CN113848006B - Acceleration demand torque MAP calibration method and device and readable storage medium - Google Patents
Acceleration demand torque MAP calibration method and device and readable storage medium Download PDFInfo
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- CN113848006B CN113848006B CN202111132576.XA CN202111132576A CN113848006B CN 113848006 B CN113848006 B CN 113848006B CN 202111132576 A CN202111132576 A CN 202111132576A CN 113848006 B CN113848006 B CN 113848006B
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- G—PHYSICS
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses an acceleration demand torque MAP calibration method, an acceleration demand torque MAP calibration device and a readable storage medium, wherein the acceleration demand torque MAP calibration method comprises the following steps: acquiring whole vehicle parameters and a parameter conversion formula, wherein the whole vehicle parameters comprise motor peak power, motor peak torque, whole vehicle maximum speed, whole vehicle rolling radius, whole vehicle transmission ratio and motor external characteristic curve; dividing the intervals of the vehicle speed and the accelerator pedal opening according to a preset rule respectively to generate a vehicle speed coordinate and an accelerator pedal opening coordinate; generating a first acceleration demand torque array under the opening degree of a 100% accelerator pedal according to the vehicle speed coordinate, the whole vehicle parameters and the parameter conversion formula; and generating acceleration demand torque arrays of different accelerator pedal opening coordinates according to the first acceleration demand torque array and a preset experience coefficient. The automatic calibration of the acceleration demand torque MAP is realized, the workload of real vehicle calibration test is greatly reduced, the time is saved, and the calibration efficiency is improved.
Description
Technical Field
The invention relates to the field of MAP calibration, in particular to a MAP calibration method and device for acceleration demand torque and a computer readable storage medium.
Background
Most of the existing electric vehicles determine the acceleration torque required by a driver according to the vehicle states such as the vehicle speed, the accelerator pedal opening and the like. The mapping relation between the vehicle speed, the accelerator pedal opening and the driver required torque is realized by calibrating the two-dimensional linear interpolation of the driver required acceleration torque MAP based on the vehicle speed and the accelerator pedal opening. The current conventional way of calibrating the driver acceleration demand torque MAP is generally: and determining the MAP abscissa and the corresponding output driver acceleration demand torque value by referring to the external characteristic curve of the motor and combining with the actual vehicle calibration. However, this method requires a large amount of real vehicle calibration tests, so that a MAP of the acceleration required torque of the driver conforming to the vehicle functions, comfort, smoothness and user habits can be marked.
Disclosure of Invention
The invention mainly aims to provide an acceleration demand torque MAP calibration method, an acceleration demand torque MAP calibration device and a computer readable storage medium, and aims to solve the technical problems that a large number of real vehicle calibration tests are needed in a traditional acceleration demand torque MAP calibration mode, and the method is large in workload, long in time consumption and low in efficiency.
In order to achieve the above object, the present invention provides an acceleration demand torque MAP calibration method, which includes the steps of:
acquiring whole vehicle parameters and a parameter conversion formula, wherein the whole vehicle parameters comprise motor peak power, motor peak torque, whole vehicle maximum speed, whole vehicle rolling radius, whole vehicle transmission ratio and motor external characteristic curve;
dividing the intervals of the vehicle speed and the accelerator pedal opening according to a preset rule respectively to generate a vehicle speed coordinate and an accelerator pedal opening coordinate;
generating a first acceleration demand torque array under the opening degree of a 100% accelerator pedal according to the vehicle speed coordinate, the whole vehicle parameters and the parameter conversion formula;
and generating acceleration demand torque arrays of different accelerator pedal opening coordinates according to the first acceleration demand torque array and a preset experience coefficient.
Preferably, before the step of generating the acceleration demand torque array of different accelerator pedal opening coordinates according to the first acceleration demand torque array and the preset experience coefficient, the method further includes:
acquiring habit information of stepping on an accelerator by a user;
dividing the range of the accelerator pedal opening according to the habit information, wherein the range of the accelerator pedal opening comprises a light accelerator pedal opening range, a common accelerator pedal opening range and/or a deep accelerator pedal opening range;
and generating habit coefficients corresponding to each range of the opening of the accelerator pedal according to the habit information, and adjusting preset experience coefficients according to the habit coefficients.
Preferably, after the step of generating the acceleration demand torque array of different accelerator pedal opening coordinates according to the first acceleration demand torque array and the preset experience coefficient, the method further includes:
and generating a line graph by taking the accelerator pedal opening coordinate and the vehicle speed coordinate as the abscissa and the acceleration demand torque as the ordinate respectively.
Preferably, the step of dividing the vehicle speed and the accelerator pedal opening into sections according to a preset rule to generate a vehicle speed coordinate and an accelerator pedal opening coordinate further includes:
obtaining a first vehicle speed coordinate according to the peak power of the motor, the peak torque of the motor and the parameter conversion formula;
and replacing the first vehicle speed coordinate with a second vehicle speed coordinate with the smallest absolute value of the difference value with the first vehicle speed coordinate in the vehicle speed coordinates.
Preferably, the step of generating the first acceleration demand torque array under the opening degree of the 100% accelerator pedal according to the vehicle speed coordinate, the vehicle parameter and the parameter conversion formula includes:
according to the whole vehicle parameters and the parameter conversion formula, calculating actual acceleration demand torque values corresponding to each vehicle speed coordinate under the opening degree of a 100% accelerator pedal;
and forming a first acceleration demand torque array by the actual acceleration demand torque values corresponding to the vehicle speed coordinates.
Preferably, the step of calculating the actual acceleration demand torque value corresponding to each vehicle speed coordinate under the opening degree of the 100% accelerator pedal according to the whole vehicle parameter and the parameter conversion formula includes:
when the vehicle speed coordinates are smaller than or equal to the first vehicle speed coordinates, setting the actual acceleration demand torque corresponding to each vehicle speed coordinate as the peak torque of the motor;
when the vehicle speed coordinate is larger than the first vehicle speed coordinate, substituting the peak power of the motor into a parameter conversion formula, and generating an actual acceleration demand torque value corresponding to the vehicle speed coordinate according to the vehicle speed coordinate, the whole vehicle parameter and the parameter conversion formula.
Preferably, the step of generating the acceleration demand torque array with different accelerator pedal opening coordinates according to the first acceleration demand torque array and a preset experience coefficient includes:
setting the first acceleration demand torque array to a maximum value array;
setting an acceleration demand torque array with the accelerator pedal opening of 0% as a minimum value array;
and decreasing the maximum value array to the minimum value array in a mode of gradually decreasing the variation amplitude according to the preset experience coefficient and the accelerator pedal opening coordinates from large to small, and generating acceleration demand torque arrays of different accelerator pedal opening coordinates.
Preferably, the step of setting the accelerator demand torque array of 0% of the accelerator pedal opening to the minimum value array includes:
and setting an error mechanism of a 0% coordinate point of the accelerator pedal opening, wherein the error mechanism is that when the actual accelerator pedal opening is received to be smaller than or equal to a preset minimum value, the default accelerator pedal opening takes a value of 0%.
In addition, in order to achieve the above objective, the present invention also provides an acceleration demand torque MAP calibration device, where the acceleration demand torque MAP calibration device includes a memory, a processor, and an acceleration demand torque MAP calibration program stored in the memory and capable of running on the processor, where the processor implements the steps of the acceleration demand torque MAP calibration method described above when executing the acceleration demand torque MAP calibration program.
In addition, in order to achieve the above object, the present invention further provides a readable storage medium, where an acceleration demand torque MAP calibration application is stored, and the acceleration demand torque MAP calibration application, when executed by a processor, implements the steps of the acceleration demand torque MAP calibration method described above.
According to the MAP calibration method and device for the acceleration demand torque and the readable storage medium, the automatic generation of an acceleration demand torque array of a driver under the opening degree of a 100% accelerator pedal is realized by calculating the whole vehicle parameters such as the peak power of a motor, the peak torque of the motor, the maximum speed of the whole vehicle, the rolling radius of the whole vehicle, the transmission ratio of the whole vehicle and the like according with the external characteristic curve of the motor; by setting the experience coefficient, the automatic generation of the acceleration demand torque of the driver with different accelerator pedal opening coordinates and different vehicle speed coordinates is realized, so that the automatic calibration of the acceleration demand torque MAP is realized, the workload of the real vehicle calibration test is greatly reduced, the time is saved, and the calibration efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of an embodiment of a MAP calibration method for acceleration request torque according to the present invention;
FIG. 3 is a flowchart of an acceleration demand torque MAP calibration method according to another embodiment of the invention;
fig. 4 is a schematic diagram of a refinement flow of step S40 in fig. 2.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main solutions of the embodiments of the present invention are: dividing a vehicle speed and an accelerator pedal opening into sections, generating a vehicle speed coordinate and an accelerator pedal opening coordinate, generating a first acceleration demand torque array under the condition of 100% accelerator pedal opening according to the vehicle speed coordinate, the whole vehicle parameter and a parameter conversion formula, and generating acceleration demand torque arrays with different accelerator pedal opening coordinates according to the first acceleration demand torque array and a preset experience coefficient.
Because the coupling degree among the mechanisms of the engine is high, the nonlinearity is strong, the mechanism modeling is difficult, and meanwhile, the control algorithm based on the mechanism model is generally complex, the calculation difficulty is high, and the real-time requirement of the engine is difficult to meet. Instead of mechanical modeling, the complexity of modeling can be effectively reduced, and the MAP can provide rapid table look-up calculation capability as a control law and occupies a small ECU (Electronic Control Unit) storage unit. Therefore, MAP is often used in engine modeling and control. The engine calibration process is to determine the value in MAP. The current conventional way of calibrating the driver acceleration demand torque MAP is generally: and determining the MAP abscissa and the corresponding output driver acceleration demand torque value by referring to the external characteristic curve of the motor and combining with the actual vehicle calibration. However, this method requires a large amount of real vehicle calibration tests, so that a MAP of the acceleration required torque of the driver conforming to the vehicle functions, comfort, smoothness and user habits can be marked.
The solution provided by the invention realizes automatic calibration of acceleration demand torque MAP, greatly reduces the workload of real vehicle calibration test, saves time and improves calibration efficiency.
Referring to fig. 1, fig. 1 is a schematic diagram of an apparatus structure of a hardware running environment according to an embodiment of the present invention.
The device of the embodiment of the invention can be a PC, and also can be mobile device equipment with a display function, such as a smart phone, a tablet personal computer, a portable computer and the like.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the apparatus may further include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among other sensors, such as light sensors, motion sensors, and other sensors. In particular, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or backlight when the mobile device is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and direction when stationary, and can be used for recognizing the gesture of a mobile device (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; of course, the mobile device may also be configured with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the device structure shown in fig. 1 is not limiting of the device and may include more or fewer components than shown, or may be combined with certain components, or a different arrangement of components.
As shown in FIG. 1, an operating system, a network communication module, a user interface module, and an acceleration demand torque MAP calibration program may be included in memory 1005, which is a computer storage medium.
In the apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server, and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke the acceleration demand torque MAP calibration routine stored in the memory 1005 and perform the following operations:
acquiring whole vehicle parameters and a parameter conversion formula, wherein the whole vehicle parameters comprise motor peak power, motor peak torque, whole vehicle maximum speed, whole vehicle rolling radius, whole vehicle transmission ratio and motor external characteristic curve;
dividing the intervals of the vehicle speed and the accelerator pedal opening according to a preset rule respectively to generate a vehicle speed coordinate and an accelerator pedal opening coordinate;
generating a first acceleration demand torque array under the opening degree of a 100% accelerator pedal according to the vehicle speed coordinate, the whole vehicle parameters and the parameter conversion formula;
and generating acceleration demand torque arrays of different accelerator pedal opening coordinates according to the first acceleration demand torque array and a preset experience coefficient.
Further, the processor 1001 may call the acceleration demand torque MAP calibration program stored in the memory 1005, and further perform the following operations:
before the step of generating the acceleration demand torque array with different accelerator pedal opening coordinates according to the first acceleration demand torque array and the preset experience coefficient, the method further comprises:
acquiring habit information of stepping on an accelerator by a user;
dividing the range of the accelerator pedal opening according to the habit information, wherein the range of the accelerator pedal opening comprises a light accelerator pedal opening range, a common accelerator pedal opening range and/or a deep accelerator pedal opening range;
and generating habit coefficients corresponding to each range of the opening of the accelerator pedal according to the habit information, and adjusting preset experience coefficients according to the habit coefficients.
Further, the processor 1001 may call the acceleration demand torque MAP calibration program stored in the memory 1005, and further perform the following operations:
after the step of generating the acceleration demand torque array with different accelerator pedal opening coordinates according to the first acceleration demand torque array and the preset experience coefficient, the method further comprises the following steps:
and generating a line graph by taking the accelerator pedal opening coordinate and the vehicle speed coordinate as the abscissa and the acceleration demand torque as the ordinate respectively.
Further, the processor 1001 may call the acceleration demand torque MAP calibration program stored in the memory 1005, and further perform the following operations:
the method comprises the steps of dividing the vehicle speed and the accelerator pedal opening into sections according to preset rules, and generating a vehicle speed coordinate and an accelerator pedal opening coordinate, and then further comprises the following steps:
obtaining a first vehicle speed coordinate according to the peak power of the motor, the peak torque of the motor and the parameter conversion formula;
and replacing the first vehicle speed coordinate with a second vehicle speed coordinate with the smallest absolute value of the difference value with the first vehicle speed coordinate in the vehicle speed coordinates.
Further, the processor 1001 may call the acceleration demand torque MAP calibration program stored in the memory 1005, and further perform the following operations:
the step of generating a first acceleration demand torque array under the opening degree of a 100% accelerator pedal according to the vehicle speed coordinate, the whole vehicle parameter and the parameter conversion formula comprises the following steps:
according to the whole vehicle parameters and the parameter conversion formula, calculating actual acceleration demand torque values corresponding to each vehicle speed coordinate under the opening degree of a 100% accelerator pedal;
and forming a first acceleration demand torque array by the actual acceleration demand torque values corresponding to the vehicle speed coordinates.
Further, the processor 1001 may call the acceleration demand torque MAP calibration program stored in the memory 1005, and further perform the following operations:
the step of calculating the actual acceleration demand torque value corresponding to each vehicle speed coordinate under the opening degree of the 100% accelerator pedal according to the whole vehicle parameters and the parameter conversion formula comprises the following steps:
when the vehicle speed coordinates are smaller than or equal to the first vehicle speed coordinates, setting the actual acceleration demand torque corresponding to each vehicle speed coordinate as the peak torque of the motor;
when the vehicle speed coordinate is larger than the first vehicle speed coordinate, substituting the peak power of the motor into a parameter conversion formula, and generating an actual acceleration demand torque value corresponding to the vehicle speed coordinate according to the vehicle speed coordinate, the whole vehicle parameter and the parameter conversion formula.
Further, the processor 1001 may call the acceleration demand torque MAP calibration program stored in the memory 1005, and further perform the following operations:
the step of generating the acceleration demand torque array with different accelerator pedal opening coordinates according to the first acceleration demand torque array and a preset experience coefficient comprises the following steps:
setting the first acceleration demand torque array to a maximum value array;
setting an acceleration demand torque array with the accelerator pedal opening of 0% as a minimum value array;
and decreasing the maximum value array to the minimum value array in a mode of gradually decreasing the variation amplitude according to the preset experience coefficient and the accelerator pedal opening coordinates from large to small, and generating acceleration demand torque arrays of different accelerator pedal opening coordinates.
Further, the processor 1001 may call the acceleration demand torque MAP calibration program stored in the memory 1005, and further perform the following operations:
the step of setting the accelerator demand torque array of 0% of the accelerator pedal opening to the minimum value array includes:
and setting an error mechanism of a 0% coordinate point of the accelerator pedal opening, wherein the error mechanism is that when the actual accelerator pedal opening is received to be smaller than or equal to a preset minimum value, the default accelerator pedal opening takes a value of 0%.
Referring to fig. 2, a first embodiment of an acceleration demand torque MAP calibration method according to the present invention provides an acceleration demand torque MAP calibration method, which includes:
s10, acquiring whole vehicle parameters and a parameter conversion formula, wherein the whole vehicle parameters comprise motor peak power, motor peak torque, whole vehicle maximum speed, whole vehicle rolling radius, whole vehicle transmission ratio and motor external characteristic curve;
the acceleration demand torque MAP is a table formed by acceleration demand torque corresponding to each of the coordinates on the abscissa of the pedal opening and the vehicle speed.
Calibration of the acceleration demand torque MAP is to determine a value of acceleration demand torque corresponding to each coordinate.
The vehicle parameters are parameters representing the performance of the vehicle, such as: peak power of the motor, peak torque of the motor, maximum speed of the whole vehicle, rolling radius of the whole vehicle, transmission ratio of the whole vehicle, outer characteristic curve, acceleration time of 0-100 km/h, maximum climbing gradient and the like.
The parameter conversion formula is a physical formula with universality for representing the relation among the parameters of the whole vehicle, for example: power = force x speed, torque = 9550 x power/speed, gear ratio = input shaft speed/output shaft speed, etc. In order to assist understanding, after the conversion formulas of the parameters are organized in this embodiment, a formula (1) of power, vehicle speed, acceleration demand torque and related vehicle parameters under the opening degree of the accelerator pedal of 100% is provided, as follows:
in formula (1), P is power in kilowatts (Kw); v is the vehicle speed in kilometers per hour (Km/h); mu is the transmission ratio of the whole vehicle, T is torque, and the unit is Oryza sativa (N.m); r is the rolling radius of the whole vehicle and is unit meter (m).
It is easily understood that in the formula (1), when any four of the parameters P, T, V, R, μ are known, the value of the other parameter can be calculated by a simple mathematical transformation. Since μ and R are both known parameters for automobiles of known vehicle types, equation (1) is not limited to calculation of power at 100% accelerator pedal opening, but can be used for calculation of vehicle speed and torque at 100% accelerator pedal opening by simple mathematical transformation.
The peak motor power is the maximum power value that the motor can achieve and can operate for a short period of time without failure.
The peak motor torque is the maximum torque value that the motor can reach and can operate briefly without failure.
The maximum vehicle speed of the whole vehicle is the highest running vehicle speed which can be achieved by the vehicle on a road surface (concrete or asphalt) with good level, and is the vehicle speed when the running resistance and the driving force of the vehicle are balanced under the windless condition of the flat road surface.
The rolling radius of the whole vehicle is the equivalent radius used for calculation when the wheels roll.
The transmission ratio of the whole automobile is the ratio of the rotating speeds of a front transmission mechanism and a rear transmission mechanism of a speed change device in an automobile transmission system, and the transmission ratio of the automobile transmission system is two types, namely the speed ratio of a main transmission and the speed ratio of a speed changer, wherein in the same automobile model, the speed ratio of the main transmission is a fixed value, the speed ratio of the speed changer also has different values according to different gear steps, and the speed ratio data of various automobiles can be found in an automobile performance data manual.
The external characteristic curve of the motor refers to a curve of the power (specifically, the effective power and the fuel consumption rate) or the torque measured when the engine is at full load (the gasoline engine is at full throttle), and the curve represents the maximum power performance obtained by the engine, and the maximum power and the maximum torque which can be output by the engine and the corresponding rotational speed and fuel consumption can be seen from the external characteristic curve.
Step S20, dividing the vehicle speed and the accelerator pedal opening into sections according to preset rules, and generating a vehicle speed coordinate and an accelerator pedal opening coordinate;
the vehicle speed range for interval division is 0 to the highest vehicle speed of the whole vehicle, and the opening range of the accelerator pedal for interval division is 0% -100%.
The rule for dividing the vehicle speed and the accelerator pedal opening may be the most suitable dividing method obtained by analyzing the big data of the vehicle use condition according to the vehicle monitoring information, the driving habit information of the driver, the vehicle type, the region and other categories, for example: setting the current speed of the whole vehicle to be divided into 15 sections, wherein the low-speed section with the speed less than or equal to 30Km/h is divided into 6 sections, the common speed section with the speed between 30Km/h and 90Km/h is divided into 6 sections, and the high-speed section with the speed higher than 90Km/h is divided into 3 sections, so that 16 speed coordinates are obtained; setting an accelerator pedal opening interval to be divided into 15 sections, wherein a light accelerator pedal opening interval with the accelerator pedal opening less than or equal to 20% is divided into 4 sections, a common accelerator pedal opening interval with the accelerator pedal opening between 20% and 60% is divided into 5 sections, and a deep accelerator pedal opening interval with the accelerator pedal opening higher than 60% is divided into 6 sections, so that 16 accelerator pedal opening coordinates are obtained, and a basic coordinate structure of 15×15 can be obtained.
Step S30, generating a first acceleration demand torque array under the opening degree of a 100% accelerator pedal according to the vehicle speed coordinates, the whole vehicle parameters and the parameter conversion formula;
taking formula (1) as an example, for a determined automobile or an automobile of a determined automobile type, the whole automobile transmission ratio mu and the whole automobile rolling radius R are known parameters, and for each automobile speed coordinate, the automobile speed V is also a known parameter, so that the torque T corresponding to different automobile speed coordinates can be obtained by determining the power P of different automobile speed coordinates, the relation between the power P and the torque T is required to be in accordance with an external motor characteristic curve, the generated array of the power P and the torque T which is not in accordance with the external motor characteristic curve is required to be abandoned, or the relation between the power P and the torque T is limited in accordance with the external motor characteristic curve by establishing a model, calculating the formula, setting the condition and the like, so that a first acceleration demand torque array under the opening degree of 100% accelerator pedal is obtained.
In order to ensure that the first acceleration demand torque array generated according to theory under the opening degree of the 100% accelerator pedal accords with the external characteristic curve of the motor, the calculated first acceleration demand torque array and the actually measured external characteristic curve of the motor can be simultaneously generated to display results for secondary confirmation of technicians.
It is readily understood that the first acceleration demand torque array is a set of values of acceleration demand torque corresponding to all vehicle speed coordinates at 100% accelerator pedal opening.
And S40, generating acceleration demand torque arrays with different accelerator pedal opening coordinates according to the first acceleration demand torque arrays and preset experience coefficients.
Through analysis such as statistics, modeling, fitting and the like on MAP calibrated through real vehicle tests in the past, the relation between different accelerator pedal openings and acceleration demand torque at the same vehicle speed can be obtained, the relation is generated into an empirical coefficient, and the empirical coefficient can be the same for different accelerator pedal openings or set independently for each accelerator pedal opening coordinate (for example, the empirical coefficient corresponding to 80% of accelerator pedal openings is 4/5 and the empirical coefficient corresponding to 20% of accelerator pedal openings is 1/8), or set into a regular series of empirical coefficients (for example, the empirical coefficient is in an arithmetic progression, an arithmetic progression or a rule conforming to a certain equation and the like); the acceleration demand torque corresponding to the different accelerator pedal opening may be calculated according to the acceleration demand torque corresponding to the 100% accelerator pedal opening, or may be calculated according to the acceleration demand torque corresponding to the other accelerator pedal opening that has been calculated (for example, if the acceleration demand torque corresponding to the 75% accelerator pedal opening has been calculated according to the acceleration demand torque corresponding to the 100% accelerator pedal opening, the acceleration demand torque corresponding to the 35% accelerator pedal opening may be calculated according to the acceleration demand torque corresponding to the 100% accelerator pedal opening or the acceleration demand torque corresponding to the 75% accelerator pedal opening).
In the embodiment, the automatic generation of the driver acceleration demand torque array under the opening degree of the 100% accelerator pedal is realized by calculating the whole vehicle parameters such as the motor peak power, the motor peak torque, the whole vehicle maximum speed, the whole vehicle rolling radius, the whole vehicle transmission ratio and the like according with the external characteristic curve of the motor; by setting the experience coefficient, the automatic generation of the acceleration demand torque array of the driver with each coordinate between 100% and 0% of the accelerator pedal opening is realized, so that the automatic calibration of the acceleration demand torque MAP is realized, the workload of the real vehicle calibration test is greatly reduced, the time is saved, and the calibration efficiency is improved.
Further, referring to fig. 3, in another embodiment of the acceleration demand torque MAP calibration method of the present invention, before step S40, the method further includes:
step S31, habit information of stepping on the accelerator by a user is obtained;
the habit information of the user stepping on the accelerator is information of accelerator opening signals of all vehicles or vehicles of the same type (such as a mini-vehicle, a car, an urban off-road vehicle, an off-road vehicle and the like), or vehicles of the same type or vehicles driven by the same driver and corresponding driver required torque.
Step S32, dividing the range of the accelerator pedal opening according to the habit information, wherein the range of the accelerator pedal opening comprises a light accelerator pedal opening range, a common accelerator pedal opening range and/or a deep accelerator pedal opening range;
the range of the accelerator pedal opening is 0% -100%, it is easy to understand that the range of the accelerator pedal opening includes, but is not limited to, a light accelerator pedal opening range, a common accelerator pedal opening range, and/or a deep accelerator pedal opening range, and may be divided into two, three, or more ranges, and the present embodiment is not limited thereto.
The light accelerator pedal opening range, the common accelerator pedal opening range, and/or the deep accelerator pedal opening range may each include one or more accelerator pedal opening coordinates and intervals.
And step S33, generating habit coefficients corresponding to each range of the opening degree of the accelerator pedal according to the habit information, and adjusting preset experience coefficients according to the habit coefficients.
The method for adjusting the preset experience coefficient according to the habit coefficient can be to multiply the experience coefficient by the habit coefficient, add the habit coefficient into the calculation rule of the experience coefficient or take the habit coefficient as one of conditions for generating the experience coefficient.
Optionally, after the step of generating the acceleration demand torque array with different accelerator pedal opening coordinates according to the first acceleration demand torque array and the preset experience coefficient, the method further includes:
and generating a line graph by taking the accelerator pedal opening coordinate and the vehicle speed coordinate as the abscissa and the acceleration demand torque as the ordinate respectively.
The acceleration demand torque MAP of the driver is formed into a line diagram form, and when the accelerator stepping habit coefficient of the driver is adjusted, the change of the output value of the acceleration demand torque of the driver under different accelerator opening degrees and different vehicle speeds can be directly observed, so that whether the accelerator stepping habit coefficient is reasonable or not can be intuitively judged.
In this embodiment, considering that the accelerator pedal stepping habits (such as light and heavy, long and frequent) of the driver in different accelerator pedal opening ranges may be different, the acceleration demand torque may be different, and the user vehicle habit information is used as the basis to adjust the acceleration demand torque MAP, so that the vehicle habit of the user can be better adapted, and the vehicle comfort and the vehicle fun of the user are improved
Further, in an embodiment of the present invention, after the step of dividing the vehicle speed and the accelerator pedal opening into sections according to the preset rules and generating the vehicle speed coordinate and the accelerator pedal opening coordinate, the method further includes:
obtaining a first vehicle speed coordinate according to the peak power of the motor, the peak torque of the motor and the parameter conversion formula;
taking formula (1) as an example, it can be known that when the power P, the torque T, the vehicle rolling radius R and the vehicle transmission ratio μ are known, the vehicle speed V can be calculated, and when the power is the motor peak power and the torque is the motor peak torque, the vehicle speed at that time can be calculated, and the vehicle speed calculated at that time is taken as the first vehicle speed coordinate for the known vehicle or the vehicle of the known vehicle type.
And replacing the first vehicle speed coordinate with a second vehicle speed coordinate with the smallest absolute value of the difference value with the first vehicle speed coordinate in the vehicle speed coordinates.
For example: if the vehicle speed coordinates are 10Km/h, 30Km/h, 50Km/h and 70Km/h, and the first vehicle speed coordinates are 59Km/h, the absolute values of the differences between the vehicle speed coordinates and the first vehicle speed coordinates are 49Km/h, 29Km/h, 9Km/h and 11Km/h respectively, wherein the absolute value of the differences between the 50Km/h and the first vehicle speed coordinates is the smallest, the first vehicle speed coordinates are replaced by the 59Km/h, and the new vehicle speed coordinates formed at the moment are 10Km/h, 30Km/h, 59Km/h and 70Km/h.
In the embodiment of the market, the actual power of the motor is the peak power of the motor, the current torque of the motor is the vehicle speed when the peak torque of the motor is calculated and determined, so that the junction point of the constant torque area and the constant power area in the external characteristic curve of the motor is determined, and the vehicle speed corresponding to the important junction point is arranged in the vehicle speed coordinate.
Optionally, the step of generating the first acceleration demand torque array under the opening degree of the 100% accelerator pedal according to the vehicle speed coordinate, the vehicle parameter and the parameter conversion formula includes:
according to the whole vehicle parameters and the parameter conversion formula, calculating actual acceleration demand torque values corresponding to each vehicle speed coordinate under the opening degree of a 100% accelerator pedal;
and forming a first acceleration demand torque array by the actual acceleration demand torque values corresponding to the vehicle speed coordinates.
Optionally, the step of calculating the actual acceleration demand torque value corresponding to each vehicle speed coordinate under the opening degree of the 100% accelerator pedal according to the whole vehicle parameter and the parameter conversion formula includes:
when the vehicle speed coordinates are smaller than or equal to the first vehicle speed coordinates, setting the actual acceleration demand torque corresponding to each vehicle speed coordinate as the peak torque of the motor;
and setting the actual acceleration demand torque value as a constant motor peak torque by taking the first vehicle speed coordinate as a boundary and being smaller than or equal to the first vehicle speed coordinate as a constant torque zone, and calculating through a parameter conversion formula.
When the vehicle speed coordinate is larger than the first vehicle speed coordinate, substituting the peak power of the motor into a parameter conversion formula, and generating an actual acceleration demand torque value corresponding to the vehicle speed coordinate according to the vehicle speed coordinate, the whole vehicle parameter and the parameter conversion formula.
The first vehicle speed coordinate is used as a boundary and is larger than the first vehicle speed coordinate to be a constant power area, the parameter conversion formula is used as an example of a formula (1), the power P is set to be the peak power of the motor, the whole vehicle transmission ratio mu and the whole vehicle rolling radius R are known parameters for a determined vehicle or a vehicle of a determined vehicle type, and the vehicle speed V is also a known parameter for each vehicle speed coordinate, so that the actual acceleration demand torque value corresponding to each vehicle speed coordinate can be calculated.
The two actual acceleration demand torque values together form an acceleration demand torque array at 100% accelerator pedal opening.
In this embodiment, the actual power of the motor is the peak power of the motor, the vehicle speed when the current torque of the motor is the peak torque of the motor is the boundary point, the constant torque area is smaller than the first vehicle speed coordinate, and the constant power area is larger than the first vehicle speed coordinate.
Further, referring to fig. 4, in another embodiment of the acceleration demand torque MAP calibration method of the present invention, the step of generating the acceleration demand torque array with different accelerator pedal opening coordinates according to the first acceleration demand torque array and a preset experience coefficient includes:
step S41, setting the first acceleration demand torque array as a maximum value array;
step S42, setting an acceleration demand torque array with the accelerator pedal opening of 0% as a minimum value array;
the accelerator demand torque array for accelerator pedal opening 0% is a fixed value set empirically, for example: for a pure electric vehicle, the acceleration demand torque value of 0% of the accelerator pedal opening is 0N.m.
Preferably, the step of setting the accelerator demand torque array of 0% of the accelerator pedal opening to the minimum value array includes:
and setting an error mechanism of a 0% coordinate point of the accelerator pedal opening, wherein the error mechanism is that when the actual accelerator pedal opening is received to be smaller than or equal to a preset minimum value, the default accelerator pedal opening takes a value of 0%.
The error mechanism is a more humanized and intelligent setting, mainly in order to avoid misjudgment of the intention of a driver caused by small-amplitude oscillation of an accelerator pedal on a bumpy road, when the actual accelerator pedal opening is not 0% but is smaller than or equal to a preset minimum value due to small-amplitude oscillation of the accelerator pedal, the default value of the accelerator pedal opening is 0% in the calculation of a torque value, such as: when the driver does not step on the accelerator pedal to slide on a bumpy road, the driver can misjudge the intention of the driver due to small oscillation of the accelerator pedal and output a torque value, and if an error mechanism exists, if the minimum value is set to be 3%, the actual accelerator pedal opening smaller than or equal to 3% is received, and the value of the accelerator pedal opening is defaulted to be 0% in the calculation of the torque value.
Step S43, the maximum value array is reduced to a minimum value array in a mode of gradually reducing the variation amplitude according to the preset experience coefficient and the accelerator pedal opening degree coordinates from large to small, and an acceleration demand torque array with different accelerator pedal opening degree coordinates is generated.
The acceleration demand torque array with the accelerator pedal opening of 100% is the maximum value array, the acceleration demand torque array with the accelerator pedal opening of 0% is the minimum value array, the rule that the variation amplitude of the acceleration demand torque array gradually decreases is to calculate a second maximum value array by multiplying the empirical coefficient by taking the maximum value array as a reference, then to calculate a third maximum value array by multiplying the empirical coefficient by taking the second maximum value array as a reference, the third maximum value array is sequentially decreased, the empirical coefficient of each is also decreased, and it is easy to understand that if the acceleration demand torque array is decreased, the empirical coefficient is smaller than 1.
For example: taking an acceleration demand torque array corresponding to a certain vehicle speed as an example, assuming that the accelerator pedal opening coordinates are 100%, 75%, 50%, 25% and 0%, and the corresponding acceleration demand torques are T5, T4, T3, T2 and T1, wherein T5 is the largest and T1 is the smallest, t4=a1×t5, t3=a2×t4 and t2=a3×t3, wherein A1, A2 and A3 are decreasing empirical coefficient arrays (e.g. 4/5, 3/5 and 2/5).
The decreasing rule of the empirical coefficient (such as an arithmetic series, other mathematical rules and the like) and the specific numerical value are obtained according to the MAP analysis of a large amount of acceleration demand torque which is calibrated in big data.
In the embodiment, after the experience coefficient and the setting mode of the experience coefficient are obtained according to the big data analysis, the acceleration demand torque array of other accelerator pedal openings can be calculated according to the acceleration demand torque array of 100% of the accelerator pedal opening, a large number of real vehicle calibration tests are not needed, time is saved, and the calibration efficiency is improved; by setting the rule that the variation amplitude gradually decreases, the same accelerator pedal opening variation can obtain larger acceleration demand torque and larger acceleration along with the increase of the accelerator pedal opening, the back pushing sense is more obvious, and the acceleration and the advancing force generated by stepping on the accelerator can be obviously sensed under the condition of higher vehicle speed, so that the user experience is improved; compared with the acceleration demand torque MAP calibrated by a real vehicle, the acceleration demand torque MAP is smoother in change, so that the driving process is more comfortable and natural.
In addition, the embodiment of the invention also provides an acceleration demand torque MAP calibration device, which comprises a memory, a processor and an acceleration demand torque MAP calibration program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the acceleration demand torque MAP calibration method when executing the acceleration demand torque MAP calibration program.
In addition, the embodiment of the invention also provides a readable storage medium, wherein the readable storage medium is stored with an acceleration demand torque MAP calibration application, and the acceleration demand torque MAP calibration application realizes the steps of the acceleration demand torque MAP calibration method when being executed by a processor.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including several instructions for causing an apparatus device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The acceleration demand torque MAP calibration method is characterized by comprising the following steps of:
acquiring whole vehicle parameters and a parameter conversion formula, wherein the whole vehicle parameters comprise motor peak power, motor peak torque, whole vehicle maximum speed, whole vehicle rolling radius, whole vehicle transmission ratio and motor external characteristic curve;
dividing the intervals of the vehicle speed and the accelerator pedal opening according to a preset rule respectively to generate a vehicle speed coordinate and an accelerator pedal opening coordinate;
generating a first acceleration demand torque array under the opening degree of a 100% accelerator pedal according to the vehicle speed coordinate, the whole vehicle parameters and the parameter conversion formula;
generating acceleration demand torque arrays of different accelerator pedal opening coordinates according to the first acceleration demand torque arrays and preset experience coefficients;
wherein the parameter conversion formula includes:
wherein P is power, and the unit is kilowatt; v is the speed of the vehicle in kilometers per hour; mu is the transmission ratio of the whole vehicle, T is torque, and the unit is cow meter; r is the rolling radius of the whole vehicle, and the unit meter;
before the step of generating the acceleration demand torque array with different accelerator pedal opening coordinates according to the first acceleration demand torque array and the preset experience coefficient, the method further comprises:
acquiring habit information of stepping on an accelerator by a user;
dividing the range of the accelerator pedal opening according to the habit information, wherein the range of the accelerator pedal opening comprises a light accelerator pedal opening range, a common accelerator pedal opening range and/or a deep accelerator pedal opening range;
and generating habit coefficients corresponding to each range of the opening of the accelerator pedal according to the habit information, and adjusting preset experience coefficients according to the habit coefficients.
2. The acceleration demand torque MAP calibration method of claim 1, further comprising, after the step of generating the acceleration demand torque array of different accelerator pedal opening coordinates from the first acceleration demand torque array and a preset empirical factor:
and generating a line graph by taking the accelerator pedal opening coordinate and the vehicle speed coordinate as the abscissa and the acceleration demand torque as the ordinate respectively.
3. The method for calibrating the acceleration demand torque MAP according to claim 1, wherein after the step of generating the vehicle speed coordinate and the accelerator pedal opening coordinate by dividing the vehicle speed and the accelerator pedal opening according to preset rules, respectively, the method further comprises:
obtaining a first vehicle speed coordinate according to the peak power of the motor, the peak torque of the motor and the parameter conversion formula;
and replacing the first vehicle speed coordinate with a second vehicle speed coordinate with the smallest absolute value of the difference value with the first vehicle speed coordinate in the vehicle speed coordinates.
4. The acceleration demand torque MAP calibration method of claim 3, characterized in that the step of generating a first acceleration demand torque array at 100% accelerator pedal opening according to the vehicle speed coordinates, the vehicle parameters and the parameter conversion formula includes:
according to the whole vehicle parameters and the parameter conversion formula, calculating actual acceleration demand torque values corresponding to each vehicle speed coordinate under the opening degree of a 100% accelerator pedal;
and forming a first acceleration demand torque array by the actual acceleration demand torque values corresponding to the vehicle speed coordinates.
5. The MAP calibration method of claim 4, wherein the step of calculating the actual acceleration demand torque value corresponding to each vehicle speed coordinate at 100% accelerator pedal opening according to the vehicle parameters and the parameter conversion formula includes:
when the vehicle speed coordinates are smaller than or equal to the first vehicle speed coordinates, setting the actual acceleration demand torque corresponding to each vehicle speed coordinate as the peak torque of the motor;
when the vehicle speed coordinate is larger than the first vehicle speed coordinate, substituting the peak power of the motor into a parameter conversion formula, and generating an actual acceleration demand torque value corresponding to the vehicle speed coordinate according to the vehicle speed coordinate, the whole vehicle parameter and the parameter conversion formula.
6. The acceleration demand torque MAP calibration method of claim 1, characterized in that the step of generating an acceleration demand torque array of different accelerator pedal opening coordinates from the first acceleration demand torque array and a preset empirical factor comprises:
setting the first acceleration demand torque array to a maximum value array;
setting an acceleration demand torque array with the accelerator pedal opening of 0% as a minimum value array;
and decreasing the maximum value array to the minimum value array in a mode of gradually decreasing the variation amplitude according to the preset experience coefficient and the accelerator pedal opening coordinates from large to small, and generating acceleration demand torque arrays of different accelerator pedal opening coordinates.
7. The acceleration demand torque MAP calibration method of claim 6, characterized in that the step of setting an acceleration demand torque array of 0% of accelerator pedal opening to a minimum value array includes:
and setting an error mechanism of a 0% coordinate point of the accelerator pedal opening, wherein the error mechanism is that when the actual accelerator pedal opening is received to be smaller than or equal to a preset minimum value, the default accelerator pedal opening takes a value of 0%.
8. An acceleration demand torque MAP calibration apparatus, characterized in that it comprises a memory, a processor and an acceleration demand torque MAP calibration program stored on the memory and executable on the processor, said processor implementing the steps of the acceleration demand torque MAP calibration method according to any one of claims 1-7 when executing said acceleration demand torque MAP calibration program.
9. A computer readable storage medium having stored thereon an acceleration demand torque MAP calibration application, which when executed by a processor, implements the steps of the acceleration demand torque MAP calibration method of any one of claims 1-7.
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| CN114905965A (en) * | 2022-04-06 | 2022-08-16 | 潍柴动力股份有限公司 | Vehicle accelerator MAP optimization method, controller, system and motor vehicle |
| CN115288871B (en) * | 2022-07-19 | 2023-04-18 | 东风汽车集团股份有限公司 | Engine real-time torque calculation method, device, equipment and readable storage medium |
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