CN113844278A - Method and system for rapidly controlling creep torque of vehicle - Google Patents

Method and system for rapidly controlling creep torque of vehicle Download PDF

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Publication number
CN113844278A
CN113844278A CN202111116745.0A CN202111116745A CN113844278A CN 113844278 A CN113844278 A CN 113844278A CN 202111116745 A CN202111116745 A CN 202111116745A CN 113844278 A CN113844278 A CN 113844278A
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creep
vehicle
torque
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time
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CN113844278B (en
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倪昭辉
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Zhixin Control System Co ltd
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Zhixin Control System Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2063—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for creeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/30—Parking brake position
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a method and a system for rapidly controlling vehicle creep torque, wherein the method for rapidly controlling the vehicle creep torque comprises the following steps: acquiring real-time operation data of a vehicle, wherein the real-time operation data comprises a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a releasing state of an electronic parking brake system; when the real-time running data of the vehicle is detected to meet the preset conditions, activating a vehicle crawling function; acquiring a creep final target speed and a creep initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset creep target speed mapping table and a preset creep initial torque mapping table; acquiring a creeping proportional integral torque of the vehicle according to the real-time vehicle speed, a creeping final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table; acquiring creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque; the creep torque can be quickly output in response, and the method can adapt to different road conditions.

Description

Method and system for rapidly controlling creep torque of vehicle
Technical Field
The invention relates to the technical field of vehicle creep control, in particular to a method and a system for rapidly controlling vehicle creep torque.
Background
At present, for the creep control of automobiles, two main control methods are available: one is a one-dimensional table look-up control method, namely, a group of speed-torque tables is calibrated, and the driving force required by the creep of the whole vehicle is obtained by looking up the tables of the speeds at different moments to control the vehicle to run at a constant speed. The stable speed is maintained directly through a group of fixed speed-torque, and the method has the advantages of capability of rapidly outputting torque, intuitionistic and simple method, low calibration requirement and incapability of adapting to the change of road and finished automobile parameters. And the other is a PI control method (Proportion Integration) which takes the designated speed of the vehicle stabilizing to creep as a control target and adjusts the driving torque. The torque is controlled through the actual speed difference of the vehicle and the target vehicle speed, so that the vehicle speed reaches the creeping target vehicle speed.
Both the two control methods cannot well control the creep torque output, so that a method for quickly controlling the creep torque of the vehicle needs to be designed, the method can adapt to different road conditions, and can quickly respond to the output creep torque to make up for the defects of the two control methods.
Disclosure of Invention
The invention provides a method and a system for rapidly controlling vehicle creep torque, which can rapidly respond to and output creep torque and adapt to different road conditions.
In a first aspect, a method for rapidly controlling creep torque of a vehicle is provided, comprising the steps of:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprises a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a releasing state of an electronic parking brake system; when the real-time running data of the vehicle is detected to meet the preset conditions, activating a vehicle crawling function;
acquiring a creep final target speed and a creep initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset creep target speed mapping table and a preset creep initial torque mapping table;
acquiring a creeping proportional integral torque of the vehicle according to the real-time vehicle speed, the creeping final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table;
and acquiring the creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque.
According to a first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of obtaining real-time operation data of the vehicle includes a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a release state of the electronic parking brake system; and activating a vehicle crawling function when the real-time operation data of the vehicle is detected to meet the preset conditions, wherein the method specifically comprises the following steps:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprises a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a releasing state of an electronic parking brake system;
when the real-time gear of the vehicle is detected to be in a forward gear or a reverse gear; or the like, or, alternatively,
when the real-time pedal opening value of the vehicle is detected to be smaller than the preset pedal opening value; or the like, or, alternatively,
when the real-time speed of the vehicle is detected to be less than the preset speed; or the like, or, alternatively,
when the starting state of the vehicle is detected to be the Ready state; or the like, or, alternatively,
when the electronic parking brake system of the vehicle is detected to be in a release state;
and judging that the real-time running data of the vehicle meets the preset conditions, and activating the vehicle crawling function.
According to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of obtaining a creep final target vehicle speed and a creep initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset creep target vehicle speed mapping table and a preset creep initial torque mapping table specifically includes the following steps:
acquiring a crawling initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset crawling target vehicle speed mapping table;
performing first-order low-pass filtering on the crawling initial target vehicle speed to obtain a crawling final target vehicle speed of the vehicle;
and acquiring the crawling initial torque of the vehicle according to the crawling final target vehicle speed and a preset initial torque mapping table.
According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of obtaining a crawling initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset crawling target vehicle speed mapping table specifically includes the following steps:
the preset crawling target vehicle speed mapping table comprises a preset forward gear crawling target vehicle speed mapping table, a preset reverse gear crawling target vehicle speed mapping table and preset other gear crawling target vehicle speed mapping tables;
when the real-time gear is detected to be a forward gear, acquiring a crawling initial target vehicle speed of the vehicle in a forward gear state according to the opening value of the brake pedal and the preset forward gear crawling target vehicle speed mapping table;
when the real-time gear is detected to be a reverse gear, acquiring a crawling initial target speed of the vehicle in a reverse gear state according to the opening value of the brake pedal and the preset crawling target speed mapping table of the reverse gear;
and when the real-time gear is not in the forward gear and the reverse gear, acquiring a creeping initial target speed of the vehicle when the vehicle is not in the forward gear and the reverse gear according to the opening value of the brake pedal and the preset creeping target speed mapping table of the other gears.
According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of obtaining a creep proportional-integral torque of the vehicle according to the real-time vehicle speed, the creep final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table specifically includes the following steps:
acquiring a crawling vehicle speed difference value of the vehicle according to the real-time vehicle speed and the crawling final target vehicle speed;
acquiring creep proportion torque of the vehicle according to the creep vehicle speed difference and a preset gain coefficient mapping table;
acquiring a creeping integral torque of the vehicle according to the creeping vehicle speed difference and a preset integral coefficient mapping table;
and acquiring the creep proportional integral torque of the vehicle according to the creep proportional torque and the creep integral torque.
According to a fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the step of obtaining a creep proportion torque of the vehicle according to the creep vehicle speed difference and a preset gain coefficient mapping table specifically includes the following steps:
according to the crawling vehicle speed difference VTarget_speed_diffPresetting a gain coefficient mapping table to obtain a gain coefficient Kp;
according to the gain coefficient Kp and the crawling vehicle speed difference value VTarget_speed_diffObtaining creep ratio torque of vehicle
Figure BDA0003275774350000041
Figure BDA0003275774350000042
According to a sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the step of obtaining the creep integral torque of the vehicle according to the creep vehicle speed difference and the preset integral coefficient mapping table specifically includes the following steps:
according to the crawling vehicle speed difference VTarget_speed_diffPresetting an integral coefficient mapping table to obtain an integral coefficient Ki;
according to the integral coefficient Ki and the crawling vehicle speed difference value VTarget_speed_diffAnd performing first-order low-pass filtering to obtain creep integral torque of the vehicle
Figure BDA0003275774350000051
Figure BDA0003275774350000052
Figure BDA0003275774350000053
The torque is integrated for the creep of the previous cycle by first order low pass filtering.
According to a seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, the step of obtaining the creep proportional-integral torque of the vehicle according to the creep proportional torque and the creep integral torque includes the following steps:
according to the creep proportion torque
Figure BDA0003275774350000054
Creep integral torque
Figure BDA0003275774350000055
Obtaining a creep proportional-integral torque of the vehicle as
Figure BDA0003275774350000056
Figure BDA0003275774350000057
According to an eighth possible implementation manner of the first aspect, in a ninth possible implementation manner of the first aspect, the step of obtaining a creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque includes the following steps:
according to the creep initial torque Tq1Proportional integral torque of creep
Figure BDA0003275774350000058
Obtaining the creep final torque Tq of the vehicle:
Tq＝Tq1+TqPI。
in a second aspect, a system for rapidly controlling creep torque of a vehicle is provided, which comprises a creep activation module, a creep initial torque module, a creep proportional-integral module and a creep final torque module;
the crawling activation module is used for acquiring real-time running data of the vehicle, wherein the real-time running data comprises a real-time gear, a real-time brake pedal opening value and a real-time vehicle speed; when the real-time running data of the vehicle is detected to meet the preset conditions, activating a vehicle crawling function;
the crawling initial torque module is in communication connection with the crawling activation module and is used for acquiring a crawling final target vehicle speed and a crawling initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset crawling target vehicle speed mapping table and a preset crawling initial torque mapping table;
the crawling proportional-integral module is in communication connection with the crawling activation module and the crawling initial torque module, and is used for acquiring crawling proportional-integral torque of the vehicle according to the real-time vehicle speed, the crawling final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table;
and the creep final torque module is in communication connection with the creep initial torque module and the creep proportional-integral module and is used for acquiring creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque.
Compared with the prior art, the invention has the following advantages: when the real-time running data of the vehicle is detected to meet the preset conditions, the vehicle crawling function is activated at the moment; considering the states of a brake pedal and gears, obtaining creep initial torque in advance according to a preset creep target vehicle speed mapping table and a preset creep initial torque mapping table, and quickly outputting the torque of a vehicle, namely outputting the creep torque in a quick response manner; meanwhile, the creep proportional-integral torque of the vehicle is obtained, and the torque is controlled through the actual speed difference of the vehicle and the target vehicle speed, so that the vehicle speed reaches the creep target vehicle speed, and the creep proportional-integral torque can adapt to different road conditions; and finally, acquiring the creep final torque of the vehicle according to the creep initial torque and the creep proportional integral torque, and realizing the purpose that the vehicle quickly and stably reaches the final target speed and the creep final torque.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a method for rapidly controlling creep torque of a vehicle according to the present invention;
FIG. 2 is a schematic flow chart diagram of yet another embodiment of a method of the present invention for rapidly controlling creep torque of a vehicle;
FIG. 3 is a schematic flow chart diagram of yet another embodiment of a method of the present invention for rapidly controlling creep torque of a vehicle;
FIG. 4 is a schematic diagram of the present invention for a system for rapidly controlling creep torque of a vehicle;
description of the drawings:
100. a rapid control vehicle creep torque system; 110. a crawling activation module; 120. a creep initial torque module; 130. a creep proportional-integral module; 140. the creep final torque module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides a method for rapidly controlling creep torque of a vehicle, comprising the steps of:
s100, acquiring real-time operation data of a vehicle, wherein the real-time operation data comprises a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a releasing state of an electronic parking brake system; when the real-time running data of the vehicle is detected to meet the preset conditions, activating a vehicle crawling function;
s200, acquiring a creep final target speed and a creep initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset creep target speed mapping table and a preset creep initial torque mapping table;
s300, acquiring a creeping proportional integral torque of the vehicle according to the real-time vehicle speed, the creeping final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table;
s400, acquiring a creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque.
Specifically, in the embodiment, when it is detected that the real-time operation data of the vehicle meets the preset condition, the vehicle crawling function is activated at the moment; considering the states of a brake pedal and gears, obtaining creep initial torque in advance according to a preset creep target vehicle speed mapping table and a preset creep initial torque mapping table, and quickly outputting the torque of a vehicle, namely outputting the creep torque in a quick response manner; meanwhile, the creep proportional-integral torque of the vehicle is obtained, and the torque is controlled through the actual speed difference of the vehicle and the target vehicle speed, so that the vehicle speed reaches the creep target vehicle speed, and the creep proportional-integral torque can adapt to different road conditions; and finally, acquiring the creep final torque of the vehicle according to the creep initial torque and the creep proportional integral torque, and realizing the purpose that the vehicle quickly and stably reaches the final target speed and the creep final torque.
In another embodiment of the present invention, "S100," obtaining real-time operation data of a vehicle, where the real-time operation data includes a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state, and a release state of an electronic parking brake system; and activating a vehicle crawling function when the real-time operation data of the vehicle is detected to meet the preset conditions, wherein the method specifically comprises the following steps:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprises a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a releasing state of an electronic parking brake system;
when the real-time gear of the vehicle is detected to be in a forward gear or a reverse gear; or the like, or, alternatively,
when the real-time pedal opening value of the vehicle is detected to be smaller than the preset pedal opening value; or the like, or, alternatively,
when the real-time speed of the vehicle is detected to be less than the preset speed; or the like, or, alternatively,
when the starting state of the vehicle is detected to be the Ready state; or the like, or, alternatively,
when the electronic parking brake system of the vehicle is detected to be in a release state;
and judging that the real-time running data of the vehicle meets the preset conditions, and activating the vehicle crawling function.
Note that, Ready state: the vehicle is prepared, is started successfully, and can start at any time, which is a starting state display lamp unique to the new energy electric vehicle. And activating the vehicle crawling function by judging whether the real-time running data of the vehicle meets a preset condition, and if so, activating the crawling state, or else, exiting the crawling state.
Referring to fig. 2, in another embodiment of the present invention, the step of "S200, obtaining a creep final target vehicle speed and a creep initial torque of a vehicle according to the real-time gear, the real-time brake pedal opening value, a preset creep target vehicle speed mapping table, and a preset creep initial torque mapping table" specifically includes the following steps:
s210, acquiring a crawling initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset crawling target vehicle speed mapping table;
s220, performing first-order low-pass filtering on the crawling initial target vehicle speed to obtain a crawling final target vehicle speed of the vehicle;
and S230, acquiring the crawling initial torque of the vehicle according to the crawling final target vehicle speed and a preset initial torque mapping table.
Specifically, in this embodiment, in step S220, a creep final target vehicle speed of the vehicle is obtained by performing first-order low-pass filtering on the creep initial target vehicle speed, and a vehicle speed difference is filtered, so that a vehicle shake amount can be reduced; the principle of this first order low pass filtering is as follows:
y (n) ═ α x (n) +(1- α) Y (n-1) formula (1);
in the formula: alpha is a filter coefficient; x (n) is a creep initial target vehicle speed; y (n-1) is an upper period filtering output value; y (n) is the filtering output value (creep final target vehicle speed) in the period; wherein the alpha filter coefficient sets different filter coefficients according to different gears.
S230, according to the creeping final target vehicle speed VTarget_speedPresetting an initial torque mapping table (shown in the following table 1), and acquiring the creep initial torque Tq of the vehicle1；
Creeping final target vehicle speed 0 1 2 3 4 5 6
Creep initial torque 0 200 165 130 95 80 50
TABLE 1
In another embodiment of the present invention, the step of "S210, obtaining a crawling initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value, and a preset crawling target vehicle speed mapping table" specifically includes the following steps:
the preset crawling target vehicle speed mapping table comprises a preset forward gear crawling target vehicle speed mapping table, a preset reverse gear crawling target vehicle speed mapping table and preset other gear crawling target vehicle speed mapping tables;
when the real-time gear is detected to be a forward gear, acquiring a crawling initial target vehicle speed of the vehicle in a forward gear state according to the opening value of the brake pedal and the preset forward gear crawling target vehicle speed mapping table;
when the real-time gear is detected to be a reverse gear, acquiring a crawling initial target speed of the vehicle in a reverse gear state according to the opening value of the brake pedal and the preset crawling target speed mapping table of the reverse gear;
and when the real-time gear is not in the forward gear and the reverse gear, acquiring a creeping initial target speed of the vehicle when the vehicle is not in the forward gear and the reverse gear according to the opening value of the brake pedal and the preset creeping target speed mapping table of the other gears.
Specifically, in the present embodiment, the first and second electrodes,
when the real-time gear is detected to be a forward gear, acquiring a crawling initial target vehicle speed of the vehicle in a forward gear state according to a preset forward gear crawling target vehicle speed mapping table (shown in the following table 2);
opening value of brake pedal 0 10 20 30 40 50 100
Crawling initial target vehicle speed 6 5 3 2 1 0 0
TABLE 2
When the real-time gear is detected to be a reverse gear, acquiring a crawling initial target speed of the vehicle in a reverse gear state according to a preset crawling target speed mapping table (as shown in a table 3) of the reverse gear;
opening value of brake pedal 0 10 20 30 40 50 100
Crawling initial target vehicle speed 4 3 2 1 0 0 0
TABLE 3
When the real-time gear is detected not to be in the forward gear and the reverse gear, acquiring a crawling initial target speed of the vehicle when the vehicle is not in the forward gear and the reverse gear according to a preset crawling target speed mapping table (as shown in a table 4) of other gears;
opening value of brake pedal 0 10 20 30 40 50 100
Crawling initial target vehicle speed 0 0 0 0 0 0 0
TABLE 4
Referring to fig. 3, in another embodiment of the present invention, the step of "S300, obtaining a creep proportional-integral torque of a vehicle according to the real-time vehicle speed, the creep final target vehicle speed, a preset gain coefficient mapping table, and a preset integral coefficient mapping table" specifically includes the following steps:
s310, acquiring a crawling vehicle speed difference value of the vehicle according to the real-time vehicle speed and the crawling final target vehicle speed;
according to the real-time vehicle speed Vact_speedAnd the creep final target vehicle speed VTarget_speedObtaining the creeping speed difference V of the vehicleTarget_speed_diff：
VTarget_speed_diff＝Vact_speedVTarget_speedFormula (2);
s320, acquiring creep proportion torque of the vehicle according to the creep vehicle speed difference and a preset gain coefficient mapping table;
s330, acquiring a creeping integral torque of the vehicle according to the creeping vehicle speed difference and a preset integral coefficient mapping table;
s340, acquiring the creep proportional integral torque of the vehicle according to the creep proportional torque and the creep integral torque.
In another embodiment of the present invention, the step of "S320, obtaining creep proportion torque of the vehicle according to the creep vehicle speed difference and the preset gain coefficient mapping table" specifically includes the following steps:
according to the crawling vehicle speed difference VTarget_speed_diffPresetting a gain coefficient mapping table to obtain a gain coefficient Kp;
according to the gain coefficient Kp and the crawling vehicle speed difference value VTarget_speed_diffObtaining creep ratio torque of vehicle
Figure BDA0003275774350000121
Figure BDA0003275774350000122
In another embodiment of the present invention, the step of "S330, obtaining creep integral torque of the vehicle according to the creep vehicle speed difference and the preset integral coefficient mapping table" specifically includes the following steps:
according to the crawling vehicle speed difference VTarget_speed_diffPresetting an integral coefficient mapping table to obtain an integral coefficient Ki;
according to the integral coefficient Ki and the crawling vehicle speed difference value VTarget_speed_diffAnd performing first-order low-pass filtering to obtain creep integral torque of the vehicle
Figure BDA0003275774350000123
Figure BDA0003275774350000124
Figure BDA0003275774350000125
The torque is integrated for the creep of the upper period of the first order low pass filter.
The integral term is accumulated all the time under the condition of error, so that the creep integral torque needs to be filtered; similarly, the principle of the first-order low-pass filtering is as follows:
y (n) ═ α x (n) +(1- α) Y (n-1) formula (1);
in the formula: alpha is a filter coefficient; x (n) is the difference value V between the integral coefficient Ki and the creeping speedTarget_speed_diffObtaining a creep initial integrated torque; y (n-1) is the up-cycle filter output value (up-cycle creep integral torque)
Figure BDA0003275774350000131
) (ii) a Y (n) is the filtered output value (creep integral torque) of the present period
Figure BDA0003275774350000132
) (ii) a Wherein the alpha filter coefficient sets different filter coefficients according to different gears.
In another embodiment of the present invention, the step of "S330, obtaining the creep proportional-integral torque of the vehicle according to the creep proportional torque and the creep integral torque" specifically includes the following steps:
according to the creep proportion torque
Figure BDA0003275774350000133
Creep integral torque
Figure BDA0003275774350000134
Obtaining a creep proportional-integral torque of the vehicle as
Figure BDA0003275774350000135
Figure BDA0003275774350000136
In another embodiment of the present invention, the step of obtaining a creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque "S340 specifically includes the steps of:
according to the creep initial torque Tq1Proportional integral torque of creep TqPIAcquiring the creep final torque Tq of the vehicle:
Tq＝Tq1+TqPIformula (6).
An embodiment of the present invention further provides a system 100 for rapidly controlling a creep torque of a vehicle, including:
the crawling activation module 110 is used for acquiring real-time running data of the vehicle, wherein the real-time running data comprises a real-time gear, a real-time brake pedal opening value and a real-time vehicle speed; when the real-time running data of the vehicle is detected to meet the preset conditions, activating a vehicle crawling function;
the crawling initial torque module 120 is in communication connection with the crawling activation module 110 and is used for acquiring a crawling final target vehicle speed and a crawling initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset crawling target vehicle speed mapping table and a preset crawling initial torque mapping table;
the crawling proportional-integral module 130 is in communication connection with the crawling activation module 110 and the crawling initial torque module 120, and is used for acquiring crawling proportional-integral torque of the vehicle according to the real-time vehicle speed, the crawling final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table;
a creep final torque module 140, communicatively connected to the creep initial torque module 120 and the creep proportional-integral module 130, for obtaining a creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque.
When the real-time running data of the vehicle is detected to meet the preset conditions, the vehicle crawling function is activated at the moment; considering the states of a brake pedal and gears, obtaining creep initial torque in advance according to a preset creep target vehicle speed mapping table and a preset creep initial torque mapping table, and quickly outputting the torque of a vehicle, namely outputting the creep torque in a quick response manner; meanwhile, the creep proportional-integral torque of the vehicle is obtained, and the torque is controlled through the actual speed difference of the vehicle and the target vehicle speed, so that the vehicle speed reaches the creep target vehicle speed, and the creep proportional-integral torque can adapt to different road conditions; and finally, acquiring the creep final torque of the vehicle according to the creep initial torque and the creep proportional integral torque, and realizing the purpose that the vehicle quickly and stably reaches the final target speed and the creep final torque.
Specifically, the functions of each module in this embodiment have been described in detail in the corresponding method embodiment, and thus are not described in detail again.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CP U), or may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A method for rapidly controlling creep torque of a vehicle, comprising the steps of:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprises a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a releasing state of an electronic parking brake system; when the real-time running data of the vehicle is detected to meet the preset conditions, activating a vehicle crawling function;
acquiring a creep final target speed and a creep initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset creep target speed mapping table and a preset creep initial torque mapping table;
acquiring a creeping proportional integral torque of the vehicle according to the real-time vehicle speed, the creeping final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table;
and acquiring the creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque.
2. The method for rapidly controlling the creep torque of the vehicle according to claim 1, wherein the step of obtaining real-time operation data of the vehicle comprises real-time gear position, real-time brake pedal opening value, real-time vehicle speed, starting state and releasing state of an electronic parking brake system; and activating a vehicle crawling function when the real-time operation data of the vehicle is detected to meet the preset conditions, wherein the method specifically comprises the following steps:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprises a real-time gear, a real-time brake pedal opening value, a real-time vehicle speed, a starting state and a releasing state of an electronic parking brake system;
when the real-time gear of the vehicle is detected to be in a forward gear or a reverse gear; or the like, or, alternatively,
when the real-time pedal opening value of the vehicle is detected to be smaller than the preset pedal opening value; or the like, or, alternatively,
when the real-time speed of the vehicle is detected to be less than the preset speed; or the like, or, alternatively,
when the starting state of the vehicle is detected to be the Ready state; or the like, or, alternatively,
when the electronic parking brake system of the vehicle is detected to be in a release state;
and judging that the real-time running data of the vehicle meets the preset conditions, and activating the vehicle crawling function.
3. The method for rapidly controlling the creep torque of the vehicle according to claim 1, wherein the step of obtaining the creep final target vehicle speed and the creep initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, the preset creep target vehicle speed mapping table and the preset creep initial torque mapping table comprises the following steps:
acquiring a crawling initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset crawling target vehicle speed mapping table;
performing first-order low-pass filtering on the crawling initial target vehicle speed to obtain a crawling final target vehicle speed of the vehicle;
and acquiring the crawling initial torque of the vehicle according to the crawling final target vehicle speed and a preset initial torque mapping table.
4. The method for rapidly controlling the creep torque of the vehicle according to claim 3, wherein the step of obtaining the creep initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and the preset creep target vehicle speed mapping table comprises the following steps:
the preset crawling target vehicle speed mapping table comprises a preset forward gear crawling target vehicle speed mapping table, a preset reverse gear crawling target vehicle speed mapping table and preset other gear crawling target vehicle speed mapping tables;
when the real-time gear is detected to be a forward gear, acquiring a crawling initial target vehicle speed of the vehicle in a forward gear state according to the opening value of the brake pedal and the preset forward gear crawling target vehicle speed mapping table;
when the real-time gear is detected to be a reverse gear, acquiring a crawling initial target speed of the vehicle in a reverse gear state according to the opening value of the brake pedal and the preset crawling target speed mapping table of the reverse gear;
and when the real-time gear is not in the forward gear and the reverse gear, acquiring a creeping initial target speed of the vehicle when the vehicle is not in the forward gear and the reverse gear according to the opening value of the brake pedal and the preset creeping target speed mapping table of the other gears.
5. The method for rapidly controlling the creep torque of the vehicle according to any one of claims 1 to 4, wherein the step of obtaining the creep proportional-integral torque of the vehicle according to the real-time vehicle speed, the creep final target vehicle speed, the preset gain coefficient mapping table and the preset integral coefficient mapping table specifically comprises the following steps:
acquiring a crawling vehicle speed difference value of the vehicle according to the real-time vehicle speed and the crawling final target vehicle speed;
acquiring creep proportion torque of the vehicle according to the creep vehicle speed difference and a preset gain coefficient mapping table;
acquiring a creeping integral torque of the vehicle according to the creeping vehicle speed difference and a preset integral coefficient mapping table;
and acquiring the creep proportional integral torque of the vehicle according to the creep proportional torque and the creep integral torque.
6. The method for rapidly controlling the creep torque of the vehicle according to claim 5, wherein the step of obtaining the creep proportional torque of the vehicle according to the creep vehicle speed difference and the preset gain coefficient mapping table comprises the following steps:
according to the crawling vehicle speed difference VTarget-speed_diffPresetting a gain coefficient mapping table to obtain a gain coefficient Kp;
according to the gain coefficient Kp and the crawling vehicle speed difference value VTarget_speed_diffObtaining creep ratio torque Tq of vehicleKp：
TqKp＝Kp*VTarget_speed_diff。
7. The method for rapidly controlling the creep torque of the vehicle according to claim 6, wherein the step of obtaining the creep integral torque of the vehicle according to the creep vehicle speed difference and a preset integral coefficient mapping table comprises the following steps:
according to the crawling vehicle speed difference VTarget_speed_diffPresetting an integral coefficient mapping table to obtain an integral coefficient Ki;
according to the integral coefficient Ki and the crawling vehicle speed difference value VTarget_speed_diffAnd performing first-order low-pass filtering to obtain creep integral torque Tq of the vehicleki：
Figure FDA0003275774340000041
TqKi_prevThe torque is integrated for the creep of the previous cycle by first order low pass filtering.
8. The method for rapidly controlling the creep torque of a vehicle according to claim 7, wherein the step of obtaining the creep proportional-integral torque of the vehicle according to the creep proportional torque and the creep integral torque comprises the following steps:
according to the creep proportion torque TqKpIntegral torque of creep TqkiObtaining the creep proportional-integral torque Tq of the vehiclePI：
TqPI＝TqKp+TqKi。
9. The connecting rod bolt safety checking method according to claim 8, wherein the step of obtaining the creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque comprises the following steps:
according to the creep initial torque Tq1Proportional integral torque of creep TqPIAcquiring the creep final torque Tq of the vehicle:
Tq＝Tq1+TqPI。
10. a system for rapidly controlling creep torque in a vehicle, comprising:
the crawling activation module is used for acquiring real-time running data of the vehicle, wherein the real-time running data comprises a real-time gear, a real-time brake pedal opening value and a real-time vehicle speed; when the real-time running data of the vehicle is detected to meet the preset conditions, activating a vehicle crawling function;
the crawling initial torque module is in communication connection with the crawling activation module and is used for acquiring a crawling final target vehicle speed and a crawling initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset crawling target vehicle speed mapping table and a preset crawling initial torque mapping table;
the crawling proportional-integral module is in communication connection with the crawling activation module and the crawling initial torque module, and is used for acquiring crawling proportional-integral torque of the vehicle according to the real-time vehicle speed, the crawling final target vehicle speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table; and the number of the first and second groups,
and the creep final torque module is in communication connection with the creep initial torque module and the creep proportional-integral module and is used for acquiring creep final torque of the vehicle according to the creep initial torque and the creep proportional-integral torque.
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