CN113479208A - Automobile starting control method, device, equipment and storage medium - Google Patents
Automobile starting control method, device, equipment and storage medium Download PDFInfo
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- CN113479208A CN113479208A CN202110806122.XA CN202110806122A CN113479208A CN 113479208 A CN113479208 A CN 113479208A CN 202110806122 A CN202110806122 A CN 202110806122A CN 113479208 A CN113479208 A CN 113479208A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18018—Start-stop drive, e.g. in a traffic jam
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/30—Wheel torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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- 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
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Abstract
The invention provides a method, a device, equipment and a storage medium for controlling automobile starting, wherein the method comprises the following steps: acquiring the change rate of the rear axle rotating speed and the rear axle rotating speed of the vehicle; determining a rear axle target torque of the vehicle according to the rear axle required torque, the rear axle rotating speed change rate and the rear axle rotating speed; adjusting the rotating speed of a rear axle driving system of the vehicle according to the rear axle target torque; acquiring the rotation speed difference of a front axle and a rear axle of the vehicle and the adjusted rotation speed of the rear axle; determining the front axle target torque of the vehicle according to the front axle required torque, the front and rear axle rotating speed difference and the adjusted rear axle rotating speed; and controlling the rotating speed of a front axle driving system of the vehicle according to the front axle target torque so as to perform launch starting control on the vehicle. The invention can fully utilize the adhesive force of the tire, improve the acceleration performance of the vehicle and realize the catapult starting control of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle starting control, in particular to an automobile starting control method, device, equipment and storage medium.
Background
With the development of electric automobile intellectualization, people have higher and higher performance requirements on electric automobiles. In the full-load starting and accelerating process, the conventional starting control scheme is that an Electronic Stability Program (ESP) of the vehicle detects the slip rate of the wheel, and when the slip rate of the vehicle exceeds the target slip rate of the vehicle, a torque reduction request is sent to a Vehicle Control Unit (VCU), so that the rotating speed of the wheel is adjusted, and the purpose of controlling the acceleration of the vehicle is achieved. During the whole control process, the ESP is effective when the rear wheels do not slip, but when the rear EDS torque output capability exceeds its tire adhesion limit, the vehicle start response performance is affected due to the intervention of the ESP.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method, an apparatus, a device and a storage medium for controlling vehicle start, which can improve the acceleration performance of a vehicle by making full use of the adhesion of tires, and realize the launch start control of the vehicle.
In a first aspect, an embodiment of the present invention provides an automobile starting control method, including:
acquiring the change rate of the rear axle rotating speed and the rear axle rotating speed of the vehicle;
determining a rear axle target torque of the vehicle according to the rear axle required torque of the vehicle, the rear axle rotating speed change rate and the rear axle rotating speed;
adjusting the rotating speed of a rear axle driving system of the vehicle according to the rear axle target torque;
acquiring the rotation speed difference of a front axle and a rear axle of the vehicle and the adjusted rotation speed of the rear axle;
determining a front axle target torque of the vehicle according to the front axle required torque of the vehicle, the front and rear axle rotating speed difference and the adjusted rear axle rotating speed;
and controlling the rotating speed of a front axle driving system of the vehicle according to the front axle target torque so as to perform launch starting control on the vehicle.
As an improvement of the above scheme, before obtaining the rear axle rotation speed change rate and the rear axle rotation speed of the vehicle, the method further includes:
responding to the received starting signal, and judging whether the vehicle meets any one preset starting condition;
if so, carrying out launch starting control on the vehicle through a VCU or an MCU of the vehicle;
and if not, performing starting control on the vehicle according to the front axle required torque and the rear axle required torque.
As a modification of the above, the start-up conditions include: when the vehicle is in the motion mode, the traction control system of the vehicle is turned off, and the vehicle is in a driving gear.
As an improvement of the above solution, the determining a rear axle target torque of the vehicle according to the rear axle required torque of the vehicle, the rear axle rotation speed change rate, and the rear axle rotation speed includes:
acquiring the output torque of the rear axle according to the change rate of the rotating speed of the rear axle, the rotating speed of the rear axle and a preset rear axle torque limit table;
and determining the rear axle target torque of the vehicle according to the rear axle output torque and the rear axle required torque.
As an improvement of the above, the determining a rear axle target torque of the vehicle based on the rear axle output torque and the rear axle required torque includes:
comparing the rear axle output torque to the rear axle demand torque;
when the rear axle output torque is smaller than the rear axle required torque, taking the rear axle output torque as a rear axle target torque;
and when the rear axle output torque is larger than or equal to the rear axle required torque, taking the rear axle required torque as a rear axle target torque.
As an improvement of the above solution, the determining a front axle target torque of the vehicle according to the front axle required torque of the vehicle, the front and rear axle rotation speed difference, and the adjusted rear axle rotation speed includes:
acquiring front axle output torque according to the front and rear axle rotation speed difference, the adjusted rear axle rotation speed and a preset front axle torque limit table;
and determining the front axle target torque of the vehicle according to the front axle output torque and the front axle required torque.
As an improvement of the above, said determining a front axle target torque of the vehicle based on the front axle output torque and the front axle required torque includes:
comparing the front axle output torque to the front axle demand torque;
when the front axle output torque is smaller than the front axle required torque, taking the front axle output torque as a front axle target torque;
and when the front axle output torque is larger than or equal to the front axle required torque, taking the front axle required torque as a front axle target torque.
In a second aspect, an embodiment of the present invention provides an automobile starting control device, including:
the first rotating speed obtaining module is used for obtaining the change rate of the rotating speed of a rear axle of the vehicle and the rotating speed of the rear axle;
the rear axle rotating speed determining module is used for determining the target rear axle torque of the vehicle according to the required rear axle torque, the change rate of the rear axle rotating speed and the rear axle rotating speed;
the rear axle drive control module is used for adjusting the rotating speed of a rear axle drive system of the vehicle according to the rear axle target torque;
the second rotating speed obtaining module is used for obtaining the rotating speed difference of the front axle and the rear axle of the vehicle and the adjusted rotating speed of the rear axle;
the front axle rotating speed determining module is used for determining the front axle target torque of the vehicle according to the front axle required torque, the front and rear axle rotating speed difference and the adjusted rear axle rotating speed;
and the front axle drive control module is used for controlling the rotating speed of a front axle drive system of the vehicle according to the front axle target torque so as to carry out launch starting control on the vehicle.
In a third aspect, an embodiment of the present invention provides an automobile startup control device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the automobile startup control method according to the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, where, when the computer program runs, a device in which the computer-readable storage medium is located is controlled to execute the vehicle starting control method according to the first aspect.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the rear axle driving system of the vehicle is subjected to rotating speed control firstly, and then the rotating speed of the front axle driving system is controlled based on the adjusted rear axle rotating speed after the rotating speed is adjusted, so that the condition that the vehicle cannot be started normally due to rear wheel skidding can be effectively avoided, meanwhile, a vehicle starting control method can be directly executed in a VCU or a MCU (microprogrammed control Unit) without using an ESP (electronic stability program) intervention starting control, the response speed is high, the control frequency is high, and the vehicle launching starting control is realized.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a vehicle starting control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an all-wheel drive of an automobile according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a vehicle starting control device according to an embodiment of the invention;
fig. 4 is a schematic diagram of a vehicle starting control device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be 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 invention.
Example one
Referring to fig. 1, a method for controlling starting of an automobile according to an embodiment of the present invention is applicable to an electric automobile, and is executed by a VCU or an MCU of the electric automobile, and specifically includes:
s1: acquiring the change rate of the rear axle rotating speed and the rear axle rotating speed of the vehicle;
in the embodiment of the present invention, when the start signal is received, the VCU or the MCU of the vehicle executes the vehicle start control method according to the present invention, and it should be noted that the generation manner of the start signal is not specifically limited in the present invention, for example, the start signal may be generated by stepping on an accelerator pedal, or by clicking/touching an accelerator control button of the vehicle.
Further, the method further comprises:
judging whether the change rate of the rotating speed of the rear axle exceeds a preset theoretical maximum value or not;
if yes, adjusting the rotation speed of the rear axle driving system of the vehicle in steps S2-S3;
if not, the rotational speed of the rear axle drive system of the vehicle in steps S2-S3 may be adjusted, or the rotational speed of the front axle drive system of the vehicle in steps S4-S6 may be adjusted as it is.
After the vehicle receives the starting signal, the adhesion condition of the rear wheel of the vehicle can be judged according to the rotating speed of the rear axle of the vehicle. When the longitudinal slip rate of the tire is small, the change rate of the rotating speed of the rear axle and the acceleration of the whole vehicle are approximately in a linear relation, and the maximum acceleration capacity of the whole vehicle is limited by the longitudinal adhesive force of the tire. When the change rate of the rotation speed of the rear axle exceeds the theoretical maximum value, the longitudinal slip rate of the rear wheel is larger, namely, the phenomenon of slipping occurs.
The theoretical maximum value of the change rate of the rotating speed of the rear axle can be calibrated on the whole vehicle through tests.
S2: determining a rear axle target torque of the vehicle according to the rear axle required torque of the vehicle, the rear axle rotating speed change rate and the rear axle rotating speed;
s3: adjusting the rotating speed of a rear axle driving system of the vehicle according to the rear axle target torque;
it should be noted that steps S1-S3 in the embodiment of the present invention are also applicable to Rear Wheel Drive (RWD) of a vehicle.
S4: acquiring the rotation speed difference of a front axle and a rear axle of the vehicle and the adjusted rotation speed of the rear axle;
s5: determining a front axle target torque of the vehicle according to the front axle required torque of the vehicle, the front and rear axle rotating speed difference and the adjusted rear axle rotating speed;
s6: and controlling the rotating speed of a front axle driving system of the vehicle according to the front axle target torque so as to perform launch starting control on the vehicle.
In the embodiment of the invention, the rotation speed of the rear axle driving system of the vehicle is controlled firstly, and then the rotation speed of the front axle driving system is controlled based on the adjusted rotation speed of the rear axle after the rotation speed is adjusted, so that the condition that the vehicle cannot be started normally due to the slipping of the rear wheel can be effectively avoided, and meanwhile, the vehicle starting control method can be directly executed in the VCU or the MCU in the ejection starting control process of the steps S1-S6 without ESP intervention starting control due to the fact that a wheel speed signal is not needed, the control frequency is high, the torque response speed of the vehicle can be effectively improved, the ejection starting control of the vehicle is realized, and the acceleration performance of the whole vehicle can be obviously improved.
In the embodiment of the invention, the vehicle starting control method of the steps S1-S6 is preferably executed by the MCU of the vehicle, and the execution of the vehicle starting control method by the MCU can further improve the control frequency and response speed, compared with the execution in the VCU, and can significantly improve the vehicle control experience.
In an optional embodiment, before obtaining the rear axle rotation speed change rate and the rear axle rotation speed of the vehicle, the method further includes:
responding to the received starting signal, and judging whether the vehicle meets any one preset starting condition;
if so, carrying out launch starting control on the vehicle through a VCU or an MCU of the vehicle;
and if not, performing starting control on the vehicle according to the front axle required torque and the rear axle required torque.
Further, the starting conditions include: when the vehicle is in the motion mode, the traction control system of the vehicle is turned off, and the vehicle is in a driving gear.
In an optional embodiment, the determining a rear axle target torque of the vehicle according to the rear axle required torque of the vehicle and the rear axle rotation speed change rate and the rear axle rotation speed comprises:
acquiring the output torque of the rear axle according to the change rate of the rotating speed of the rear axle, the rotating speed of the rear axle and a preset rear axle torque limit table;
and determining the rear axle target torque of the vehicle according to the rear axle output torque and the rear axle required torque.
In an alternative embodiment, said determining a rear axle target torque of said vehicle based on said rear axle output torque and said rear axle demand torque comprises:
comparing the rear axle output torque to the rear axle demand torque;
when the rear axle output torque is smaller than the rear axle required torque, taking the rear axle output torque as a rear axle target torque;
and when the rear axle output torque is larger than or equal to the rear axle required torque, taking the rear axle required torque as a rear axle target torque.
For example, the corresponding front/rear axle target torque may be calculated by the equation T973P/n. Wherein T represents torque, P represents rated power, and n represents rotating speed; and P is MN/9550, M represents rated torque, and N represents rated rotating speed.
For example, the rear axle torque limit table records a mapping relationship among the rear axle output torque, the rear axle rotational speed change rate and the rear axle rotational speed; it should be noted that, the present invention does not specifically limit the rear axle torque limit table, and the user can perform custom setting according to the acceleration performance obtained when the vehicle is running on the actual road, for example, the rear axle torque limit table is shown in the following table:
in the embodiment of the invention, the VCU or the MCU of the vehicle determines the corresponding rear axle output torque from the rear engine limit table according to the acquired rear axle rotating speed change rate and the rear axle rotating speed of the vehicle; and according to the rear axle required torque output by the automobile Electronic System, calculating corresponding rear axle required torque, comparing the rear axle output torque with the rear axle required torque, taking the smaller value between the rear axle output torque and the rear axle required torque as the rear axle target torque, and outputting the rear axle target torque to a rear EDS (Electronic Differential System) so as to adjust the rotating speed of a rear axle driving System of the vehicle and realize the rotating speed control of the rear wheels of the vehicle. Because the VCU or MCU of vehicle can obtain corresponding rotational speed and demand moment of torsion in real time and carry out the rotational speed control of rear wheel, need not through ESP, can realize the quick response of vehicle rear wheel control, can show the control that promotes the vehicle and experience.
In an optional embodiment, the determining a front axle target torque of the vehicle according to the front axle required torque of the vehicle and the front-rear axle rotation speed difference and the adjusted rear axle rotation speed comprises:
acquiring front axle output torque according to the front and rear axle rotation speed difference, the adjusted rear axle rotation speed and a preset front axle torque limit table;
and determining the front axle target torque of the vehicle according to the front axle output torque and the front axle required torque.
In an alternative embodiment, said determining a front axle target torque of said vehicle based on said front axle output torque and said front axle requested torque comprises:
comparing the front axle output torque to the front axle demand torque;
when the front axle output torque is smaller than the front axle required torque, taking the front axle output torque as a front axle target torque;
and when the front axle output torque is larger than or equal to the front axle required torque, taking the front axle required torque as a front axle target torque.
For example, the front axle torque limit table records a mapping relationship among a front axle output torque, a front axle rotation speed difference, and a rear axle rotation speed; it should be noted that, the front axle torque limit table is not specifically limited, and the user may perform custom setting according to the acceleration performance obtained when the vehicle runs on the actual road, for example, the front axle torque limit table is shown in the following table:
in the embodiment of the invention, a VCU or an MCU of a vehicle determines corresponding front axle output torque from the front engine limit table according to the acquired front and rear axle rotation speed difference and the adjusted rear axle rotation speed of the vehicle; and calculating corresponding front axle required torque according to the front axle required torque output by the automobile Electronic System, comparing the front axle output torque with the front axle required torque, taking the smaller value between the front axle output torque and the front axle required torque as front axle target torque, and outputting the front axle target torque to a front EDS (Electronic Drive System electric Drive System) so as to adjust the rotating speed of a front axle driving System of the vehicle and realize the rotating speed control of front wheels of the vehicle. Because the VCU or MCU of vehicle can obtain corresponding rotational speed and demand moment of torsion in real time and carry out the rotational speed control of rear wheel, need not through ESP, can realize the quick response of vehicle rear wheel control, can show the control that promotes the vehicle and experience.
Further, when the starting condition is met, the vehicle can also adopt Front Wheel Drive (FWD), specifically, the VCU or the MCU of the vehicle determines a corresponding Front axle output torque from a preset Front axle limit table according to the acquired Front axle rotation speed and the Front axle rotation speed change rate of the vehicle; and according to the front axle required torque output by the automobile electronic system, calculating corresponding front axle required torque, comparing the front axle output torque with the front axle required torque, taking the smaller value between the front axle output torque and the front axle required torque as front axle target torque, and outputting the front axle target torque to the front EDS so as to adjust the rotating speed of a front axle driving system of the vehicle and realize the front wheel driving control of the vehicle.
As shown in fig. 2, when the vehicle satisfies any one of the conditions of being in Sport Mode (Sport Mode), the traction control system being Off (TCS Off), and being in drive Gear (D Gear), the all-wheel drive flow is started: the first step is as follows: the VCU or the MCU of the vehicle acquires the change rate of the rear axle rotating speed and the rear axle rotating speed of the vehicle, and inquires a rear engine limit table to determine the corresponding rear axle output torque; after calculating corresponding rear axle required torque according to the rear axle required torque output by the automobile electronic system, comparing the rear axle output torque with the rear axle required torque, taking the smaller value between the rear axle output torque and the rear axle required torque as rear axle target torque, and outputting the rear axle target torque to a rear EDS (electric vehicle drive system) so as to adjust the rotating speed of a rear axle driving system of the vehicle and realize the rotating speed control of rear wheels of the vehicle; the second step is that: after the rotating speed of the rear wheel is adjusted, the VCU or the MCU of the vehicle acquires the rotating speed difference of the front axle and the rear axle of the vehicle and the adjusted rotating speed of the rear axle, and inquires a front engine limit table to determine the corresponding output torque of the front axle; and after calculating the corresponding front axle required torque according to the front axle required torque output by the automobile electronic system, comparing the front axle output torque with the front axle required torque, taking the smaller value between the front axle output torque and the front axle required torque as the front axle target torque, and outputting the front axle target torque to the front EDS to adjust the rotating speed of a front axle driving system of the vehicle, thereby realizing the catapult starting control of the vehicle. Otherwise, the rotating speed of the front and rear axle driving systems of the vehicle is adjusted through the corresponding front and rear EDS directly according to the front and rear axle required torque output by the automobile electronic system. The embodiment of the invention can effectively avoid the condition that the vehicle cannot be started normally due to the slipping of the rear wheel by adjusting the rotating speed of the rear wheel in advance, can directly execute the starting control process in the VCU or the MCU without using a wheel speed signal, has high control frequency, and can effectively improve the torque response speed of the vehicle, thereby realizing the ejection starting control of the vehicle.
Example two
Referring to fig. 3, an embodiment of the present invention provides an automobile starting control device, including:
the first rotating speed obtaining module 1 is used for obtaining the change rate of the rotating speed of a rear axle of a vehicle and the rotating speed of the rear axle;
the rear axle rotating speed determining module 2 is used for determining a rear axle target torque of the vehicle according to the rear axle required torque of the vehicle, the rear axle rotating speed change rate and the rear axle rotating speed;
the rear axle driving control module 3 is used for adjusting the rotating speed of a rear axle driving system of the vehicle according to the rear axle target torque;
the second rotating speed obtaining module 4 is used for obtaining the front and rear axle rotating speed difference of the vehicle and the adjusted rear axle rotating speed;
a front axle rotating speed determining module 5, configured to determine a front axle target torque of the vehicle according to a front axle required torque of the vehicle, the front and rear axle rotating speed difference, and the adjusted rear axle rotating speed;
and the front axle drive control module 6 is used for controlling the rotating speed of a front axle drive system of the vehicle according to the front axle target torque so as to perform launch starting control on the vehicle.
In an optional embodiment, the method further comprises:
the starting judgment module is used for responding to the received starting signal and judging whether the vehicle meets any preset starting condition; if so, carrying out launch starting control on the vehicle through a VCU or an MCU of the vehicle; and if not, performing starting control on the vehicle according to the front axle required torque and the rear axle required torque.
In an alternative embodiment, the start-up conditions include: the vehicle is in a sport mode, the traction control system of the vehicle is turned off, and the vehicle is in a drive gear.
In an alternative embodiment, the rear axle speed determination module 2 comprises:
the rear axle output torque acquisition unit is used for acquiring the rear axle output torque according to the rear axle rotating speed change rate, the rear axle rotating speed and a preset rear axle torque limit table;
and the rear axle target torque determining unit is used for determining the rear axle target torque of the vehicle according to the rear axle output torque and the rear axle required torque.
Further, the rear axle target torque determination unit is configured to compare the rear axle output torque with the rear axle required torque;
when the rear axle output torque is smaller than the rear axle required torque, taking the rear axle output torque as a rear axle target torque;
and when the rear axle output torque is larger than or equal to the rear axle required torque, taking the rear axle required torque as a rear axle target torque.
In an alternative embodiment, the front axle speed determination module 5 comprises:
the front axle output torque acquisition unit is used for acquiring front axle output torque according to the front and rear axle rotation speed difference, the adjusted rear axle rotation speed and a preset front axle torque limit table;
and the front axle target torque determining unit is used for determining the front axle target torque of the vehicle according to the front axle output torque and the front axle required torque.
Further, the front axle target torque determination unit is configured to compare the front axle output torque with the front axle required torque;
when the front axle output torque is smaller than the front axle required torque, taking the front axle output torque as a front axle target torque;
and when the front axle output torque is larger than or equal to the front axle required torque, taking the front axle required torque as a front axle target torque.
It should be noted that the working principle and technical effect of the vehicle starting control device according to the embodiment of the present invention are the same as those of the vehicle starting control method according to the first embodiment, and are not described herein again.
EXAMPLE III
Referring to fig. 4, the vehicle starting control device according to the embodiment of the present invention includes at least one processor 11, such as a CPU, at least one network interface 14 or other user interfaces 13, a memory 15, and at least one communication bus 12, where the communication bus 12 is used for implementing connection communication between these components. The user interface 13 may optionally include a USB interface, and other standard interfaces, wired interfaces. The network interface 14 may optionally include a Wi-Fi interface as well as other wireless interfaces. The memory 15 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 15 may optionally comprise at least one memory device located remotely from the aforementioned processor 11.
In some embodiments, memory 15 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof:
an operating system 151, which contains various system programs for implementing various basic services and for processing hardware-based tasks;
and (5) a procedure 152.
Specifically, the processor 11 is configured to call the program 152 stored in the memory 15 and execute the vehicle start control method according to the foregoing embodiment, for example, step S1 shown in fig. 1. Alternatively, the processor implements the functions of the modules/units in the above device embodiments when executing the computer program.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the vehicle starting control device.
The automobile starting control device can be a computing device such as a VCU, an ECU and a BMS. The vehicle starting control device can comprise, but is not limited to, a processor and a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a vehicle launch control apparatus and does not constitute a limitation of a vehicle launch control apparatus and may include more or fewer components than shown, or some components in combination, or different components.
The Processor 11 may be a Microprocessor (MCU) Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general processor may be a microprocessor or the processor may be any conventional processor, and the processor 11 is a control center of the vehicle start control device and is connected with various parts of the vehicle start control device by using various interfaces and lines.
The memory 15 may be used to store the computer programs and/or modules, and the processor 11 may implement various functions of the vehicle starting control device by running or executing the computer programs and/or modules stored in the memory and calling up data stored in the memory. The memory 15 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 15 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
If the module/unit integrated with the automobile starting control device is realized in the form of a software functional unit and sold or used as an independent product, the module/unit can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
Example four
The embodiment of the invention provides a computer-readable storage medium, which comprises a stored computer program, wherein when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the automobile starting control method in any one of the first embodiments.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A vehicle starting control method is characterized by comprising the following steps:
acquiring the change rate of the rear axle rotating speed and the rear axle rotating speed of the vehicle;
determining a rear axle target torque of the vehicle according to the rear axle required torque of the vehicle, the rear axle rotating speed change rate and the rear axle rotating speed;
adjusting the rotating speed of a rear axle driving system of the vehicle according to the rear axle target torque;
acquiring the rotation speed difference of a front axle and a rear axle of the vehicle and the adjusted rotation speed of the rear axle;
determining a front axle target torque of the vehicle according to the front axle required torque of the vehicle, the front and rear axle rotating speed difference and the adjusted rear axle rotating speed;
and controlling the rotating speed of a front axle driving system of the vehicle according to the front axle target torque so as to perform launch starting control on the vehicle.
2. The vehicle startup control method according to claim 1, wherein before obtaining the rear axle rotation speed change rate and the rear axle rotation speed of the vehicle, the method further comprises:
responding to the received starting signal, and judging whether the vehicle meets any one preset starting condition;
if so, carrying out launch starting control on the vehicle through a VCU or an MCU of the vehicle;
and if not, performing starting control on the vehicle according to the front axle required torque and the rear axle required torque.
3. The vehicle startup control method according to claim 2, characterized in that the start-up conditions include: when the vehicle is in the motion mode, the traction control system of the vehicle is turned off, and the vehicle is in a driving gear.
4. The vehicle starting control method according to claim 1, wherein the determining a rear axle target torque of the vehicle based on the rear axle required torque of the vehicle and the rate of change of the rear axle rotational speed, comprises:
acquiring the output torque of the rear axle according to the change rate of the rotating speed of the rear axle, the rotating speed of the rear axle and a preset rear axle torque limit table;
and determining the rear axle target torque of the vehicle according to the rear axle output torque and the rear axle required torque.
5. The vehicle launch control method according to claim 4, wherein said determining a rear axle target torque of the vehicle from the rear axle output torque and the rear axle demand torque comprises:
comparing the rear axle output torque to the rear axle demand torque;
when the rear axle output torque is smaller than the rear axle required torque, taking the rear axle output torque as a rear axle target torque;
and when the rear axle output torque is larger than or equal to the rear axle required torque, taking the rear axle required torque as a rear axle target torque.
6. The vehicle starting control method according to claim 1, wherein the determining a front axle target torque of the vehicle based on the front axle required torque of the vehicle and the front and rear axle rotational speed difference and the adjusted rear axle rotational speed comprises:
acquiring front axle output torque according to the front and rear axle rotation speed difference, the adjusted rear axle rotation speed and a preset front axle torque limit table;
and determining the front axle target torque of the vehicle according to the front axle output torque and the front axle required torque.
7. The vehicle launch control method according to claim 6, characterised in that said determining a front axle target torque of the vehicle from the front axle output torque and the front axle demand torque comprises:
comparing the front axle output torque to the front axle demand torque;
when the front axle output torque is smaller than the front axle required torque, taking the front axle output torque as a front axle target torque;
and when the front axle output torque is larger than or equal to the front axle required torque, taking the front axle required torque as a front axle target torque.
8. An automobile starting control device, characterized by comprising:
the first rotating speed obtaining module is used for obtaining the change rate of the rotating speed of a rear axle of the vehicle and the rotating speed of the rear axle;
the rear axle rotating speed determining module is used for determining the rear axle target torque of the vehicle according to the rear axle required torque of the vehicle, the rear axle rotating speed change rate and the rear axle rotating speed;
the rear axle drive control module is used for adjusting the rotating speed of a rear axle drive system of the vehicle according to the rear axle target torque;
the second rotating speed obtaining module is used for obtaining the rotating speed difference of the front axle and the rear axle of the vehicle and the adjusted rotating speed of the rear axle;
the front axle rotating speed determining module is used for determining the front axle target torque of the vehicle according to the front axle required torque of the vehicle, the front and rear axle rotating speed difference and the adjusted rear axle rotating speed;
and the front axle drive control module is used for controlling the rotating speed of a front axle drive system of the vehicle according to the front axle target torque so as to carry out launch starting control on the vehicle.
9. A vehicle launch control apparatus, characterised by comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the vehicle launch control method as claimed in claims 1-7 when executing the computer program.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method for controlling vehicle starting according to claims 1 to 7.
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