CN113619585B - Vehicle creep control method, device, storage medium and apparatus - Google Patents
Vehicle creep control method, device, storage medium and apparatus Download PDFInfo
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- CN113619585B CN113619585B CN202111113044.1A CN202111113044A CN113619585B CN 113619585 B CN113619585 B CN 113619585B CN 202111113044 A CN202111113044 A CN 202111113044A CN 113619585 B CN113619585 B CN 113619585B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18063—Creeping
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
- B60W10/024—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches including control of torque converters
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/02—Clutches
- B60W2510/0275—Clutch torque
Abstract
The invention discloses a vehicle creep control method, a device, a storage medium and a device, which read the current brake pressure from the vehicle working condition information when a target vehicle enters a creep state, control the clutch torque to increase with different gradients according to the current brake pressure, regulate the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID regulation algorithm when the clutch torque increases to the preset torque, and control the vehicle to run according to the regulated clutch torque. According to the method and the device, the vehicle speed is identified, the clutch torque is adjusted through the PID algorithm in combination with the actual vehicle speed and the target vehicle speed, and therefore the vehicle is controlled to run.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle crawling control method, device, storage medium and device.
Background
At present, the automobile market in China is over 2500 thousands of vehicles per year, the automobile market matched with an automatic transmission is increasingly huge, the double-clutch transmission also needs to deal with more various working conditions, crawling is a working condition that more complaints are made to the double-clutch transmission in the market, the vehicle type carrying the double-clutch transmission in mass production at present is difficult to achieve higher robustness, the crawling working conditions under different conditions can not be considered, suitable driving performance is kept under working conditions including extremely cold, extremely hot, different gradients and the like, and accordingly the user experience is poor.
The above is only for the purpose of assisting understanding of the technical solution of the present invention, and does not represent an admission that the above is the prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle crawling control method, device, storage medium and device, and aims to solve the technical problem that crawling conditions under different conditions cannot be considered simultaneously in the prior art, so that the user experience is poor.
In order to achieve the above object, the present invention provides a vehicle creep control method, including the steps of:
when the target vehicle enters a crawling state, acquiring the actual vehicle speed, vehicle working condition information and the target vehicle speed of the target vehicle;
reading current brake pressure from the vehicle working condition information, and controlling the torque of the clutch to increase in different gradients according to the current brake pressure;
and when the clutch torque is increased to a preset torque, regulating the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque.
Optionally, the step of reading the current brake pressure from the vehicle operating condition information and controlling the clutch torque to increase at different gradients according to the current brake pressure includes:
reading the current brake pressure from the vehicle working condition information;
when the current brake pressure is smaller than the preset pressure, controlling the clutch torque according to the current brake pressure and accumulating according to a first preset gradient corresponding to a preset feedforward torque table;
and before the clutch torque reaches a first preset torque corresponding to the preset feedforward torque table, controlling the clutch torque to be accumulated according to a first preset gradient corresponding to the preset feedforward torque table.
Optionally, when the clutch torque is increased to a preset torque, the method further includes, before the step of adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed by using a preset PID adjustment algorithm, and controlling the vehicle to run according to the adjusted clutch torque:
when the clutch torque reaches the first preset torque, judging whether the clutch torque needs to be adjusted according to the actual vehicle speed and a preset vehicle speed meter;
and when the actual vehicle speed is less than a first vehicle speed corresponding to the preset vehicle speed meter, controlling the clutch torque to be accumulated according to the second preset gradient so as to enable the actual vehicle speed to reach the first vehicle speed.
Optionally, when the clutch torque is increased to a preset torque, the step of adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed by a preset PID adjustment algorithm, and controlling the vehicle to run according to the adjusted clutch torque includes:
when the actual vehicle speed is not less than a first vehicle speed corresponding to the preset vehicle speed meter, acquiring a first current vehicle speed;
and regulating the clutch torque according to the first current vehicle speed through a preset PID regulation algorithm and a preset feedforward torque meter, and controlling the vehicle to run according to the regulated clutch torque.
Optionally, after the step of adjusting the clutch torque according to the first current vehicle speed by using a preset PID adjustment algorithm and a preset feedforward torque table, and controlling the vehicle to run according to the adjusted clutch torque, the method further includes:
when the actual vehicle speed is smaller than a second vehicle speed corresponding to the preset vehicle speed meter, determining a third preset gradient according to the actual vehicle speed and the preset feedforward torque meter;
and regulating the clutch torque according to a preset PID regulating algorithm and the third preset gradient, and controlling the vehicle to run according to the regulated clutch torque.
Optionally, after the step of adjusting the clutch torque according to a preset PID adjustment algorithm and the third preset gradient, and controlling the vehicle to run according to the adjusted clutch torque, the method further includes:
when the actual vehicle speed is not less than a second vehicle speed corresponding to the preset vehicle speed meter, acquiring a second current vehicle speed;
and regulating the clutch torque according to the second current vehicle speed, the target vehicle speed and the preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque.
Optionally, after the step of adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed by a preset PID adjustment algorithm when the clutch torque is increased to a preset torque, and controlling the vehicle to run according to the adjusted clutch torque, the method further includes:
and when the clutch torque is increased to a third preset torque and the actual vehicle speed is less than a first vehicle speed corresponding to a preset vehicle speed meter, controlling the clutch torque to be reduced to a preset protection torque according to a preset protection time period, and controlling the vehicle to run according to the preset protection torque.
In addition, to achieve the above object, the present invention also proposes a vehicle creep control apparatus including a memory, a processor, and a vehicle creep control program stored on the memory and operable on the processor, the vehicle creep control program being configured to implement the steps of the vehicle creep control as described above.
In addition, to achieve the above object, the present invention also proposes a storage medium having a vehicle creep control program stored thereon, which when executed by a processor, implements the steps of the vehicle creep control method as described above.
In addition, to achieve the above object, the present invention also proposes a vehicle creep control apparatus including:
the information acquisition module is used for acquiring the actual speed, the vehicle working condition information and the target speed of the target vehicle when the target vehicle enters a crawling state;
the gradient determining module is used for reading the current brake pressure from the vehicle working condition information and controlling the torque of the clutch to increase in different gradients according to the current brake pressure;
and the torque adjusting module is used for adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID (proportion integration differentiation) adjusting algorithm when the clutch torque is increased to a preset torque, and controlling the vehicle to run according to the adjusted clutch torque.
According to the method, when the target vehicle enters a crawling state, the actual vehicle speed, the vehicle working condition information and the target vehicle speed of the target vehicle are obtained; and reading the current brake pressure from the vehicle working condition information, controlling the clutch torque to increase in different gradients according to the current brake pressure, adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID (proportion integration differentiation) adjustment algorithm when the clutch torque is increased to the preset torque, and controlling the vehicle to run according to the adjusted clutch torque. According to the method and the device, the vehicle speed is identified, the clutch torque is adjusted through the PID algorithm in combination with the actual vehicle speed and the target vehicle speed, and therefore the vehicle is controlled to run.
Drawings
FIG. 1 is a schematic diagram of a vehicle creep control apparatus according to an embodiment of the present invention, which is a hardware operating environment;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a method for controlling creep of a vehicle according to the present invention;
FIG. 3 is a schematic flow chart diagram illustrating a vehicle creep control method according to a second embodiment of the present invention;
FIG. 4 is a clutch torque control state diagram of a second embodiment of a vehicle creep control method of the present invention;
fig. 5 is a block diagram showing the configuration of a first embodiment of the vehicle creep control apparatus according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle creep control apparatus in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle creep control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of a vehicle creep control apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in FIG. 1, a memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle creep control program.
In the vehicle creep control apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and communicating data with the background server; the user interface 1003 is mainly used for connecting user equipment; the vehicle creep control apparatus calls a vehicle creep control program stored in a memory 1005 through a processor 1001 and executes a vehicle creep control method provided by an embodiment of the present invention.
Based on the hardware structure, the embodiment of the vehicle creep control method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle creep control method according to the present invention, and the first embodiment of the vehicle creep control method according to the present invention is provided.
In the present embodiment, the vehicle creep control method includes the steps of:
step S10: and when the target vehicle enters a crawling state, acquiring the actual vehicle speed, the vehicle working condition information and the target vehicle speed of the target vehicle.
It should be noted that the execution subject in this embodiment may be a device including a vehicle creep control system, such as: the vehicle-mounted computer may also be other devices capable of implementing the same or similar functions, which is not limited in this embodiment, and in this embodiment and the following embodiments, the vehicle creep control method of the present invention is described by taking a vehicle creep control system as an example.
It should be understood that the target vehicle may refer to a vehicle equipped with a vehicle creep control system, which may be a vehicle carrying a dual clutch transmission model. The creep state may refer to a state in which the target vehicle is required to send an idle request and a torque request based on clutch torque after entering the creep state under conditions of extreme cold, extreme heat, different gradients, and the like. I.e., the status of the target vehicle's TCU sending idle speed and torque requests to the EMS.
It can be understood that the vehicle working condition information may include historical driving information of the target vehicle under working conditions of extreme cold, extreme heat, different slopes and the like, and may also include working condition information generated by the target vehicle in the driving process, and the working condition information may include working condition information correspondingly generated by a brake pedal, an accelerator and a clutch of the target vehicle. The target speed can be set according to the driving habits of a driver or set according to the vehicle type in order to ensure the driving performance. The target vehicle speed is not particularly limited in the present embodiment.
In the concrete implementation, when the target vehicle enters a crawling state, the TCU of the target vehicle sends an idle speed request and a torque request to the EMS, and obtains the actual vehicle speed, the vehicle working condition information and the target vehicle speed of the target vehicle.
Step S20: and reading the current brake pressure from the vehicle working condition information, and controlling the clutch torque to increase in different gradients according to the current brake pressure.
It should be noted that the current brake pressure may refer to the pressure input by the brake pedal.
It should be understood that clutch torque may refer to the actual torque input to the transmission input. The clutch torque may be determined from a mapping table lookup of brake pressure versus clutch torque. The clutch torque variation gradient is limited by the brake pressure, the actual rotating speed of the engine and the target rotating speed, and plays different roles in different stages.
It is understood that the gradient refers to the gradient of the clutch that makes a torque adjustment when the brake pressure is varied. The corresponding regulating gradient of the clutch is different under different torques.
In specific implementation, the current brake pressure is read from the vehicle working condition information, and the clutch torque is controlled to increase in different gradients according to the current brake pressure, for example: after the brake pressure is reduced to 0, the clutch torque is accumulated up at a certain gradient a until the torque TRQ _ a. The brake pressure is not limited to being reduced to 0 in the present embodiment, and this is not a limitation. It is also possible to reduce the brake pressure to a preset pressure.
Step S30: and when the clutch torque is increased to a preset torque, regulating the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque.
It should be noted that the preset torque may refer to a maximum torque of a clutch of a target vehicle, and the preset torque may be set according to configuration parameters of different vehicle types of the vehicle.
The preset PID adjusting algorithm can realize the steady-state control of the target vehicle under different vehicle speeds so as to improve the creep consistency under different working conditions.
It should be understood that the PID control algorithm refers to an algorithm for controlling the clutch torque in proportion to the deviation in creep process control, which can ensure that the clutch torque is in an appropriate state. For example: the clutch torque cannot be larger than the torque TRQ _ B and cannot be smaller than the minimum torque TRQ _ Min, so that the clutch torque can be adjusted by a preset PID (proportion integration differentiation) adjusting algorithm by utilizing a PID parameter, and the clutch torque is ensured to be smaller than the torque TRQ _ B and larger than the torque TRQ _ Min in the interval.
In specific implementation, the vehicle creep control system can adjust the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID (proportion integration differentiation) adjustment algorithm after the clutch torque is increased to the corresponding torque, and control the vehicle to run according to the adjusted clutch torque.
In the embodiment, when the target vehicle enters a crawling state, the actual vehicle speed, the vehicle working condition information and the target vehicle speed of the target vehicle are acquired; and reading the current brake pressure from the vehicle working condition information, controlling the clutch torque to increase in different gradients according to the current brake pressure, adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed by a preset PID (proportion integration differentiation) adjustment algorithm when the clutch torque is increased to the preset torque, and controlling the vehicle to run according to the adjusted clutch torque. Because this embodiment is through the discernment to the speed of a motor vehicle, combines actual speed of a motor vehicle and target speed of a motor vehicle to pass through PID algorithm regulation clutch moment of torsion to control the vehicle and travel, this embodiment can't compromise the wriggling operating mode under the different condition for among the prior art, thereby lead to user experience to feel relatively poor, and this embodiment has realized improving the uniformity that the vehicle wriggled under the different operating modes, ensures that whole car keeps better driveability, promotes user experience and feels.
Referring to fig. 3, fig. 3 is a flow chart illustrating a creep control method for a vehicle according to a second embodiment of the present invention, which is proposed based on the first embodiment shown in fig. 2.
In this embodiment, the step S20 includes:
step S201: and reading the current brake pressure from the vehicle working condition information.
It should be noted that, during the whole creep process, the gradient of clutch torque rise is limited, mainly because the engine is prevented from pulling down and flying, the gradient can be obtained by looking up a table of transmission oil temperature (target idle speed-actual idle speed), and the vehicle condition information can include parameter information such as an accelerator pedal, a brake pedal, gears and the like input by a driver. The current brake pressure may refer to a brake pressure corresponding to a brake pedal pressure signal input by a driver during driving.
Step S202: and when the current brake pressure is smaller than the preset pressure, controlling the clutch torque according to the current brake pressure and accumulating according to a first preset gradient corresponding to a preset feedforward torque table.
The preset pressure may be a preset brake pressure, and the preset pressure may be a pressure corresponding to a brake pedal when the vehicle starts. It may also refer to the brake pressure when the vehicle is not in the brake-off state, i.e. the brake state is 0.
It will be appreciated that the clutch torque is ramped up to the target torque before the brake pressure is reduced to the predetermined pressure value, where the gradient may or may not be limited. The torque is obtained by looking up a table based on the brake pressure and the idle speed engine speed, the idle speed can be the actual idle speed of the engine or the target idle speed of the engine, and the clutch torque is increased according to a first preset gradient after the brake pressure is smaller than the preset pressure. The first preset gradient may refer to a torque adjustment gradient corresponding to the clutch when the vehicle is started or not in a brake-stop state, and the first preset gradient may be a preset torque adjustment gradient value, for example: after the brake pressure is reduced to 0, the clutch torque is accumulated upward at a preset first preset gradient a.
It should be understood that the first predetermined gradient may be obtained from a look-up table of actual engine speed of the target vehicle, for example, the first predetermined gradient may be represented by a, i.e. the clutch torque may be accumulated upward according to the gradient a, and the first predetermined torque may be obtained from a look-up table of actual gear and actual vehicle speed of the target vehicle, for example: the first predetermined torque may be characterized by TRQ _ a, i.e., the clutch torque may be accumulated up to TRQ _ a according to the gradient a.
Step S203: and before the clutch torque reaches a first preset torque corresponding to the preset feedforward torque table, controlling the clutch torque to accumulate according to a first preset gradient corresponding to the preset feedforward torque table.
It should be noted that the first preset torque may refer to a torque that is achieved after the first stage of torque adjustment of the clutch is completed when the vehicle is started or is not in a brake-off state. The first predetermined torque may be a predetermined torque value, which may be determined based on vehicle configuration parameters.
It can be understood that the second preset gradient may refer to a torque adjustment gradient corresponding to a torque that needs to be further increased when the clutch torque reaches the first preset torque after the vehicle enters the creep working condition, and the second preset gradient may be a preset torque adjustment gradient, for example: the second predetermined torque may be characterized by TRQ _ B, and after the clutch is added to the first predetermined torque TRQ _ a, the clutch torque may be added up to TRQ _ B according to the gradient B.
It should be appreciated that the second predetermined gradient may be based on a look-up table of actual engine speeds of the target vehicle.
In this embodiment, before the step S30, the method further includes: when the clutch torque reaches the first preset torque, judging whether the clutch torque needs to be adjusted according to the actual vehicle speed and a preset vehicle speed meter; and when the actual vehicle speed is less than a first vehicle speed corresponding to the preset vehicle speed meter, controlling the clutch torque to be accumulated according to the second preset gradient so as to enable the actual vehicle speed to reach the first vehicle speed.
It should be noted that, in the whole creep control process, the vehicle speed of the vehicle needs to be monitored in real time, and before the vehicle speed reaches the first vehicle speed, the clutch torque needs to be adjusted according to the torque adjustment gradient corresponding to each vehicle speed in the preset feed-forward torque table, so as to reach the target vehicle speed.
In specific implementation, when the clutch torque is increased to the TRQ _ a and the vehicle speed does not reach the first vehicle speed, the clutch torque may be controlled to be accumulated upward according to the second preset gradient b until the vehicle speed reaches the first vehicle speed.
In this embodiment, the step S30 includes:
step S301: and when the actual vehicle speed is not less than a first vehicle speed corresponding to the preset vehicle speed meter, acquiring a first current vehicle speed.
It should be noted that the first current vehicle speed may refer to a vehicle speed after the target vehicle reaches the first vehicle speed.
Step S302: and regulating the clutch torque according to the first current vehicle speed through a preset PID regulation algorithm and a preset feedforward torque meter, and controlling the vehicle to run according to the regulated clutch torque.
It should be noted that, during the whole creep process, the clutch torque and the engine speed are monitored, and the clutch torque rise gradient limit value is obtained based on the table look-up of the engine speed. Meanwhile, the torque of the clutch needs to be monitored in the whole process, and the torque rising gradient in the whole process needs to be smaller than a preset value.
It can be understood that the preset feedforward torque meter can be a feedforward torque meter preset according to vehicle configuration parameters and the vehicle speed of the vehicle, the feedforward torque can be accumulated upwards according to the current vehicle speed of the vehicle and a preset gradient value, a limit value can be set for the torque gradient of the whole clutch, wherein the limit value can be determined according to the current vehicle speed of the vehicle. The maximum torque of the clutch in the whole creep process can be limited, and the clutch can be prevented from being ablated due to overlarge torque.
In the concrete implementation, in order to improve the consistency of the vehicle under the creep working condition, after the vehicle speed is greater than the first vehicle speed, the delay is carried out for a period of time or the vehicle speed is carried out before the second vehicle speed, the calculated clutch torque is feedforward + PID, but the control effect of the torque is weakened on the basis of project requirements, so the gradient of the feedforward is very small (even 0), the error in the PID is very small (even 0), after the delay is carried out for a period of time or the vehicle speed is carried out to the second vehicle speed, the clutch torque is calculated by the PID, and the error used for calculation is the difference value between the target vehicle speed and the actual vehicle speed and can also be the difference value between the target output shaft and the actual output shaft.
Further, after the step S302, the method further includes: when the actual vehicle speed is smaller than a second vehicle speed corresponding to the preset vehicle speed meter, determining a third preset gradient according to the actual vehicle speed and the preset feedforward torque meter; and regulating the clutch torque according to a preset PID regulating algorithm and the third preset gradient, and controlling the vehicle to run according to the regulated clutch torque.
It should be noted that the third predetermined gradient may refer to a gradient of the clutch torque adjustment after the actual vehicle speed of the vehicle reaches the first vehicle speed and before the actual vehicle speed reaches the second vehicle speed.
In specific implementation, after the vehicle speed reaches a first vehicle speed, the clutch torque rises for a period of time at a third preset gradient to exit, or the vehicle speed directly exits after reaching a second vehicle speed.
Further, after the step of adjusting the clutch torque according to a preset PID adjustment algorithm and the third preset gradient and controlling the vehicle to run according to the adjusted clutch torque, the method further comprises: when the actual vehicle speed is not less than a second vehicle speed corresponding to the preset vehicle speed meter, acquiring a second current vehicle speed; and regulating the clutch torque according to the second current vehicle speed, the target vehicle speed and the preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque.
It should be noted that the second current vehicle speed may refer to a vehicle speed after the actual vehicle speed of the vehicle reaches the second vehicle speed.
It can be understood that after the vehicle speed reaches the second vehicle speed, the vehicle creep control process is controlled only according to the PID, and the preset PID regulating algorithm and the target vehicle speed are used as the basis for controlling the torque of the vehicle clutch.
In a specific implementation, reference may be made to the clutch torque control state diagram, V, of FIG. 4 for further explanation move Characterised by a first vehicle speed, V PID Characterised by a second vehicle speed, V Stuck The method is characterized in that the vehicle speed is smaller than the first vehicle speed so as to have a hysteresis interval and avoid frequent switching of states in logic, the TRQ _ A is characterized by a first preset torque, the TRQ _ B is characterized by a preset maximum clutch torque, the TRQ _ Max is characterized by a maximum clutch torque which can be borne by a vehicle, the TRQ _ Min is characterized by a minimum clutch torque which can be accepted by the vehicle, the TRQ _ Min can be set according to the configuration and the requirement of the whole vehicle, the BRK is characterized by a preset pressure, and in the whole clutch control process, the rising gradient of the clutch torque is limited by a limit value obtained by looking up a table of the engine speed and the target speed, so that the flying or pull-down of the engine speed in the creeping process is avoided; meanwhile, the torque of the clutch needs to be within a certain range, namely between TRQ _ MIN and TRQ _ MAX, so that the clutch is protected and prevented from being damaged. After 0, the clutch torque is accumulated up at a gradient a until the torque TRQ _ a. After the clutch is added to torque TRQ _ A, the clutch torque is accumulated up with a gradient B, passing from TRQ _ A to TRQ _ BMonitoring whether the vehicle speed reaches V or not move To V move Then, the clutch torque increases up with a third gradient c, where c is obtained by taking the PID calculations (typically error is small, i.e. where the target vehicle speed may be the actual vehicle speed) and feedforward (which may be small or even 0) large, either directly after a period of time or when the vehicle speed reaches V PID In which V is move Is the standard quantity. The gradient B and the torque TRQ _ B are standard quantities, B is obtained by looking up a table according to the actual engine rotating speed, and TRQ _ B is obtained by looking up a table according to the gear and the actual vehicle speed. The speed of the target vehicle reaches V PID Previously, the target vehicle speed in the PID algorithm was the actual vehicle speed. The gradients a and TRQ _ A are scalar quantities, a is obtained by looking up a table according to the actual engine rotating speed, TRQ _ A is obtained by looking up a table according to the gear and the actual vehicle speed, and the vehicle speed reaches V PID The reference target vehicle speed in the PID algorithm is then added to the target vehicle speed in the project index at a gradient d, and the PID parameter is used to adjust the clutch torque while ensuring that the clutch torque is less than TRQ _ MAX and greater than the clutch minimum torque TRQ _ Min. Wherein the target vehicle speed is greater than the second vehicle speed V PID First vehicle speed V move The letters TRQ _ A, TRQ _ B, a, B, TRQ _ Min, TRQ _ MAX, V appearing in the present embodiment PID 、V move 、V Stuck Are given by way of illustration and not of limitation.
In the embodiment, when the target vehicle enters a crawling state, the actual vehicle speed, the vehicle working condition information and the target vehicle speed of the target vehicle are acquired, and the current brake pressure is read from the vehicle working condition information; when the current brake pressure is smaller than the preset pressure, controlling the clutch torque according to the current brake pressure and accumulating according to a first preset gradient corresponding to a preset feedforward torque table; before the clutch torque reaches a first preset torque corresponding to the preset feedforward torque meter, controlling the clutch torque to be accumulated according to a second preset gradient corresponding to the preset feedforward torque meter, and acquiring a first current vehicle speed when the actual vehicle speed is not less than a first vehicle speed corresponding to the preset vehicle speed meter; and regulating the clutch torque according to the first current vehicle speed through a preset PID regulating algorithm and a preset feedforward torque meter, and controlling the vehicle to run according to the regulated clutch torque. Because this embodiment is through the discernment to the speed of a motor vehicle, combines actual speed of a motor vehicle and target speed of a motor vehicle to confirm the corresponding moment of torsion adjustment gradient adjustment clutch moment of torsion through the PID algorithm to control the vehicle and travel, this embodiment can't compromise the wriggling operating mode under the different condition for among the prior art, thereby lead to user experience to feel relatively poor, this embodiment has realized improving the uniformity of vehicle wriggling under the different operating modes, ensures that whole car keeps better driveability, promotes user experience and feels.
Referring to fig. 4, fig. 4 is a flow chart illustrating a vehicle creep control method according to a third embodiment of the present invention, which is proposed based on the first embodiment shown in fig. 2.
In this embodiment, after the step S30, the method further includes: and when the clutch torque is increased to a third preset torque and the actual vehicle speed is less than a first vehicle speed corresponding to a preset vehicle speed meter, controlling the clutch torque to be reduced to a preset protection torque according to a preset protection time period, and controlling the vehicle to run according to the preset protection torque.
It should be noted that the third preset torque may refer to a maximum torque bearable of the vehicle preset according to the vehicle configuration parameters, and the first vehicle speed V move The representation of the minimum acceptable long-time crawling vehicle speed is less than the minimum acceptable long-time crawling vehicle speed, the clutch torque can be reduced for the protection purpose, and the preset protection time period can be a preset time period according to the condition that the vehicle speed is kept less than the first vehicle speed under the crawling working condition of the vehicle. The first vehicle speed may be a vehicle speed of the vehicle when the vehicle is blocked or the resistance becomes large, and the vehicle speed may be a vehicle speed set according to historical vehicle test data.
It will be appreciated that the preset protection torque may refer to preventing the vehicle clutch from ablating the preset clutch torque when the vehicle is in a creep condition.
It should be appreciated that when the current vehicle speed of the vehicle drops from a high vehicle speed to less than the first vehicle speed, the clutch torque calculation is restarted, exiting the last cycle of torque adjustments, including the target torque adjustment and adjusting the clutch torque according to the first and second predetermined gradients.
In a specific implementation, if the actual vehicle speed is always less than the first vehicle speed V move And after the clutch torque continues for a period of time T (preset protection time period), slowly reducing the clutch torque to the preset protection torque, and controlling the vehicle to run according to the preset protection torque. In this embodiment, the relationship between the first vehicle speed and the second vehicle speed corresponding to the preset vehicle speed meter is that the first vehicle speed is less than the second vehicle speed, and the ranking sequence of the first vehicle speed and the second vehicle speed is named according to the appearance sequence of the crawling working condition.
Further, in order to ensure that the vehicle runs under a complex road condition, before the step S10, the method further includes: monitoring the actual speed of the target vehicle in real time; and when the target vehicle is under no brake pressure and the actual vehicle speed is less than the preset crawling vehicle speed, the step of acquiring the actual vehicle speed, the vehicle working condition information and the target vehicle speed of the vehicle when the vehicle enters a crawling state is executed.
The preset crawling vehicle speed can be the lowest vehicle speed in the crawling working condition, namely when the vehicle runs on a slope, the vehicle speed is reduced to the preset crawling vehicle speed, and the preset crawling vehicle speed represents that the vehicle runs on a larger resistance in the running process and needs to climb the slope by accumulating force. The preset crawling vehicle speed can ensure the lowest vehicle speed of the driving performance when the vehicle meets road conditions such as climbing according to historical test data, and therefore consistency of vehicle dynamic performance is ensured.
It can be understood that when the current vehicle speed of the vehicle is less than the preset creep vehicle speed, the vehicle enters a new creep control period and torque adjustment is performed again.
In the concrete implementation, the vehicle crawling control system monitors the speed of the target vehicle in real time, and enters a crawling control process when the target vehicle is identified to have no brake pressure and the speed is smaller than a preset crawling speed.
The embodiment monitors the actual speed of the target vehicle in real time; when the target vehicle is under no brake pressure and the actual vehicle speed is less than the preset crawling vehicle speed, the step of acquiring the actual vehicle speed, vehicle working condition information and the target vehicle speed of the vehicle when the vehicle enters a crawling state is executed; reading current brake pressure from the vehicle working condition information, and controlling the torque of the clutch to increase in different gradients according to the current brake pressure; and when the clutch torque is increased to a preset torque, regulating the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque. Because this embodiment is through the discernment to the speed of a motor vehicle, combine actual speed of a motor vehicle and target speed of a motor vehicle to confirm the corresponding moment of torsion adjustment gradient regulation clutch moment of torsion through the PID algorithm, thereby control the vehicle and go, and protect the vehicle clutch according to presetting protection moment of torsion, this embodiment can't compromise the wriggling operating mode under the different condition for prior art, thereby lead to user experience to feel relatively poor, this embodiment has realized preventing the clutch ablation, improve the uniformity of vehicle wriggling under the different operating modes, ensure that whole car keeps better driveability, promote user experience and feel.
In addition, to achieve the above object, the present invention also provides a storage medium having a vehicle creep control program stored thereon, which when executed by a processor implements the steps of the vehicle creep control method as described above.
Referring to fig. 5, fig. 5 is a block diagram illustrating a first embodiment of a creep control apparatus for a vehicle according to the present invention.
As shown in fig. 5, a vehicle creep control apparatus according to an embodiment of the present invention includes:
the information acquisition module 10 is used for acquiring the actual speed, the vehicle working condition information and the target speed of the target vehicle when the target vehicle enters a crawling state;
the gradient determining module 20 is used for reading the current brake pressure from the vehicle working condition information and controlling the clutch torque to increase in different gradients according to the current brake pressure;
and the torque adjusting module 30 is configured to adjust the clutch torque according to the actual vehicle speed and the target vehicle speed by using a preset PID adjusting algorithm when the clutch torque is increased to a preset torque, and control the vehicle to run according to the adjusted clutch torque.
In the embodiment, when the target vehicle enters a crawling state, the actual vehicle speed, the vehicle working condition information and the target vehicle speed of the target vehicle are acquired; and reading the current brake pressure from the vehicle working condition information, controlling the clutch torque to increase in different gradients according to the current brake pressure, adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed by a preset PID (proportion integration differentiation) adjustment algorithm when the clutch torque is increased to the preset torque, and controlling the vehicle to run according to the adjusted clutch torque. Because this embodiment is through the discernment to the speed of a motor vehicle, combines actual speed of a motor vehicle and target speed of a motor vehicle to pass through PID algorithm regulation clutch moment of torsion to control the vehicle and travel, this embodiment can't compromise the wriggling operating mode under the different condition for among the prior art, thereby lead to user experience to feel relatively poor, and this embodiment has realized improving the uniformity that the vehicle wriggled under the different operating modes, ensures that whole car keeps better driveability, promotes user experience and feels.
Further, the gradient determination module 20 is further configured to read a current brake pressure from the vehicle operating condition information; when the current brake pressure is smaller than the preset pressure, controlling the torque of the clutch according to the current brake pressure and accumulating according to a first preset gradient corresponding to a preset feedforward torque table; and before the clutch torque reaches a first preset torque corresponding to the preset feedforward torque table, controlling the clutch torque to accumulate according to a first preset gradient corresponding to the preset feedforward torque table.
Further, the torque adjusting module 30 is further configured to determine whether the clutch torque needs to be adjusted according to the actual vehicle speed and a preset vehicle speed meter when the clutch torque reaches the first preset torque; and when the actual vehicle speed is less than a first vehicle speed corresponding to the preset vehicle speed meter, controlling the clutch torque to be accumulated according to the second preset gradient so as to enable the actual vehicle speed to reach the first vehicle speed.
Further, the torque adjusting module 30 is further configured to obtain a first current vehicle speed when the actual vehicle speed is not less than a first vehicle speed corresponding to the preset vehicle speed meter; and regulating the clutch torque according to the first current vehicle speed through a preset PID regulation algorithm and a preset feedforward torque meter, and controlling the vehicle to run according to the regulated clutch torque.
Further, the torque adjusting module 30 is further configured to determine a third preset gradient according to the actual vehicle speed and the preset feedforward torque table when the actual vehicle speed is less than a second vehicle speed corresponding to the preset vehicle speed table; and regulating the clutch torque according to a preset PID regulating algorithm and the third preset gradient, and controlling the vehicle to run according to the regulated clutch torque.
Further, the torque adjusting module 30 is further configured to obtain a second current vehicle speed when the actual vehicle speed is not less than a second vehicle speed corresponding to the preset vehicle speed table; and regulating the clutch torque according to the second current vehicle speed, the target vehicle speed and the preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque.
Further, the torque adjusting module 30 is further configured to control the clutch torque to be reduced to a preset protection torque according to a preset protection time period when the clutch torque is increased to a third preset torque and the actual vehicle speed is less than a first vehicle speed corresponding to a preset vehicle speed meter, and control the vehicle to run according to the preset protection torque.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in this embodiment can be referred to the vehicle creep control method provided by any embodiment of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering and these words may be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (such as a Read Only Memory image (ROM)/Random Access Memory (RAM), a magnetic disk, and an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A method of controlling creep of a vehicle, the method comprising the steps of:
when the target vehicle enters a crawling state, acquiring the actual vehicle speed, vehicle working condition information and the target vehicle speed of the target vehicle;
reading current brake pressure from the vehicle working condition information, and controlling the torque of the clutch to increase in different gradients according to the current brake pressure and a preset feedforward torque meter;
and when the clutch torque is increased to a preset torque, regulating the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque.
2. The vehicle creep control method according to claim 1, wherein the step of reading a current brake pressure from the vehicle operating condition information and controlling the clutch torque to increase at different gradients according to the current brake pressure comprises:
reading current brake pressure from the vehicle working condition information;
when the current brake pressure is smaller than the preset pressure, controlling the torque of the clutch according to the current brake pressure and accumulating according to a first preset gradient corresponding to a preset feedforward torque table;
and before the clutch torque reaches a first preset torque corresponding to the preset feedforward torque table, controlling the clutch torque to accumulate according to a first preset gradient corresponding to the preset feedforward torque table.
3. The vehicle creep control method according to claim 2, wherein, when the clutch torque is increased to a preset torque, the clutch torque is adjusted by a preset PID adjustment algorithm according to the actual vehicle speed and the target vehicle speed, and before the step of controlling the vehicle to run according to the adjusted clutch torque, further comprising:
when the clutch torque reaches the first preset torque, judging whether the clutch torque needs to be adjusted according to the actual vehicle speed and a preset vehicle speed meter;
and when the actual vehicle speed is less than a first vehicle speed corresponding to the preset vehicle speed meter, controlling the clutch torque to accumulate according to a second preset gradient so as to enable the actual vehicle speed to reach the first vehicle speed.
4. The vehicle creep control method according to claim 3, wherein the step of adjusting the clutch torque by a preset PID adjusting algorithm based on the actual vehicle speed and the target vehicle speed when the clutch torque is increased to a preset torque, and controlling the vehicle to run based on the adjusted clutch torque, comprises:
when the actual vehicle speed is not less than a first vehicle speed corresponding to the preset vehicle speed meter, acquiring a first current vehicle speed;
and regulating the clutch torque according to the first current vehicle speed through a preset PID regulation algorithm and a preset feedforward torque meter, and controlling the vehicle to run according to the regulated clutch torque.
5. The vehicle creep control method according to claim 4, wherein after the step of adjusting the clutch torque according to the first current vehicle speed by a preset PID adjustment algorithm and a preset feedforward torque meter and controlling the vehicle to run according to the adjusted clutch torque, further comprising:
when the actual vehicle speed is smaller than a second vehicle speed corresponding to the preset vehicle speed meter, determining a third preset gradient according to the actual vehicle speed and the preset feedforward torque meter;
and regulating the clutch torque according to a preset PID regulating algorithm and the third preset gradient, and controlling the vehicle to run according to the regulated clutch torque.
6. The vehicle creep control method according to claim 5, wherein after the step of adjusting the clutch torque according to a preset PID adjusting algorithm and the third preset gradient and controlling the vehicle to run according to the adjusted clutch torque, further comprising:
when the actual vehicle speed is not less than a second vehicle speed corresponding to the preset vehicle speed meter, acquiring a second current vehicle speed;
and regulating the clutch torque according to the second current vehicle speed, the target vehicle speed and the preset PID regulating algorithm, and controlling the vehicle to run according to the regulated clutch torque.
7. The vehicle creep control method according to any one of claims 1-6, wherein after the step of adjusting the clutch torque by a preset PID adjustment algorithm based on the actual vehicle speed and the target vehicle speed when the clutch torque is increased to a preset torque, and controlling the vehicle to run based on the adjusted clutch torque, further comprising:
and when the clutch torque is increased to a third preset torque and the actual vehicle speed is less than a first vehicle speed corresponding to a preset vehicle speed meter, controlling the clutch torque to be reduced to a preset protection torque according to a preset protection time period, and controlling the vehicle to run according to the preset protection torque.
8. A vehicle creep control apparatus, characterized by comprising: a memory, a processor, and a vehicle creep control program stored on the memory and executable on the processor, the vehicle creep control program when executed by the processor implementing the vehicle creep control method according to any one of claims 1 to 7.
9. A storage medium having a vehicle creep control program stored thereon, the vehicle creep control program, when executed by a processor, implementing the vehicle creep control method according to any one of claims 1 to 7.
10. A vehicle creep control apparatus, characterized by comprising:
the information acquisition module is used for acquiring the actual speed, the vehicle working condition information and the target speed of the target vehicle when the target vehicle enters a crawling state;
the gradient determining module is used for reading the current brake pressure from the vehicle working condition information and controlling the clutch torque to increase in different gradients according to the current brake pressure and a preset feedforward torque meter;
and the torque adjusting module is used for adjusting the clutch torque according to the actual vehicle speed and the target vehicle speed through a preset PID (proportion integration differentiation) adjusting algorithm when the clutch torque is increased to a preset torque, and controlling the vehicle to run according to the adjusted clutch torque.
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| CN110925331A (en) * | 2020-01-21 | 2020-03-27 | 雷沃重工股份有限公司 | Mechanical clutch control method and device and vehicle |
| CN112109711B (en) * | 2020-09-14 | 2021-07-13 | 恒大新能源汽车投资控股集团有限公司 | Vehicle creep control method and device, electronic equipment and storage medium |
| CN112392946B (en) * | 2020-12-09 | 2021-10-01 | 安徽江淮汽车集团股份有限公司 | Vehicle starting control method, device, equipment and storage medium |
| CN112677958B (en) * | 2021-01-08 | 2022-08-09 | 重庆长安汽车股份有限公司 | Vehicle starting control method and system and vehicle |
| CN112706771B (en) * | 2021-01-29 | 2022-06-14 | 海马汽车有限公司 | Automobile crawling control method and automobile |
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