque corresponds to an economic demand type; if the required torque is higher than the torque threshold value, determining the type of the torque requirement of the vehicle in the previous sampling period; if the torque demand type of the previous sampling period is a power demand type, determining that the demand torque corresponds to the power demand type; and if the torque demand type of the previous sampling period is a non-power demand type, determining that the demand torque corresponds to a transition demand type.
Optionally, the processor 701 determines the current vehicle speed information of the vehicle; and searching a pre-established database to obtain the current vehicle speed information and a torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores different vehicle speed information and corresponding relations between the opening degree of the accelerator pedal and the torque threshold value.
Optionally, the processor 701 determines the current driving mode and the vehicle speed information of the vehicle; and searching a pre-established database to obtain the current driving mode, the vehicle speed information and the torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores the corresponding relations among different current driving modes, the vehicle speed information, the opening degree of the accelerator pedal and the torque threshold value.
Optionally, the processor 701 determines the current body inclination of the vehicle; and correcting the torque threshold value based on the vehicle body inclination.
Optionally, the processor 701 determines initial torque distribution coefficients respectively distributed to a front motor and a rear motor of the vehicle according to a torque distribution rule corresponding to the target torque demand type; and determining target torques which need to be respectively distributed to the front motor and the rear motor based on the corresponding initial torque distribution coefficients of the front motor and the rear motor, and respectively distributing torques to the front motor and the rear motor of the vehicle according to the target torques which need to be distributed.
Optionally, the processor 701 obtains operation data of each driving wheel of the vehicle and a vehicle speed of the vehicle; respectively judging whether each driving wheel slips or not based on the running data of each driving wheel and the speed of the whole vehicle; and if so, determining a corresponding torque adjustment rule based on the driving wheel with the slipping and the target torque demand type, and adjusting the torque distributed to each motor of the vehicle according to the torque adjustment rule.
It follows that the present embodiment first introduces differentiation and determination of the type of power and economic demand. The strategy is beneficial to simultaneously considering the economic demand and the power demand of the driver; secondly, after the VCU firstly judges whether the demand intention of a driver is an economic demand or a power demand, the torque distribution calculation is carried out on the front axle driving motor and the rear axle driving motor according to different demand types, so that a large amount of complex calculation of the VCU is reduced, and more reasonable torque distribution is realized. Further, it should be noted that, in the respective components of the apparatus of the present application, the components therein are logically divided according to the functions to be realized, but the present application is not limited thereto, and the respective components may be newly divided or combined as necessary.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The foregoing description of specific embodiments of the present application has been presented. 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.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. 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.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims (10)

1. A vehicle torque processing method, characterized by comprising:
determining a driver's required torque based on a vehicle running state and an accelerator opening degree;
determining a target torque demand type corresponding to the demand torque by combining torque boundaries corresponding to different pre-calibrated torque demand types, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy or dynamic performance;
and distributing the torque for each motor of the vehicle based on a torque distribution rule corresponding to the target torque demand type.
2. The vehicular torque processing method according to claim 1, wherein the determining the driver's required torque based on the vehicle running state and the accelerator opening degree includes:
determining an initial required torque of a driver based on a vehicle running state and an accelerator opening degree;
and taking the minimum value of the initial required torque and the maximum limit value torque currently allowed by the vehicle system as the required torque of the driver.
3. The vehicle torque processing method according to claim 1, wherein the determining a target torque demand type corresponding to the demand torque in combination with the pre-calibrated torque boundaries corresponding to different torque demand types comprises:
determining that the required torque corresponds to an economic demand type if the required torque is lower than a torque threshold value;
if the required torque is higher than the torque threshold value, determining the type of the torque requirement of the vehicle in the previous sampling period; if the torque demand type of the previous sampling period is a power demand type, determining that the demand torque corresponds to the power demand type; and if the torque demand type of the previous sampling period is a non-power demand type, determining that the demand torque corresponds to a transition demand type.
4. The vehicle torque processing method according to claim 3, further comprising, before the determining the target torque demand type corresponding to the demand torque:
determining the current speed information of the vehicle;
and searching a pre-established database to obtain the current vehicle speed information and a torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores different vehicle speed information and corresponding relations between the opening degree of the accelerator pedal and the torque threshold value.
5. The vehicle torque processing method according to claim 3, further comprising, before the determining the target torque demand type corresponding to the demand torque:
determining the current driving mode and the vehicle speed information of the vehicle;
and searching a pre-established database to obtain the current driving mode, the vehicle speed information and the torque threshold value corresponding to the opening degree of the accelerator pedal, wherein the database stores the corresponding relation between the vehicle speed information and the opening degree of the accelerator pedal and the torque threshold value under different current driving modes.
6. The vehicle torque processing method according to claim 4 or 5, characterized by further comprising:
determining the road gradient of the vehicle at present;
and correcting the torque threshold value based on the road gradient.
7. The vehicle torque processing method according to claim 1, wherein the allocating the torque to each motor of the vehicle based on the torque allocation rule corresponding to the target torque demand type includes:
determining initial torque distribution coefficients respectively distributed to a front motor and a rear motor of the vehicle according to a torque distribution rule corresponding to the target torque demand type;
and determining target torques which need to be respectively distributed to the front motor and the rear motor based on the corresponding initial torque distribution coefficients of the front motor and the rear motor, and respectively distributing torques to the front motor and the rear motor of the vehicle according to the target torques which need to be distributed.
8. The vehicle torque processing method according to claim 1, further comprising:
acquiring operation data of each driving wheel of the vehicle and the speed of the whole vehicle of the vehicle;
respectively judging whether each driving wheel slips or not based on the running data of each driving wheel and the speed of the whole vehicle;
and if so, determining a corresponding torque adjustment rule based on the driving wheel with the slipping and the target torque demand type, and adjusting the torque distributed to each motor of the vehicle according to the torque adjustment rule.
9. A vehicular torque processing apparatus characterized by comprising:
a first determination module for determining a driver's required torque based on a vehicle running state and an accelerator opening degree;
the second determining module is used for determining a target torque demand type corresponding to the demand torque by combining torque boundaries corresponding to different pre-calibrated torque demand types, wherein the torque demand type is used for reflecting the demand tendency of a driver on economy or dynamics;
and the distribution module is used for distributing the torque to each motor of the vehicle based on the torque distribution rule corresponding to the target torque demand type.
10. An electronic device, comprising a processor and a memory electrically connected to the processor, the memory configured to store a computer program, the processor configured to invoke the computer program to perform the method of any of claims 1-8.
CN202110437275.1A 2021-04-22 2021-04-22 Vehicle torque processing method, device and equipment Pending CN113060015A (en)

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Application publication date: 20210702