CN113212435A - Calculation method and calculation device for accelerator pedal torque and automobile - Google Patents
Calculation method and calculation device for accelerator pedal torque and automobile Download PDFInfo
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Abstract
The application relates to a calculation method and a calculation device of accelerator pedal torque and an automobile, wherein different accelerator pedal opening degrees are obtained firstly, the accelerator pedal opening degrees are sequenced from small to large in sequence, then the coasting energy recovery torque and the road resistance are combined, the expected acceleration under different vehicle speeds when the accelerator pedal opening degree is 0% is calculated, the expected acceleration under the other accelerator pedal opening degrees is calculated based on the expected acceleration when the accelerator pedal opening degree is 0% and the acceleration change rate, and finally the accelerator pedal torque under the different vehicle speeds under the different accelerator pedal opening degrees is calculated based on the expected acceleration under the different vehicle speeds and the road resistance under the different vehicle speeds. The application can solve the problems that the change of the torque and the irregularity of the vehicle driving caused by the irregularity of the torque cannot keep up with the accelerating intention expected by the driver, and the vehicle driving feeling is poor and the driving performance is not good in the related technology.
Description
Technical Field
The application relates to the technical field of automobile control, in particular to a calculation method and a calculation device for accelerator pedal torque and an automobile.
Background
With the increasingly deepening of energy crisis and the continuous improvement of environmental protection concept, new energy automobiles are rapidly developed.
The new energy automobile comprises a hybrid automobile type and a pure electric automobile type, wherein a power system of the hybrid automobile type comprises an engine and a driving motor, and a power system of the pure electric automobile type does not comprise the engine and only comprises the driving motor.
The inventor researches and discovers that the technology for calculating the accelerator pedal torque by utilizing the existing accelerator pedal torque map has many defects, for example, the calculated accelerator pedal torque is discontinuous, so that the problem of unsmooth driving of a vehicle is caused; for example, during the switching between the acceleration and deceleration states, the acceleration changes greatly, and the change in torque may not follow the acceleration intention desired by the driver, resulting in poor driving feeling and poor drivability of the vehicle.
Disclosure of Invention
The embodiment of the application provides a method and a device for calculating torque of an accelerator pedal and an automobile, and aims to solve the problems that in the related art, due to the fact that the torque is not smooth, the driving smoothness of the automobile and the change of the torque cannot follow the accelerating intention expected by a driver, the driving feeling of the automobile is poor, and the driving performance is poor.
In a first aspect, a method of calculating accelerator pedal torque is provided, which includes:
acquiring different accelerator pedal opening degrees, and sequencing the accelerator pedal opening degrees from small to large in sequence, wherein the minimum accelerator pedal opening degree is 0%;
calculating expected acceleration under different vehicle speeds under different accelerator pedal opening degrees according to a set rule, wherein the set rule comprises the following steps: calculating expected acceleration under different vehicle speeds under the current accelerator pedal opening degree based on the accelerator change rate under different vehicle speeds, the current accelerator pedal opening degree, the previous accelerator pedal opening degree and the expected acceleration under different vehicle speeds in the two adjacent accelerator pedal opening degrees; calculating expected acceleration under different vehicle speeds when the opening of an accelerator pedal is 0% based on road resistance and sliding energy recovery torque under different vehicle speeds;
and calculating the accelerator pedal torques at different speeds under different accelerator pedal opening degrees based on the expected acceleration at different speeds under different accelerator pedal opening degrees and the road resistance under different speeds.
In some embodiments, calculating the expected acceleration at different vehicle speeds when the accelerator opening is 0% based on the road resistance and the coasting energy recovery torque at different vehicle speeds comprises:
calculating the sliding energy recovery force under different vehicle speeds based on the wheel radius and the sliding energy recovery torque under different vehicle speeds;
and calculating the sum of the road resistance and the sliding energy recovery force under different vehicle speeds, and making a quotient with the mass of the whole vehicle to obtain the expected acceleration under different vehicle speeds when the opening of the accelerator pedal is 0%.
In some embodiments, calculating the accelerator pedal torques at different vehicle speeds at different accelerator pedal opening degrees based on the expected accelerations at different vehicle speeds and the road resistances at different vehicle speeds at different accelerator pedal opening degrees comprises the following steps:
calculating the product of the mass of the whole vehicle and the expected acceleration under different vehicle speeds under different accelerator pedal opening degrees to obtain the acceleration force under different vehicle speeds under different accelerator pedal opening degrees;
and calculating the sum of the road resistance under different vehicle speeds and the acceleration force under different vehicle speeds under different accelerator pedal opening degrees, and taking the sum of the sum and the wheel radius as a product to obtain the accelerator pedal torque under different vehicle speeds under different accelerator pedal opening degrees.
In some embodiments, the road resistance is calculated based on the vehicle weight of the entire vehicle, the road resistance coefficient, the wind resistance coefficient, the frontal area of the entire vehicle, and the vehicle speed.
In some embodiments, the calculation method further comprises the steps of:
and judging whether the accelerator pedal torque is larger than the maximum torque of the power system, and if so, replacing the accelerator pedal torque with the maximum torque of the power system.
In some embodiments, the calculation method further comprises the steps of:
drawing accelerator pedal torques at different speeds under different accelerator pedal opening degrees into a torque curve of the accelerator pedal opening degree-vehicle speed-accelerator pedal torque;
and smoothing the torque curve to obtain the final accelerator pedal torque under different accelerator pedal opening degrees and different vehicle speeds.
In some embodiments, obtaining the accelerator opening comprises:
obtaining an effective value based on the output voltage of the accelerator pedal;
and calculating the opening degree of the accelerator pedal based on the effective value, the minimum threshold value and the maximum threshold value of the effective sampling of the output voltage of the accelerator pedal.
In some embodiments, obtaining the effective value based on the output voltage of the accelerator pedal includes the steps of:
collecting the output voltage of an accelerator pedal, and converting to obtain a sampling value;
judging whether the sampling value exceeds the effective range, and if so, acquiring again;
and filtering the sampling value to obtain an effective value.
In a second aspect, there is provided an accelerator pedal torque calculation device including:
an opening degree obtaining module for: acquiring different accelerator pedal opening degrees, and sequencing the accelerator pedal opening degrees from small to large in sequence, wherein the minimum accelerator pedal opening degree is 0%;
a first computing module to: calculating expected acceleration under different vehicle speeds under different accelerator pedal opening degrees according to a set rule, wherein the set rule comprises the following steps: calculating expected acceleration under different vehicle speeds under the current accelerator pedal opening degree based on the accelerator change rate under different vehicle speeds, the current accelerator pedal opening degree, the previous accelerator pedal opening degree and the expected acceleration under different vehicle speeds in the two adjacent accelerator pedal opening degrees; calculating expected acceleration under different vehicle speeds when the opening of an accelerator pedal is 0% based on road resistance and sliding energy recovery torque under different vehicle speeds;
a second computing module to: and calculating the accelerator pedal torques at different speeds under different accelerator pedal opening degrees based on the expected acceleration at different speeds under different accelerator pedal opening degrees and the road resistance under different speeds.
In a third aspect, an automobile is provided that includes a controller for executing the accelerator pedal torque calculation method described above.
The beneficial effect that technical scheme that this application provided brought includes:
the embodiment of the application provides a calculation method and a calculation device of accelerator pedal torque and an automobile, the method comprises the steps of firstly obtaining different accelerator pedal opening degrees, sequencing the accelerator pedal opening degrees from small to large in sequence, then combining sliding energy recovery torque and road resistance, calculating expected acceleration under different automobile speeds when the accelerator pedal opening degree is 0%, calculating expected acceleration under the other accelerator pedal opening degrees based on the expected acceleration when the accelerator pedal opening degree is 0% and the change rate of the accelerator pedal opening degree, and finally calculating the accelerator pedal torque under the different automobile speeds under the different accelerator pedal opening degrees. In the application, on one hand, the sliding energy recovery torque is blended, when the accelerator pedal is switched from other opening degrees to 0% opening degree, the torque transition performance and smoothness are better, and the problem of vehicle driving irregularity caused by the irregularity of the torque can be avoided; on the other hand, the expected acceleration is blended, the defect of poor responsiveness of the conventional torque identification method can be overcome, the driving intention of a driver can be better identified, the acceleration responsiveness is improved, and the driving quality of the automobile is effectively improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of an automobile according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of a method for calculating accelerator pedal torque according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of calculating expected acceleration at different vehicle speeds when the accelerator pedal opening is 0% according to the embodiment of the present application;
FIG. 4 is a graph of acceleration rate versus vehicle speed provided by an embodiment of the present application;
FIG. 5 is a flowchart of calculating accelerator pedal torque at different vehicle speeds at different accelerator pedal openings according to an embodiment of the present application;
fig. 6 is a diagram of accelerator pedal torque relationships at different vehicle speeds and with different accelerator pedal opening degrees according to the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
After repeated tests and verifications, the applicant finds that according to the accelerator pedal torque map provided in the prior art, when the accelerator pedal is released, the problem of unsmooth driving of the vehicle due to torque discontinuity can occur because the energy recovery torque is not considered, and meanwhile, because the acceleration performance is not considered, during the switching process of the acceleration state and the deceleration state, the acceleration change is large, the change of the torque can not follow the acceleration intention expected by the driver, so that the problems of poor driving feeling and poor driving performance of the vehicle are caused.
Therefore, the embodiment of the application provides a method for calculating the torque of the accelerator pedal, and aims to solve the problems that the driving of a vehicle is not smooth due to the irregularity of the torque and the change of the torque cannot follow the accelerating intention expected by a driver, so that the driving feeling of the vehicle is poor and the driving performance is poor in the related art.
Referring to fig. 1, an embodiment of the present application provides an automobile 10, which belongs to a new energy automobile. The vehicle 10 may be a hybrid vehicle having two drive systems, i.e., an engine (e.g., an internal combustion engine) and a drive motor, or may be an electric vehicle having only a drive motor.
In detail, the components included in the automobile 10 are not limited, and may be selected according to the actual application requirements. For example, the vehicle 10 may include, but is not limited to, a controller 20, an accelerator pedal, a brake pedal, and the like.
Wherein the controller 20 is connected to an accelerator pedal sensor and the controller 20 recognizes an accelerator pedal signal. For a new energy automobile, the controller 20 is a vehicle control unit VCU, which controls a power assembly of the new energy automobile, and for a pure electric vehicle, the vehicle control unit controls a motor, and for a hybrid electric vehicle, the vehicle control unit controls an engine, a driving motor, a generator, and the like.
The controller 20 may include, among other things, a memory 22, a processor 24, and an accelerator pedal torque calculation device 26. And, the memory 22 and the processor 24 are electrically connected, directly or indirectly, to enable transmission or interaction of data. For example, they may be electrically connected to each other via one or more communication buses or signal lines. The accelerator pedal torque calculating device 26 comprises at least one software functional module which can be stored in the memory 22 in the form of software or firmware. The processor 24 is used for executing executable computer programs stored in the memory 22, such as software functional modules and computer programs included in the accelerator pedal torque calculating device 26, and the like, so as to realize the accelerator pedal torque calculating method.
Alternatively, the Memory 22 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. Wherein the memory 22 is used for storing a program, and the processor 24 executes the program after receiving the execution instruction.
Processor 24 may be an integrated circuit chip having signal processing capabilities. The Processor 24 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a System on Chip (SoC), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, 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.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that the controller 20 may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. Also, the components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, the embodiment of the present application further provides a calculation method of accelerator pedal torque that can be applied to the controller 20 described above.
The method steps defined by the flow chart relating to the method of calculating accelerator pedal torque may be implemented by the controller 20. The specific process shown in fig. 2 will be described in detail below.
201: different accelerator pedal opening degrees are obtained and are sequentially ranked from small to large, wherein the minimum accelerator pedal opening degree is 0%, and the maximum accelerator pedal opening degree is 100%.
In the embodiment, the values of the different accelerator pedal opening degrees can be selected according to actual requirements.
For example, a set of different accelerator pedal opening degrees is, in order: 0%, 3%, 6%, 9%, 12%, 15%, 20%, 25%, 30%, 35%, 40%, 45%, 50%, 60%, 70%, 80% and 100%.
Or, a group of different accelerator pedal opening degrees are sequentially: 0%, 4%, 8%, 12%, 16%, 20%, 24%, 28%, 32%, 36%, 40%, 50%, 60%, 70%, 80%, 90% and 100%.
Or, a group of different accelerator pedal opening degrees are sequentially: 0%, 5%, 10%, 15%, 20%, 25%, 30%, 35%, 40%, 45%, 50%, 55%, 60%, 70%, 80%, 90% and 100%.
202: according to a set rule, calculating expected accelerations under different vehicle speeds under different accelerator pedal opening degrees, wherein the set rule comprises the following steps:
(1) based on the road resistance and the coasting energy recovery torque at different vehicle speeds, the expected acceleration at different vehicle speeds is calculated when the accelerator opening is 0%.
(2) And in two adjacent accelerator pedal opening degrees, calculating the expected acceleration under different vehicle speeds under the current accelerator pedal opening degree based on the accelerator change rate under different vehicle speeds, the current accelerator pedal opening degree, the previous accelerator pedal opening degree and the expected acceleration under different vehicle speeds under the previous accelerator pedal opening degree.
Step 202 is described in detail below:
referring to fig. 3, for rule (1), the following steps may be taken to perform the calculation:
301: and calculating the sliding energy recovery force under different vehicle speeds based on the wheel radius and the sliding energy recovery torque under different vehicle speeds.
The sliding energy recovery torque is obtained by considering drivability and optimal energy recovery according to the target driving range, the sliding energy recovery torque has a corresponding relation with the vehicle speed and the driving range, and the sliding energy recovery torques at different vehicle speeds can be obtained by a calibration method.
The coasting energy recovery force may be calculated by a first formula including:
in the above formula, Fgen,jFor the jth vehicle speed vjJ is 1, 2, …, n-1, n is the total number of different vehicle speeds, Tgen,jFor the jth vehicle speed vjThe lower coasting energy recovery torque, r is the wheel radius.
302: and calculating the sum of the road resistance and the sliding energy recovery force under different vehicle speeds, and making a quotient with the mass of the whole vehicle to obtain the expected acceleration under different vehicle speeds when the opening of the accelerator pedal is 0%.
In the present embodiment, when the accelerator opening is 0%, the desired acceleration may be calculated by a second formula including:
in the above formula, i is 1, ai,jThe j-th vehicle speed v at the i-th accelerator opening (i.e., 0%)jDesired acceleration of FjFor the jth vehicle speed vjRoad resistance of lower, maThe mass of the whole vehicle.
For rule (2), it may be calculated by a third formula, which includes:
ai,j＝ai-1,j+Δaj×(Pi-Pi-1)
in the above formula, i is 2, …, m-1, m is the total number of different accelerator pedal opening degrees, ai,jIs the ith accelerator pedal opening degree PiTime jth vehicle speed vjDesired acceleration of ai-1,jIs the i-1 st accelerator pedal opening degree Pi-1Time jth vehicle speed vjDesired acceleration of, Δ ajFor the jth vehicle speed vjAcceleration rate of (d).
That is, when the accelerator opening is 0%, the desired acceleration is calculated from the road resistance and the coasting energy recovery force, and for the desired accelerations at the remaining accelerator openings, the accelerator openings are sorted in order of magnitude, numbered in order of 2, …, m-1, m, and the desired acceleration at the current accelerator opening is calculated based on the desired acceleration at the previous accelerator opening.
Therefore, it can be understood that the second formula and the third formula can be combined into the following fourth formula:
it can be understood that the acceleration rate is empirical data, and the acceleration rate is generally obtained by collecting different vehicle speeds under different accelerator pedal opening degrees under typical conditions and analyzing and fitting the collected data to obtain the acceleration rate under different vehicle speeds in a conventional driving mode. Referring to fig. 4, a graph of acceleration rate versus vehicle speed is shown.
It will be appreciated that the road resistance may be calculated by a fifth formula, which includes:
in the above formula, FjFor the jth vehicle speed vjThe road resistance G is the weight of the whole vehicle, f is the road resistance coefficient, CDThe wind resistance coefficient is shown, and A is the windward area of the whole vehicle.
203: and calculating the accelerator pedal torques at different speeds under different accelerator pedal opening degrees based on the expected acceleration at different speeds and the road resistance at different speeds under different accelerator pedal opening degrees, so as to obtain the accelerator pedal torque map.
When the vehicle runs, the corresponding accelerator pedal torque can be obtained through the accelerator pedal torque map according to the real-time accelerator pedal opening and the vehicle speed.
Step 203 is described in detail below:
referring to fig. 5, step 203 may be processed as follows:
501: and calculating the product of the mass of the whole vehicle and the expected acceleration under different vehicle speeds under different accelerator pedal opening degrees to obtain the acceleration force under different vehicle speeds under different accelerator pedal opening degrees.
The acceleration force may be calculated by a sixth formula, which includes:
Fa,i,j＝ma×ai,j
in the above formula, Fa,i,jIs the ith accelerator pedal opening degree PiTime jth vehicle speed vjAcceleration under, maThe mass of the whole vehicle.
502: and calculating the sum of the road resistance under different vehicle speeds and the acceleration force under different vehicle speeds under different accelerator pedal opening degrees, and taking the sum of the sum and the wheel radius as a product to obtain the accelerator pedal torque under different vehicle speeds under different accelerator pedal opening degrees.
The accelerator pedal torque may be calculated by a seventh equation including:
Twheel,i,j＝(Fa,i,j+Fj)×r
in the above formula, Twheel,i,jIs the ith accelerator pedal opening degree PiTime jth vehicle speed vjAnd the lower wheel side torque, namely the accelerator pedal torque.
When i is 1, 2, …, m-1, m, j is 1, 2, …, n-1, n, the accelerator pedal torque at different vehicle speeds at different accelerator pedal opening degrees can be calculated according to the seventh formula.
In calculating the accelerator pedal torque, there may be a calculated value exceeding the maximum powertrain torque, and data optimization is required, so in a preferred embodiment, the following is required for each calculated accelerator pedal torque:
and judging whether the torque of the accelerator pedal is larger than the maximum torque of the power system, if so, replacing the torque of the accelerator pedal by the maximum torque of the power system, and if not, directly adopting the current value.
For a hybrid electric vehicle, the power system comprises an engine and a driving motor, the maximum torque of the power system is the maximum torque superposition value of the engine and the driving motor, and for a pure electric vehicle, the power system comprises the driving motor, and the maximum torque of the power system is the maximum torque of the driving motor.
Since a set of different accelerator pedal opening degrees are discrete points, and the calculated accelerator pedal torques are all discrete points, in order to maintain the continuity of the data, in a preferred embodiment, all the accelerator pedal torques are further smoothed, specifically as follows:
and drawing the accelerator pedal torque at different vehicle speeds under different accelerator pedal opening degrees into a torque curve of the accelerator pedal opening degree-vehicle speed-accelerator pedal torque.
The torque curves are smoothed to obtain final accelerator pedal torques at different vehicle speeds under different accelerator pedal opening degrees, as shown in fig. 6, where the abscissa is the vehicle speed, the ordinate is the accelerator pedal torque, each curve is the accelerator pedal torque at the corresponding accelerator pedal opening degree corresponding to the different vehicle speeds, and the accelerator pedal opening degrees of each curve from bottom to top are 0%, 3%, 6%, 9%, 12%, 15%, 20%, 25%, 30%, 35%, 40%, 45%, 50%, 60%, 70%, and 100%, respectively.
In a preferred embodiment, the step of obtaining the accelerator opening comprises the steps of:
based on the output voltage of the accelerator pedal, an effective value is obtained.
And calculating the opening degree of the accelerator pedal based on the effective value, the minimum threshold value and the maximum threshold value of the effective sampling of the output voltage of the accelerator pedal.
The accelerator opening degree may be calculated by an eighth formula including:
in the above formula, ViIs an effective value, VminEffective sampling of the output voltage of the accelerator pedal by a minimum threshold value, VmaxThe maximum threshold value is effectively sampled for the output voltage of the accelerator pedal.
When V isi≥VmaxWhen making Vi＝VmaxWhen V isi＜VminWhen making Vi＝Vmin。
In the above steps, an effective value is obtained based on the output voltage of the accelerator pedal, and the following steps may be adopted:
and collecting the output voltage of the accelerator pedal, and converting to obtain a sampling value.
Judging whether the sampling value exceeds the effective range, and if so, acquiring again; the effective range can be set in advance according to actual conditions, for example, can be set as Vmin～Vmax。
And filtering the sampling value to obtain an effective value.
The embodiment of the application also provides a calculation device of the accelerator pedal torque, which comprises an opening degree acquisition module, a first calculation module and a second calculation module.
The opening degree obtaining module is used for: acquiring different accelerator pedal opening degrees, and sequencing the accelerator pedal opening degrees from small to large in sequence, wherein the minimum accelerator pedal opening degree is 0%;
the first calculation module is used for: according to a set rule, calculating expected accelerations under different vehicle speeds under different accelerator pedal opening degrees, wherein the set rule comprises the following steps: calculating expected acceleration under different vehicle speeds under the current accelerator pedal opening degree based on the accelerator change rate under different vehicle speeds, the current accelerator pedal opening degree, the previous accelerator pedal opening degree and the expected acceleration under different vehicle speeds in the two adjacent accelerator pedal opening degrees; calculating expected acceleration under different vehicle speeds when the opening of an accelerator pedal is 0% based on road resistance and sliding energy recovery torque under different vehicle speeds;
the second calculation module is used for: and calculating the accelerator pedal torques at different speeds under different accelerator pedal opening degrees based on the expected acceleration at different speeds under different accelerator pedal opening degrees and the road resistance under different speeds.
The principle of the application is as follows:
according to the method, different opening degrees of the accelerator pedals are firstly obtained and are sequentially sequenced from small to large, then the sliding energy recovery torque and the road resistance are combined, the expected acceleration under different vehicle speeds is calculated when the opening degree of the accelerator pedals is 0%, the expected acceleration under the opening degree of the remaining accelerator pedals is calculated based on the expected acceleration when the opening degree of the accelerator pedals is 0% and the change rate of the acceleration, and finally the torque of the accelerator pedals under different vehicle speeds is calculated under different opening degrees of the accelerator pedals. In the application, on one hand, the sliding energy recovery torque is blended, when the accelerator pedal is switched from other opening degrees to 0% opening degree, the torque transition performance and smoothness are better, and the problem of vehicle driving irregularity caused by the irregularity of the torque can be avoided; on the other hand, the expected acceleration is blended, the defect of poor responsiveness of the conventional torque identification method can be overcome, the driving intention of a driver can be better identified, the acceleration responsiveness is improved, and the driving quality of the automobile is effectively improved.
Therefore, the calculated accelerator pedal torque maps under different accelerator pedal opening degrees and different vehicle speeds are stored in the memory, and when the vehicle runs, the corresponding accelerator pedal torque can be obtained by calling the accelerator pedal torque map according to the real-time accelerator pedal opening degree and the real-time vehicle speed.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of calculating accelerator pedal torque, comprising:
acquiring different accelerator pedal opening degrees, and sequencing the accelerator pedal opening degrees from small to large in sequence, wherein the minimum accelerator pedal opening degree is 0%;
calculating expected acceleration under different vehicle speeds under different accelerator pedal opening degrees according to a set rule, wherein the set rule comprises the following steps: calculating expected acceleration under different vehicle speeds under the current accelerator pedal opening degree based on the accelerator change rate under different vehicle speeds, the current accelerator pedal opening degree, the previous accelerator pedal opening degree and the expected acceleration under different vehicle speeds in the two adjacent accelerator pedal opening degrees; calculating expected acceleration under different vehicle speeds when the opening of an accelerator pedal is 0% based on road resistance and sliding energy recovery torque under different vehicle speeds;
and calculating the accelerator pedal torques at different speeds under different accelerator pedal opening degrees based on the expected acceleration at different speeds under different accelerator pedal opening degrees and the road resistance under different speeds.
2. The accelerator pedal torque calculation method according to claim 1, characterized in that:
based on road resistance and sliding energy recovery torque under different vehicle speeds, when the opening of an accelerator pedal is 0%, expected acceleration under different vehicle speeds is calculated, and the method comprises the following steps:
calculating the sliding energy recovery force under different vehicle speeds based on the wheel radius and the sliding energy recovery torque under different vehicle speeds;
and calculating the sum of the road resistance and the sliding energy recovery force under different vehicle speeds, and making a quotient with the mass of the whole vehicle to obtain the expected acceleration under different vehicle speeds when the opening of the accelerator pedal is 0%.
3. The accelerator pedal torque calculation method according to claim 1, characterized in that:
calculating the accelerator pedal torques under different vehicle speeds under different accelerator pedal opening degrees based on the expected acceleration under different vehicle speeds and the road resistance under different vehicle speeds under different accelerator pedal opening degrees, comprising the following steps:
calculating the product of the mass of the whole vehicle and the expected acceleration under different vehicle speeds under different accelerator pedal opening degrees to obtain the acceleration force under different vehicle speeds under different accelerator pedal opening degrees;
and calculating the sum of the road resistance under different vehicle speeds and the acceleration force under different vehicle speeds under different accelerator pedal opening degrees, and taking the sum of the sum and the wheel radius as a product to obtain the accelerator pedal torque under different vehicle speeds under different accelerator pedal opening degrees.
4. The accelerator pedal torque calculation method according to claim 1, characterized in that:
and calculating the road resistance based on the vehicle weight of the whole vehicle, the road resistance coefficient, the wind resistance coefficient, the windward area of the whole vehicle and the vehicle speed.
5. The method of calculating accelerator pedal torque according to claim 1, further comprising the step of:
and judging whether the accelerator pedal torque is larger than the maximum torque of the power system, and if so, replacing the accelerator pedal torque with the maximum torque of the power system.
6. The method of calculating accelerator pedal torque according to claim 1, further comprising the step of:
drawing accelerator pedal torques at different speeds under different accelerator pedal opening degrees into a torque curve of the accelerator pedal opening degree-vehicle speed-accelerator pedal torque;
and smoothing the torque curve to obtain the final accelerator pedal torque under different accelerator pedal opening degrees and different vehicle speeds.
7. The accelerator pedal torque calculation method according to claim 1, wherein obtaining the accelerator pedal opening degree comprises the steps of:
obtaining an effective value based on the output voltage of the accelerator pedal;
and calculating the opening degree of the accelerator pedal based on the effective value, the minimum threshold value and the maximum threshold value of the effective sampling of the output voltage of the accelerator pedal.
8. The accelerator pedal torque calculation method according to claim 7, wherein obtaining the effective value based on the output voltage of the accelerator pedal includes the steps of:
collecting the output voltage of an accelerator pedal, and converting to obtain a sampling value;
judging whether the sampling value exceeds the effective range, and if so, acquiring again;
and filtering the sampling value to obtain an effective value.
9. An accelerator pedal torque calculation device, characterized by comprising:
an opening degree obtaining module for: acquiring different accelerator pedal opening degrees, and sequencing the accelerator pedal opening degrees from small to large in sequence, wherein the minimum accelerator pedal opening degree is 0%;
a first computing module to: calculating expected acceleration under different vehicle speeds under different accelerator pedal opening degrees according to a set rule, wherein the set rule comprises the following steps: calculating expected acceleration under different vehicle speeds under the current accelerator pedal opening degree based on the accelerator change rate under different vehicle speeds, the current accelerator pedal opening degree, the previous accelerator pedal opening degree and the expected acceleration under different vehicle speeds in the two adjacent accelerator pedal opening degrees; calculating expected acceleration under different vehicle speeds when the opening of an accelerator pedal is 0% based on road resistance and sliding energy recovery torque under different vehicle speeds;
a second computing module to: and calculating the accelerator pedal torques at different speeds under different accelerator pedal opening degrees based on the expected acceleration at different speeds under different accelerator pedal opening degrees and the road resistance under different speeds.
10. An automobile, characterized in that: which includes a controller for executing the accelerator pedal torque calculation method according to any one of claims 1 to 9.
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