CN113844278B - Method and system for rapidly controlling creep torque of vehicle - Google Patents
Method and system for rapidly controlling creep torque of vehicle Download PDFInfo
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- CN113844278B CN113844278B CN202111116745.0A CN202111116745A CN113844278B CN 113844278 B CN113844278 B CN 113844278B CN 202111116745 A CN202111116745 A CN 202111116745A CN 113844278 B CN113844278 B CN 113844278B
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/30—Parking brake position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- 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 creep torque of a vehicle, wherein the method for rapidly controlling the creep torque of the vehicle comprises the following steps: acquiring real-time operation data of a vehicle, wherein the real-time operation data comprise 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 condition, activating the creeping function of the vehicle; obtaining a final target creep speed and initial creep torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, the preset target creep speed mapping table and the preset initial creep torque mapping table; obtaining the creep proportional integral torque of the vehicle according to the real-time speed, the creep final target speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table; obtaining a final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque; not only can quickly respond and output creep torque, but also can adapt to different road conditions.
Description
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 control of the creep of an automobile, two main flow control methods exist: a one-dimensional table look-up control method is to calibrate a set of table of speed-moment, and obtain the driving force required by the whole vehicle to creep by looking up table of speed at different moments to control the vehicle to run at constant speed. The method directly maintains the stable vehicle speed through a group of fixed vehicle speed-moment, has the advantages of capability of rapidly outputting moment, visual and simple method with low calibration requirements, and has the defect of incapability of adapting to the change of road and whole vehicle parameters. And secondly, a PI control method (Proportion Integration, proportional integral method) takes the speed of the vehicle stabilized to creep designated as a control target, and adjusts the driving moment. The torque is controlled through the difference between the actual speed and the target speed, so that the speed reaches the creep target speed, the vehicle has the advantages of flexibility, reliability, adaptability to different road conditions and the change of the whole vehicle parameters, relatively high calibration requirement, and incapability of directly adjusting the creep speed when entering the creep mode from the high-speed driving mode due to the fact that the driving torque responsiveness is insufficient.
The creep torque output cannot be well controlled by the two control methods, so that a method for rapidly controlling the creep torque of the vehicle needs to be designed, the method can adapt to different road conditions, and simultaneously, the creep torque can be rapidly responded and output, so that the defects of the two control methods are overcome.
Disclosure of Invention
The invention provides a method and a system for rapidly controlling the creep torque of a vehicle, which can rapidly respond to and output the 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 comprise 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 condition, activating the creeping function of the vehicle;
obtaining a final target creep speed and initial creep torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset target creep speed mapping table and a preset initial creep torque mapping table;
obtaining the 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;
and obtaining the final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque.
In a second possible implementation manner of the first aspect, the acquiring 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 start state, and a release state of the electronic parking brake system; when the real-time running data of the vehicle is detected to meet the preset condition, activating the creep function of the vehicle, wherein the method specifically comprises the following steps:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprise 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 detecting that the real-time gear of the vehicle is in the forward gear or the backward gear; or alternatively, the first and second heat exchangers may be,
when the real-time pedal opening value of the vehicle is detected to be smaller than the preset pedal opening value; or alternatively, the first and second heat exchangers may be,
when the real-time speed of the vehicle is detected to be smaller than the preset speed; or alternatively, the first and second heat exchangers may be,
when the starting state of the vehicle is detected to be a Ready state; or alternatively, the first and second heat exchangers may be,
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 condition, and activating the creeping function of the vehicle.
According to a second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of obtaining a final target creep speed and an initial creep torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset target creep speed map and a preset initial creep torque map specifically includes the following steps:
acquiring a creep initial target speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset creep target speed mapping table;
obtaining a final target creep speed of the vehicle by performing first-order low-pass filtering on the initial target creep speed;
and obtaining the creep initial torque of the vehicle according to the final target creep 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 acquiring a creep initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset creep target vehicle speed mapping table specifically includes the following steps:
the preset creep target speed mapping table comprises a preset forward gear creep target speed mapping table, a preset reverse gear creep target speed mapping table and preset other gear creep target speed mapping tables;
when the real-time gear is detected to be a forward gear, obtaining a creep initial target speed of the vehicle in a forward gear state according to the opening value of the brake pedal and the preset forward gear creep target speed mapping table;
when the real-time gear is detected to be a reverse gear, obtaining a creep initial target speed of the vehicle in a reverse gear state according to the brake pedal opening value and the preset reverse gear creep target speed mapping table;
when the fact that the real-time gear is not in the forward gear and the reverse gear is detected, obtaining a creep initial target speed 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 other gear creep target speed mapping table.
According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of acquiring 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:
obtaining a creeping speed difference value of the vehicle according to the real-time speed and the creeping final target speed;
obtaining the creep proportion torque of the vehicle according to the creep speed difference value and a preset gain coefficient mapping table;
obtaining the creep integral torque of the vehicle according to the creep speed difference value and a preset integral coefficient mapping table;
and obtaining 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 acquiring the creep proportion torque of the vehicle according to the creep speed difference value and the preset gain coefficient mapping table specifically includes the following steps:
according to the creep speed difference V Target_speed_diff Presetting a gain coefficient mapping table to obtain a gain coefficient Kp;
according to the gain coefficient Kp, the creep speed difference value V Target_speed_diff Obtaining creep proportion torque of vehicle
According to a sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the step of acquiring the creep integral torque of the vehicle according to the creep speed difference value and a preset integral coefficient mapping table specifically includes the following steps:
according to the creep speed difference V Target_speed_diff Presetting an integral coefficient mapping table to obtain an integral coefficient Ki;
according to the integral coefficient Ki, the creeper speed difference value V Target_speed_diff First-order low-pass filtering is carried out to obtain creep integral torque of the vehicle
The torque is integrated for the creep of the last cycle of the 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 specifically includes the following steps:
according to the creep proportion torqueCreep integral torque->Obtaining creep proportional integral torque of a vehicle as +.>
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 specifically includes the following steps:
according to the creep initial torque Tq 1 Creep proportional integral torqueThe creep final torque of the vehicle is obtained as Tq:
Tq＝Tq 1 +Tq PI 。
in a second aspect, a system for rapidly controlling a creep torque of a vehicle is provided, comprising a creep activation module, a creep initial torque module, a creep proportional integral module and a creep final torque module;
the creep activation module is used for acquiring real-time operation data of the vehicle, wherein the real-time operation 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 condition, activating the creeping function of the vehicle;
the creep initial torque module is in communication connection with the creep activation module and is used for acquiring a final creep 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;
the creeping proportional integral module is in communication connection with the creeping activating module and the creeping initial torque module and is used for acquiring 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 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 the 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 condition, activating the creeping function of the vehicle at the moment; considering the states of a brake pedal and a gear, according to a preset creep target vehicle speed mapping table and a preset creep initial torque mapping table, the creep initial torque is obtained in advance, and the torque of the vehicle can be rapidly output, namely the creep torque can be rapidly responded and output; meanwhile, torque is controlled by acquiring creep proportional integral torque of the vehicle and by the difference between the actual speed and the target speed, so that the speed reaches the creep target speed, and the method can adapt to different road conditions; and finally, obtaining the final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque, and realizing the rapid and stable achievement of the final target speed and the final creep torque of the vehicle.
Drawings
FIG. 1 is a schematic flow chart diagram of one embodiment of a method of the present invention for rapidly controlling creep torque of a vehicle;
FIG. 2 is a schematic flow chart of yet another embodiment of a method of rapidly controlling creep torque of a vehicle in accordance with the present invention;
FIG. 3 is a schematic flow chart 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 a rapid control vehicle creep torque system of the present invention;
description of the drawings:
100. a vehicle creep torque system is controlled rapidly; 110. a creeping activating module; 120. a creep initial torque module; 130. a creeping proportional integral module; 140. and (5) creeping a 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 described embodiments. 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 arrangement of functions, and any functional block or arrangement of functions may be implemented as a physical entity or a logical entity, or a combination of both.
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to understand the invention better.
Note that: the examples to be described below are only one specific example, and not as limiting the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can, upon reading the present specification, make and use the concepts of the invention to construct further embodiments not mentioned in the specification.
Referring to fig. 1, an embodiment of the present invention provides a method for rapidly controlling creep torque of a vehicle, including the following steps:
s100, acquiring real-time operation data of a vehicle, wherein the real-time operation data comprise 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 condition, activating the creeping function of the vehicle;
s200, obtaining a final creep 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, obtaining the 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;
s400, obtaining the final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque.
Specifically, in this embodiment, when it is detected that the real-time running data of the vehicle satisfies a preset condition, the creep function of the vehicle is activated at this time; considering the states of a brake pedal and a gear, according to a preset creep target vehicle speed mapping table and a preset creep initial torque mapping table, the creep initial torque is obtained in advance, and the torque of the vehicle can be rapidly output, namely the creep torque can be rapidly responded and output; meanwhile, torque is controlled by acquiring creep proportional integral torque of the vehicle and by the difference between the actual speed and the target speed, so that the speed reaches the creep target speed, and the method can adapt to different road conditions; and finally, obtaining the final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque, and realizing the rapid and stable achievement of the final target speed and the final creep torque of the vehicle.
In another embodiment of the present invention, "S100, acquiring real-time operation data of the 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 releasing state of the electronic parking brake system; when the real-time running data of the vehicle is detected to meet the preset condition, activating the creep function of the vehicle, wherein the method specifically comprises the following steps:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprise 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 detecting that the real-time gear of the vehicle is in the forward gear or the backward gear; or alternatively, the first and second heat exchangers may be,
when the real-time pedal opening value of the vehicle is detected to be smaller than the preset pedal opening value; or alternatively, the first and second heat exchangers may be,
when the real-time speed of the vehicle is detected to be smaller than the preset speed; or alternatively, the first and second heat exchangers may be,
when the starting state of the vehicle is detected to be a Ready state; or alternatively, the first and second heat exchangers may be,
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 condition, and activating the creeping function of the vehicle.
Note that, ready state: the vehicle is ready for all, has been started successfully, can start at any time, and is an inherent display start state lamp of the new energy electric vehicle. And activating the creep function of the vehicle by judging whether the real-time running data of the vehicle meet the preset condition, and if so, activating the creep state or else exiting the creep state.
Referring to fig. 2, in another embodiment of the present invention, step S200, wherein the step of obtaining the final target creep speed and the initial creep torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, the preset target creep speed map and the preset initial creep torque map specifically includes the following steps:
s210, obtaining a creep initial target speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset creep target speed mapping table;
s220, obtaining a final creeping target speed of the vehicle by performing first-order low-pass filtering on the initial creeping target speed;
s230, obtaining the creep initial torque of the vehicle according to the creep final target speed and a preset initial torque mapping table.
Specifically, in this embodiment, S220 performs first-order low-pass filtering on the creep initial target vehicle speed to obtain a creep final target vehicle speed of the vehicle, and performs filtering processing on a vehicle speed difference, so as to reduce the shake amount of the vehicle; the principle of the first order low pass filtering is as follows:
y (n) =αx (n) + (1- α) Y (n-1) formula (1);
wherein: alpha is a filter coefficient; x (n) is the initial target creep speed; y (n-1) is an upper period filtering output value; y (n) is the current period filtering output value (creep final target speed); wherein the alpha filter coefficients set different filter coefficients according to different gear positions.
S230, according to the creep final target vehicle speed V Target_speed And presetting an initial torque mapping table (as shown in the following table 1), and obtaining the creep initial torque Tq of the vehicle 1 ；
| Final target speed of creep | 0 | 1 | 2 | 3 | 4 | 5 | 6 |
| Creep initiation torque | 0 | 200 | 165 | 130 | 95 | 80 | 50 |
TABLE 1
In another embodiment of the present invention, 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 a preset creep target vehicle speed mapping table at S210 specifically includes the following steps:
the preset creep target speed mapping table comprises a preset forward gear creep target speed mapping table, a preset reverse gear creep target speed mapping table and preset other gear creep target speed mapping tables;
when the real-time gear is detected to be a forward gear, obtaining a creep initial target speed of the vehicle in a forward gear state according to the opening value of the brake pedal and the preset forward gear creep target speed mapping table;
when the real-time gear is detected to be a reverse gear, obtaining a creep initial target speed of the vehicle in a reverse gear state according to the brake pedal opening value and the preset reverse gear creep target speed mapping table;
when the fact that the real-time gear is not in the forward gear and the reverse gear is detected, obtaining a creep initial target speed 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 other gear creep target speed mapping table.
Specifically, in the present embodiment, the present invention,
when the real-time gear is detected to be a forward gear, obtaining a creep initial target speed of the vehicle in a forward gear state according to a preset forward gear creep target speed mapping table (table 2 below);
| brake pedal opening value | 0 | 10 | 20 | 30 | 40 | 50 | 100 |
| Creep 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, obtaining a creep initial target speed of the vehicle in a reverse gear state according to a preset reverse gear creep target speed mapping table (shown in the following table 3);
| brake pedal opening value | 0 | 10 | 20 | 30 | 40 | 50 | 100 |
| Creep initial target vehicle speed | 4 | 3 | 2 | 1 | 0 | 0 | 0 |
TABLE 3 Table 3
When the real-time gear is detected to be not in the forward gear and the reverse gear, obtaining a creep initial target speed when the vehicle is not in the forward gear and the reverse gear according to a preset other gear creep target speed mapping table (table 4 below);
| brake pedal opening value | 0 | 10 | 20 | 30 | 40 | 50 | 100 |
| Creep initial target vehicle speed | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
TABLE 4 Table 4
Referring to fig. 3, in another embodiment of the present invention, 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, a preset gain coefficient map and a preset integral coefficient map specifically includes the following steps:
s310, obtaining a creeping speed difference value of the vehicle according to the real-time vehicle speed and the creeping final target vehicle speed;
according to the real-time vehicle speed V act_speed And the final target creep speed V Target_speed Obtaining a creeping speed difference V of a vehicle Target_speed_diff ：
V Target_speed_diff ＝V act_speed V Target_speed Formula (2);
s320, obtaining the creep proportion torque of the vehicle according to the creep speed difference value and a preset gain coefficient mapping table;
s330, obtaining the creep integral torque of the vehicle according to the creep speed difference value and a preset integral coefficient mapping table;
s340, obtaining 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 obtaining the creep ratio torque of the vehicle according to the creep speed difference value and the preset gain coefficient mapping table at S320 specifically includes the following steps:
according to the creep speed difference V Target_speed_diff Presetting a gain coefficient mapping table to obtain a gain coefficient Kp;
according to the gain coefficient Kp, the creep speed difference value V Target_speed_diff Obtaining creep proportion torque of vehicle
In another embodiment of the present invention, the step of obtaining the creep integral torque of the vehicle according to the creep speed difference value and a preset integral coefficient mapping table at S330 specifically includes the following steps:
according to the creep speed difference V Target_speed_diff Presetting an integral coefficient mapping table to obtain an integral coefficient Ki;
according to the integral coefficient Ki, the creeper speed difference value V Target_speed_diff First-order low-pass filtering is carried out to obtain creep integral torque of the vehicle
The torque is integrated for periodic creep on a first order low pass filter.
Because the integral terms are accumulated all the time under the condition of errors, the creep integral torque needs to be subjected to filtering treatment; similarly, the principle of the first order low pass filtering is as follows:
y (n) =αx (n) + (1- α) Y (n-1) formula (1);
wherein: alpha is a filter coefficient; x (n) is the speed difference V of the creeper according to the integral coefficient Ki Target_speed_diff The obtained creep initial integral torque; y (n-1) is the upper period filter output value (upper period creep integral torque)) The method comprises the steps of carrying out a first treatment on the surface of the Y (n) is the output value of the present periodic filter (creep integral torque +.>) The method comprises the steps of carrying out a first treatment on the surface of the Wherein the alpha filter coefficients set different filter coefficients according to different gear positions.
In another embodiment of the present invention, the step of obtaining the creep proportional integral torque of the vehicle according to the creep proportional torque and the creep integral torque at S330 specifically includes the following steps:
according to the creep proportion torqueCreep integral torque->Obtaining creep proportional integral torque of a vehicle as +.>
In another embodiment of the present invention, the step of obtaining the final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque at S340 specifically includes the following steps:
according to the creep initial torque T q1 Creep proportional integral torque Tq PI The creep final torque of the vehicle is obtained as Tq:
Tq＝Tq 1 +Tq PI formula (6).
The embodiment of the invention also provides a system 100 for rapidly controlling the creep torque of a vehicle, which comprises:
the creep activation module 110 is configured to obtain real-time operation data of the vehicle, where the real-time operation data includes 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 condition, activating the creeping function of the vehicle;
the creep initial torque module 120 is in communication connection with the creep activation module 110, and is configured to obtain a final target creep speed and a creep initial torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset target creep speed mapping table and a preset creep initial torque mapping table;
the creep proportional integral module 130 is in communication connection with the creep activation module 110 and the creep initial torque module 120, and is used for obtaining the creep proportional integral torque of the vehicle according to the real-time vehicle speed, the final target creep speed, a preset gain coefficient mapping table and a preset integral coefficient mapping table;
and the creep final torque module 140 is in communication connection with the creep initial torque module 120 and the creep proportional integral module 130, and is configured to obtain the 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 condition, activating the creeping function of the vehicle at the moment; considering the states of a brake pedal and a gear, according to a preset creep target vehicle speed mapping table and a preset creep initial torque mapping table, the creep initial torque is obtained in advance, and the torque of the vehicle can be rapidly output, namely the creep torque can be rapidly responded and output; meanwhile, torque is controlled by acquiring creep proportional integral torque of the vehicle and by the difference between the actual speed and the target speed, so that the speed reaches the creep target speed, and the method can adapt to different road conditions; and finally, obtaining the final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque, and realizing the rapid and stable achievement of the final target speed and the final creep torque of the vehicle.
Specifically, the functions of each module in this embodiment are described in detail in the corresponding method embodiment, so that a detailed description is omitted.
Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements all or part of the method steps of the above method.
The present invention may be implemented by implementing all or part of the above-described method flow, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the above-described method embodiments. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, ra ndom Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
Based on the same inventive concept, the embodiments of the present application further provide an electronic device, including a memory and a processor, where the memory stores a computer program running on the processor, and when the processor executes the computer program, the processor implements all or part of the method steps in the above method.
The processor may be a central processing unit (Central Processing Unit, CP U), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Ci rcuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being a 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 implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and 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 for 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 handset. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
It will be appreciated by those skilled in the art that 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, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
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 comprise 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 condition, activating the creeping function of the vehicle;
obtaining a final target creep speed and initial creep torque of the vehicle according to the real-time gear, the real-time brake pedal opening value, a preset target creep speed mapping table and a preset initial creep torque mapping table;
obtaining the 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;
obtaining the final creep torque of the vehicle according to the initial creep torque and the proportional integral creep torque;
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, a preset gain coefficient mapping table and a preset integral coefficient mapping table specifically comprises the following steps:
obtaining a creeping speed difference value of the vehicle according to the real-time speed and the creeping final target speed;
obtaining the creep proportion torque of the vehicle according to the creep speed difference value and a preset gain coefficient mapping table;
obtaining the creep integral torque of the vehicle according to the creep speed difference value and a preset integral coefficient mapping table;
and obtaining the creep proportional integral torque of the vehicle according to the creep proportional torque and the creep integral torque.
2. The method for rapidly controlling creep torque of a vehicle according to claim 1, wherein the acquiring 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 releasing state of an electronic parking brake system; when the real-time running data of the vehicle is detected to meet the preset condition, activating the creep function of the vehicle, wherein the method specifically comprises the following steps:
acquiring real-time operation data of a vehicle, wherein the real-time operation data comprise 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 detecting that the real-time gear of the vehicle is in the forward gear or the backward gear; or alternatively, the first and second heat exchangers may be,
when the real-time pedal opening value of the vehicle is detected to be smaller than the preset pedal opening value; or alternatively, the first and second heat exchangers may be,
when the real-time speed of the vehicle is detected to be smaller than the preset speed; or alternatively, the first and second heat exchangers may be,
when the starting state of the vehicle is detected to be a Ready state; or alternatively, the first and second heat exchangers may be,
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 condition, and activating the creeping function of the vehicle.
3. The method for rapidly controlling the creep torque of a vehicle according to claim 1, wherein the step of obtaining the final creep target 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 speed map and the preset creep initial torque map specifically comprises the following steps:
acquiring a creep initial target speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset creep target speed mapping table;
obtaining a final target creep speed of the vehicle by performing first-order low-pass filtering on the initial target creep speed;
and obtaining the creep initial torque of the vehicle according to the final target creep speed and a preset initial torque mapping table.
4. The method for rapidly controlling creep torque of a vehicle according to claim 3, wherein the step of obtaining a creep initial target vehicle speed of the vehicle according to the real-time gear, the real-time brake pedal opening value and a preset creep target vehicle speed map comprises the following steps:
the preset creep target speed mapping table comprises a preset forward gear creep target speed mapping table, a preset reverse gear creep target speed mapping table and preset other gear creep target speed mapping tables;
when the real-time gear is detected to be a forward gear, obtaining a creep initial target speed of the vehicle in a forward gear state according to the opening value of the brake pedal and the preset forward gear creep target speed mapping table;
when the real-time gear is detected to be a reverse gear, obtaining a creep initial target speed of the vehicle in a reverse gear state according to the brake pedal opening value and the preset reverse gear creep target speed mapping table;
when the fact that the real-time gear is not in the forward gear and the reverse gear is detected, obtaining a creep initial target speed 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 other gear creep target speed mapping table.
5. The method for rapidly controlling creep torque of a vehicle according to claim 1, wherein the step of obtaining the creep ratio torque of the vehicle according to the creep speed difference value and a preset gain coefficient mapping table comprises the following steps:
according to the creep speed difference valuePresetting a gain coefficient mapping table to obtain a gain coefficient Kp; according to the gain coefficient Kp, the creep speed difference value +.>Obtaining creep proportion torque of the vehicle>： 。
6. The method for rapidly controlling creep torque of a vehicle according to claim 5, wherein the step of obtaining the creep integral torque of the vehicle according to the creep speed difference value and a preset integral coefficient mapping table comprises the following steps:
according to the creep speed difference valuePresetting an integral coefficientA mapping table for obtaining an integral coefficient Ki; according to the integral coefficient Ki, the creep speed difference value +.>And performing first-order low-pass filtering to obtain creep integral torque of the vehicle>：/> ；
The torque is integrated for the creep of the last cycle of the first order low pass filtering.
7. The method for rapidly controlling creep torque of a vehicle according to claim 6, 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 torqueCreep integral torque->Obtaining creep proportional integral torque of the vehicle as +.> ：。
8. The method for rapidly controlling creep torque of a vehicle according to claim 7, wherein the step of obtaining a 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 Tq1, creep proportional integral torqueThe creep final torque of the vehicle is obtained as Tq: tq=tq1+tqpi.
9. A rapid control vehicle creep torque system for implementing the rapid control vehicle creep torque method of claim 1, comprising:
the creep activation module is used for acquiring real-time operation data of the vehicle, wherein the real-time operation 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 condition, activating the creeping function of the vehicle;
the creep initial torque module is in communication connection with the creep activation module and is used for acquiring a final creep 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;
the creeping proportional integral module is in communication connection with the creeping activating module and the creeping initial torque module and is used for acquiring 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; the method comprises the steps of,
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 the creep final torque of the vehicle according to the creep initial torque and the creep proportional integral torque.
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| CN110745010A (en) * | 2019-10-30 | 2020-02-04 | 奇瑞商用车（安徽）有限公司 | Creep torque control method for electric vehicle |
| CN113246986A (en) * | 2021-06-24 | 2021-08-13 | 江铃汽车股份有限公司 | PI crawling control method of electric vehicle based on target acceleration |
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| JP2003070107A (en) * | 2001-08-27 | 2003-03-07 | Mitsubishi Motors Corp | Motor controller for electric vehicle |
| KR20120063849A (en) * | 2010-12-08 | 2012-06-18 | 현대자동차주식회사 | Control method for creep torque of electric vehicle |
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