CN114435146A - Vehicle control method, vehicle control device, computer equipment and storage medium - Google Patents

Vehicle control method, vehicle control device, computer equipment and storage medium Download PDF

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Publication number
CN114435146A
CN114435146A CN202210197017.5A CN202210197017A CN114435146A CN 114435146 A CN114435146 A CN 114435146A CN 202210197017 A CN202210197017 A CN 202210197017A CN 114435146 A CN114435146 A CN 114435146A
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China
Prior art keywords
rotating speed
optimal
vehicle
output torque
torque
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CN202210197017.5A
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Chinese (zh)
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CN114435146B (en
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陈丽君
于海洋
徐利文
曲万达
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FAW Jiefang Automotive Co Ltd
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FAW Jiefang Automotive Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B60L15/2045—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 optimising the use of energy
    • 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
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/26—Transition between different drive modes
    • 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)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present application relates to a vehicle control method, apparatus, computer device, storage medium and computer program product. The method comprises the following steps: when receiving an externally input mode command, controlling the vehicle to enter a dynamic running mode or an economic running mode; acquiring state information and road condition information of a vehicle; determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor; and determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic region, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed. By adopting the method, the balance between the user demand and the vehicle economy can be realized.

Description

Vehicle control method, vehicle control device, computer equipment and storage medium
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle control method and apparatus, a computer device, and a storage medium.
Background
At present, the control strategy of the new energy vehicle mainly aims at realizing functions, and an excess phenomenon exists, so that the energy is consumed inefficiently, the energy consumption is higher, and the economical efficiency is poorer.
However, if the economy is over-concerned, a part of the dynamic performance of the vehicle is easily sacrificed. Different users have different requirements on vehicle economy and power performance, some users pay more attention to the vehicle economy, some users pay more attention to the vehicle power performance, and the existing vehicle control method is not adapted according to the actual use requirements of the users, so that the balance between the user requirements and the vehicle economy is difficult to realize.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle control method, apparatus, computer device and storage medium capable of balancing vehicle economy and dynamics based on user demands, in view of the above technical problems.
In a first aspect, the present application provides a vehicle control method. The method comprises the following steps:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic region, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
In one embodiment, the determining the target output torque and the target output rotation speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic region includes:
and determining the target output torque and the target output rotating speed of the driving motor according to the current vehicle speed, the current load, the current gradient information and the optimal torque characteristic zone.
In one embodiment, the adjusting the output torque of the driving motor to the target output torque and the adjusting the rotation speed of the driving motor to the target output rotation speed includes:
acquiring driving habit data of a user, and determining a gear shifting rotating speed and a loading slope gear of torque of the driving motor according to the driving habit data and a current operation mode;
judging whether the vehicle needs to be shifted according to the current gear of the motor and the target output rotating speed, determining the target gear according to the target output rotating speed when the shift is judged to be needed, adjusting the rotating speed of the driving motor to the shift rotating speed, switching the gear to the target gear, and adjusting the rotating speed of the driving motor to the target output rotating speed;
and controlling the output torque of the driving motor to be changed to the target output torque based on the loading slope.
In one embodiment, the status information further includes a steering wheel angle and a rate of change of the steering wheel angle, and the method further includes:
determining the reference output rotating speed of the oil pump motor according to the steering wheel angle and the change rate of the steering wheel angle;
acquiring a pre-stored optimal working area of an oil pump motor, and determining a reference output torque of the oil pump motor according to the optimal working area and the reference output rotating speed of the oil pump motor;
acquiring the optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring the optimal output torque of the oil pump motor based on the reference output torque;
and adjusting the rotating speed of the oil pump motor to the optimal output rotating speed, and adjusting the output torque of the oil pump motor to the optimal output torque.
In one embodiment, the road condition information further includes driving road surface information; the acquiring an optimal output rotation speed of the oil pump motor based on the reference output rotation speed and acquiring an optimal output torque of the oil pump motor based on the reference output torque includes:
determining compensation parameters of the reference output rotating speed and the reference output torque according to the current vehicle speed and the current running road surface information;
and compensating the reference output rotating speed and the reference output torque according to the compensation parameters, and respectively determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque.
In one embodiment, the determining the compensation parameters of the reference output rotation speed and the reference output torque according to the current vehicle speed and the current running road surface information comprises:
and determining an adhesion coefficient of the current running road surface according to the current running road surface information, and determining compensation parameters for the reference output rotating speed and the reference output torque according to the adhesion coefficient and the current vehicle speed.
In one embodiment, the method further comprises:
acquiring data collected by a steering oil pressure sensor, wherein the steering oil pressure sensor is used for collecting the oil pressure of an oil pump driven by an oil pump motor;
and judging whether the output capacity of the oil pump meets the requirement or not according to the acquired data, if not, adjusting the output rotating speed and the torque of the oil pump motor according to the acquired data of the steering oil pressure sensor, and repeating the steps until the output capacity of the oil pump motor meets the requirement.
In one embodiment, the method further comprises:
judging whether the vehicle is in a braking state or not according to the state information, and acquiring the change rate of the air pressure signal of the current air reservoir;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the change rate of the air pressure signal of the current air reservoir is greater than or equal to a first threshold value; when the change rate of the air pressure signal of the current air reservoir is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, controlling the electric air compressor to start working when the air pressure signal change rate of the air storage cylinder is less than or equal to a second threshold value; and when the air pressure signal change rate of the air storage cylinder is greater than a second threshold value, controlling the electric air compressor to stop working.
In a second aspect, the present application further provides a vehicle control apparatus. The device comprises:
the mode control module is used for controlling the vehicle to enter a dynamic running mode or an economic running mode when receiving a mode instruction;
the first acquisition module is used for acquiring the state information and the road condition information of the vehicle;
the device comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining an optimal torque characteristic zone of a driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
the first adjusting module is used for determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic area, adjusting the torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic region, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic region, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic region, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
According to the vehicle control method, the vehicle control device, the computer equipment, the storage medium and the computer program product, the vehicle is controlled to enter the running mode corresponding to the mode instruction through the mode instruction input from the outside, so that a user can select the running mode of the vehicle according to the requirement of the user; the optimal torque characteristic zone determined according to the pre-stored optimal economic working zone of the driving motor and the current running mode considers the requirements of users and the economical efficiency of the vehicle, and further the target output torque and the target output rotating speed of the driving motor determined according to the state information, the road condition information and the optimal torque characteristic zone are optimal parameters considering the requirements of the users and the economical efficiency of the vehicle, so that the balance between the requirements of the users and the economical efficiency of the vehicle is realized.
Drawings
FIG. 1 is a schematic flow chart diagram of a vehicle control method in one embodiment;
FIG. 2 is a graph illustrating efficiency of a drive motor at different speeds and torques according to one embodiment;
FIG. 3 is a schematic flow chart illustrating the steps of adjusting the output torque of the driving motor to the target output torque and adjusting the rotational speed of the driving motor to the target output rotational speed according to an embodiment;
FIG. 4 is a flowchart illustrating a vehicle control method according to another embodiment;
FIG. 5 is a flowchart illustrating the steps of obtaining the optimal output speed and the optimal output torque of the oil pump motor according to one embodiment;
FIG. 6 is a flowchart illustrating a vehicle control method according to another embodiment;
FIG. 7 is a flowchart illustrating a vehicle control method according to another embodiment;
FIG. 8 is a block diagram showing the construction of a vehicle control apparatus according to one embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
In one embodiment, as shown in fig. 1 and fig. 2, a vehicle control method is provided, which is described by taking the method as an example of being applied to a new energy vehicle, and includes the following steps:
s101: and when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode.
The economical operation mode is an operation mode taking the lowest energy consumption as an optimization target, and the dynamic operation mode is an operation mode after the dynamic property is properly improved on the basis of the economical operation mode.
S102: and acquiring the state information and road condition information of the vehicle.
The state information of the vehicle is acquired through a sensor arranged on the vehicle, the road condition information is obtained by shooting a road surface picture through a vehicle-mounted camera and analyzing the shot picture.
S103: and determining the optimal torque characteristic zone of the driving motor according to the pre-stored optimal economic working zone and the current running mode of the driving motor.
The driving motor is used for driving the vehicle to run. As shown in fig. 2, fig. 2 is an example of a distribution diagram of motor efficiency at different rotation speeds and torques, and the optimal economic working area is an interval of the distribution diagram where the efficiency value is greater than a preset efficiency threshold (e.g. 95%).
Specifically, the optimal economic operation region of the driving motor may be further subdivided into regions corresponding to different operation modes, i.e., a first region corresponding to an economic mode, which is an optimal torque characteristic region of the driving motor, and a second region corresponding to a dynamic mode, which is an optimal torque characteristic region of the driving motor, when the operation mode is the economic mode.
S104: and determining the target output torque and the target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic area, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
Specifically, the state information and the road condition information constitute condition information, a corresponding region of the condition information in the optimal torque characteristic region is determined based on a preset first mapping relation, and a target point corresponding to the lowest energy consumption is further determined from the corresponding region, so that a target output torque and a target output rotating speed of the driving motor are obtained. Wherein the first mapping relationship is obtained through a plurality of tests.
According to the vehicle control method, the vehicle is controlled to enter the running mode corresponding to the mode instruction through the mode instruction input from the outside, so that a user can select the running mode of the vehicle according to the requirement of the user; the optimal torque characteristic zone determined according to the pre-stored optimal economic working zone of the driving motor and the current running mode considers the requirements of users and the economical efficiency of the vehicle, and further the target output torque and the target output rotating speed of the driving motor determined according to the state information, the road condition information and the optimal torque characteristic zone are optimal parameters considering the requirements of the users and the economical efficiency of the vehicle.
In one embodiment, the determining the target output torque and the target output rotation speed of the driving motor according to the state information, the road condition information, and the optimal torque characteristic region includes: and determining a target output torque and a target output rotation speed of the driving motor according to the current vehicle speed, the current load, the current gradient information and the optimal torque characteristic region.
Wherein the abscissa of the optimal torque characteristic zone is the rotation speed and the ordinate is the torque.
Specifically, the speed of the motor affects the vehicle speed, which is related to the current load of the vehicle and the current gradient of the road surface of the vehicle, and therefore, the range of the speed of the motor can be determined based on the current speed, the current load, and the current gradient information. After the rotating speed range of the motor is determined, the rotating speed range is compared with the optimal torque characteristic area to obtain a rotating speed overlapping area, a target point corresponding to the lowest energy consumption is selected from the optimal torque characteristic area based on the overlapping area, the abscissa of the target point is the target output rotating speed, and the ordinate of the target point is the target output torque, so that the target output torque and the target output rotating speed are determined.
In one embodiment, as shown in fig. 3, adjusting the torque of the driving motor to the target output torque and the rotational speed of the driving motor to the target output rotational speed includes:
s301: and acquiring driving habit data of a user, and determining the gear shifting rotating speed and the loading slope of the torque of the driving motor according to the driving habit data and the current operation mode.
When a user drives, driving habit data of the user is collected, for example, accelerator operation habit data of the user for different loads and road conditions, the driving habit of the user can be determined according to the driving habit data of the user, the user is divided into a 'intelligence type' and a 'passion type', illustratively, if the speed of stepping on the accelerator by the driver is larger than a speed threshold value no matter how heavy the load is, the user meeting the condition is judged to belong to the 'passion type', and the user not meeting the condition is judged to belong to the 'intelligence type'.
The gear shifting speed and the loading slope of the torque of the driving motor are determined according to the user type (passivity type and intelligence type) and the current operation mode (economy and dynamics). When the user type belongs to the 'intelligence type' and the current operation mode is economy, the loading slope of the torque of the driving motor is the optimal loading slope, and the gear shifting rotating speed of the driving motor is the optimal gear shifting rotating speed; when the user type belongs to a 'passion' type, the current operation mode is economical, or the user type belongs to a 'wisdom type', and the current operation mode is dynamic, the loading slope is increased by a first proportion on the basis of the optimal loading slope, and the gear shifting rotating speed is increased by a second proportion on the basis of the optimal gear shifting rotating speed; when the user type belongs to a 'passion' type and the current operation mode is dynamic, the loading slope is increased by a third proportion on the basis of the optimal loading slope, and the gear shifting rotating speed is increased by a fourth proportion on the basis of the optimal gear shifting rotating speed, wherein the third proportion is larger than the first proportion, and the fourth proportion is larger than the second proportion. Through the design, the energy consumption caused by frequent acceleration and deceleration of a user is avoided from being higher, so that the energy consumption is reduced.
Exemplarily, when the user type belongs to the 'intelligence type' and the current operation mode is economy, the loading slope of the torque of the driving motor is the optimal loading slope, and the gear shifting rotation speed is the optimal gear shifting rotation speed; when the user type belongs to a 'passion' type and the current operation mode is economical, or the user type belongs to a 'wisdom type' and the current operation mode is dynamic, the loading slope is 110% of the optimal loading slope, and the gear shifting rotating speed is 110% of the optimal gear shifting rotating speed; when the user type belongs to a 'passion' type and the current running mode is dynamic, the loading slope is 120% of the optimal loading slope, and the gear shifting rotating speed is 120% of the optimal gear shifting rotating speed.
And determining the optimal loading slope and the optimal gear shifting rotating speed according to the current vehicle speed, the current load and the current gradient information based on a preset second mapping relation. The second mapping relationship is determined through a plurality of experiments.
S302: judging whether the vehicle needs to be shifted according to the current gear and the target output rotating speed of the motor, determining the target gear according to the target output rotating speed when the gear shifting is judged to be needed, adjusting the rotating speed of the driving motor to the gear shifting rotating speed, switching the gear to the target gear, and adjusting the rotating speed of the driving motor to the target output rotating speed.
The vehicle has a plurality of gears, and each gear is matched with a corresponding rotating speed range.
Specifically, if the current gear is not matched with the target output rotating speed, gear shifting is needed, the target gear corresponding to the current gear is determined according to the target output rotating speed, and the motor is required to be adjusted to the corresponding gear shifting rotating speed in gear shifting.
It is understood that the rotational speed of the drive motor is directly adjusted to the target output rotational speed when it is determined that the gear shift is not necessary.
S303: and controlling the output torque of the driving motor to change to the target output torque based on the loading slope.
In one embodiment, as shown in fig. 4, the state information further includes a steering wheel angle and a rate of change of the steering wheel angle, and the vehicle control method further includes:
s401: and determining the reference output rotating speed of the oil pump motor according to the steering wheel angle and the change rate of the steering wheel angle.
Specifically, the oil pump motor is used for power-assisted steering, and a user realizes steering through a steering wheel, so that it can be understood that when the angle of the steering wheel is larger, the rotating angle required by the steering wheel to restore the original position is larger, and if the angle change rate of the steering wheel is higher, the rotating speed of the steering wheel is higher, in both cases, the oil pump is required to provide larger power assistance, and further the oil pump motor is required to have higher rotating speed; and if the angle of the steering wheel is smaller and the change rate of the angle of the steering wheel is lower, only the oil pump is needed to provide proper power assistance so as to prevent the rotation angle of the steering wheel from exceeding a preset value. Therefore, the reference output rotation speed of the oil pump motor is determined according to the steering wheel angle and the rate of change in the steering wheel angle based on a preset relationship table, which is found according to an experiment.
In application, a relation table of steering wheel angle-reference output rotating speed of the oil pump motor and a relation table of steering wheel angle change rate-reference output rotating speed of the oil pump motor can be preset, the reference output rotating speed of the oil pump motor corresponding to the steering wheel angle can be determined according to the steering wheel angle, the reference output rotating speed of the oil pump motor corresponding to the steering wheel angle change rate can be determined according to the steering wheel angle change rate, and then the final reference output rotating speed of the oil pump motor can be obtained based on the weights of the steering wheel angle and the steering wheel angle change rate. For example, if the weight of the steering wheel angle is a, the weight of the change rate of the steering wheel angle is B, a + B is 1, the reference output rotation speed corresponding to the steering wheel angle is a, the reference output rotation speed corresponding to the change rate of the steering wheel angle is B, and the final reference output rotation speed is aA + bB.
S402: and acquiring a pre-stored optimal working area of the oil pump motor, and determining the reference output torque of the oil pump motor according to the optimal working area and the reference output rotating speed of the oil pump motor.
It can be understood that the oil pump motor also has an optimal economic working area, and a reference output torque corresponding to the lowest energy consumption matched with the reference output rotating speed can be obtained based on the optimal economic working area. For example, the target is the rotation speed control, in the best economic working area, the same rotation speed can correspond to different torques, and under the condition that the rotation speed is not changed, the reference output torque corresponding to the lowest energy consumption in the best economic working area is determined.
S403: the optimal output rotation speed of the oil pump motor is obtained based on the reference output rotation speed, and the optimal output torque of the oil pump motor is obtained based on the reference output torque.
Specifically, the steering wheel angle and the rate of change in the steering wheel angle are factors that mainly affect the output rotation speed of the oil pump motor, and therefore, if other factors are not considered, the reference output rotation speed is determined as the optimum output rotation speed of the oil pump motor, and the reference output torque is determined as the optimum output rotation speed of the oil pump motor. And if other influence factors are considered, compensating the reference output rotating speed and the reference output torque according to the corresponding influence factors, and determining the compensated rotating speed and torque as the optimal output rotating speed and the optimal output torque of the oil pump motor.
S404: and adjusting the rotating speed of the oil pump motor to the optimal output rotating speed, and adjusting the output torque of the oil pump motor to the optimal output torque.
The rotating speed of the oil pump motor is adjusted to the optimal output rotating speed and the torque is adjusted to the optimal output torque, so that the output flow of the oil pump is matched with the current condition, a user can conveniently operate a steering wheel, the oil pump motor is in the most energy-saving working state, and energy conservation is facilitated.
In one embodiment, the road condition information further includes driving road surface information; as shown in fig. 5, acquiring an optimal output rotation speed of the oil pump motor based on the reference output rotation speed and acquiring an optimal output torque of the oil pump motor based on the reference output torque includes:
s501: and determining compensation parameters of the reference output rotating speed and the reference output torque according to the current vehicle speed and the current running road surface information.
S502: and compensating the reference output rotating speed and the reference output torque according to the compensation parameters, and respectively determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque.
Specifically, since the steering wheel is used for controlling the steering of the wheels, the vehicle speed and road condition information may affect the steering of the wheels, and thus the vehicle speed and road condition information may also affect the rotation of the steering wheel. The vehicle speed and road condition information are considered, the reference output rotating speed and the reference output torque are compensated according to the vehicle speed and the road condition information, the output rotating speed and the output torque of the oil pump motor can be further optimized, the oil pump motor is in the most energy-saving working state as far as possible, and therefore energy consumption of the vehicle is reduced.
In one embodiment, determining the compensation parameters of the reference output rotation speed and the reference output torque according to the current vehicle speed and the current running road surface information comprises: and determining an adhesion coefficient of the current running road surface according to the current running road surface information, and determining compensation parameters for the reference output rotating speed and the reference output torque according to the adhesion coefficient and the current vehicle speed.
It can be understood that when the adhesion coefficient is increased, the steering resistance of the tire is increased, the corresponding output capacity needs to be increased, and the output torque and the output rotating speed of the oil pump motor both need to be increased; when the current vehicle speed is increased, the steering resistance of the tire is reduced, the corresponding output capacity needs to be reduced, and the output torque and the output rotating speed of the oil pump motor both need to be reduced. Therefore, a current vehicle speed-first compensation parameter relation table and an adhesion coefficient-second compensation parameter relation table are respectively preset, a first compensation parameter and a second compensation parameter are obtained by table lookup, a final compensation parameter is obtained by integrating the first compensation parameter and the second compensation parameter, for example, the weight of the preset vehicle speed and the adhesion coefficient, and the final compensation parameter is determined according to the first compensation parameter, the second compensation parameter and the corresponding weight.
In one embodiment, as shown in fig. 6, the vehicle control method further includes:
s601: and acquiring the data acquired by the steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring the oil pressure of an oil pump driven by an oil pump motor.
S602: and judging whether the output capacity of the oil pump meets the requirement or not according to the acquired data, if not, adjusting the output rotating speed and the torque of the oil pump motor according to the acquired data of the steering oil pressure sensor, and repeating the steps until the output capacity of the oil pump motor meets the requirement.
Specifically, the oil pump motor is used for driving the oil pump to work, the steering assistance is realized through the oil pump, and when the output rotating speed and the output torque of the oil pump motor are respectively the optimal output rotating speed and the optimal output torque, the oil pressure of the oil pump driven by the oil pump motor should reach a corresponding value matched with the state of the oil pump motor. However, in practical applications, due to problems such as aging of components, the oil pressure of the oil pump driven by the oil pump motor may not reach a corresponding value matching the state of the oil pump motor. At the moment, the output rotating speed of the oil pump motor needs to be increased by a preset value, the output rotating speed is kept unchanged when the adjustment of the output rotating speed is completed, the output torque of the oil pump motor is adaptively adjusted by taking the lowest energy consumption as a target, the output capacity of the oil pump is improved, after the adjustment is completed, whether the output capacity of the oil pump meets requirements or not is judged again, the adjusting process is continuously repeated until the output capacity of the oil pump reaches an initial matching value (ideally, the output rotating speed and the output torque of the oil pump motor are respectively in a state matched value when the optimal output rotating speed and the optimal output torque are achieved), and the steering power-assisted requirement is met.
In one embodiment, as shown in fig. 7, the vehicle control method further includes:
s701: and judging whether the vehicle is in a braking state or not according to the state information, and acquiring the change rate of the air pressure signal of the current air reservoir.
The vehicle braking device comprises a brake pedal, an air storage cylinder, a brake pedal, an air storage cylinder and a control module, wherein the brake pedal is used for judging whether the vehicle is in a braking state or not, and the air storage cylinder air pressure signal change rate is determined through the air storage cylinder air pressure signal.
S702: if the vehicle is not in a braking state, controlling the electric air compressor to start working when the change rate of the air pressure signal of the current air storage cylinder is greater than or equal to a first threshold value; and when the change rate of the air pressure signal of the current air reservoir is smaller than a first threshold value, controlling the electric air compressor to stop working.
S703: if the vehicle is in a braking state, controlling the electric air compressor to start working when the air pressure signal change rate of the air storage cylinder is smaller than or equal to a second threshold value; and when the air pressure signal change rate of the air storage cylinder is greater than a second threshold value, controlling the electric air compressor to stop working.
By limiting the working conditions of the electric air compressor, frequent work of the electric air compressor is avoided, so that the energy consumption of the electric air compressor is reduced, and the energy consumption of a vehicle is further reduced.
It should be understood that although the various steps in the flowcharts of fig. 1 and 3-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 and 3-7 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 8, there is provided a vehicle control apparatus 800 including: a mode control module 801, a first acquisition module 802, a first determination module 803, and a first adjustment module 804, wherein:
a mode control module 801 for controlling the vehicle to enter a dynamic operating mode or an economic operating mode upon receiving a mode command;
a first obtaining module 802, configured to obtain status information and road condition information of a vehicle;
a first determining module 803, configured to determine an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current operating mode of the driving motor;
the first adjusting module 804 is configured to determine a target output torque and a target output rotation speed of the driving motor according to the state information, the road condition information, and the optimal torque characteristic region, adjust the torque of the driving motor to the target output torque, and adjust the rotation speed of the driving motor to the target output rotation speed.
In one embodiment, the status information includes vehicle speed and load, the road condition information includes grade information, and the first adjustment module 804 is further configured to determine a target output torque and a target output speed of the drive motor based on the current vehicle speed, the current load, the current grade information, and the optimal torque characteristic region.
In one embodiment, the first adjustment module 804 includes: the device comprises a first determining unit, a gear shifting unit and a torque adjusting unit, wherein the determining unit is used for acquiring driving habit data of a user and determining the gear shifting rotating speed and the loading slope gear of torque of a driving motor according to the driving habit data and a current operation mode; the gear shifting unit judges whether the vehicle needs to be shifted according to the current gear and the target output rotating speed of the motor, determines the target gear according to the target output rotating speed when the gear shifting is judged to be needed, adjusts the rotating speed of the driving motor to the gear shifting rotating speed, switches the gear to the target gear, and adjusts the rotating speed of the driving motor to the target output rotating speed; the torque adjusting unit is used for controlling the output torque of the driving motor to change to the target output torque based on the loading slope.
In one embodiment, the state information includes a steering wheel angle and a rate of change of the steering wheel angle, and the vehicle control apparatus 800 further includes:
the second determining module is used for determining the reference output rotating speed of the oil pump motor according to the steering wheel angle and the change rate of the steering wheel angle;
the second acquisition module is used for acquiring a pre-stored optimal working area of the oil pump motor and determining a reference output torque of the oil pump motor according to the optimal working area and the reference output rotating speed of the oil pump motor;
the third acquisition module is used for acquiring the optimal output rotating speed of the oil pump motor based on the reference output rotating speed and acquiring the optimal output torque of the oil pump motor based on the reference output torque;
and the second adjusting module is used for adjusting the rotating speed of the oil pump motor to the optimal output rotating speed and adjusting the output torque of the oil pump motor to the optimal output torque.
In one embodiment, the road condition information further includes driving road surface information; the third acquisition module includes: the second determining unit is used for determining compensation parameters of the reference output rotating speed and the reference output torque according to the current vehicle speed and the current running road surface information; the compensation unit is used for compensating the reference output rotating speed and the reference output torque according to the compensation parameters, and respectively determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque.
In one embodiment, the second determination unit is further configured to determine an adhesion coefficient of the current running road surface based on the current running road surface information, and determine the compensation parameter for the reference output rotation speed and the reference output torque based on the adhesion coefficient and the current vehicle speed.
In one embodiment, the vehicle control apparatus 800 further includes: the device comprises a fourth acquisition module and a first judgment module, wherein the fourth acquisition module is used for acquiring the acquisition data of a steering oil pressure sensor, and the steering oil pressure sensor is used for acquiring the oil pressure of an oil pump driven by an oil pump motor; the judging module is used for judging whether the output capacity of the oil pump meets requirements or not according to the collected data, and when the output capacity of the oil pump does not meet the requirements, the output rotating speed and the torque of the oil pump motor are adjusted according to the collected data of the steering oil pressure sensor.
In one embodiment, the vehicle control apparatus 800 further includes: the second judgment module is used for judging whether the vehicle is in a braking state or not according to the state information and acquiring the change rate of the air pressure signal of the current air reservoir; the first control module is used for controlling the electric air compressor to start working when the vehicle is not in a braking state and the change rate of the air pressure signal of the current air reservoir is greater than or equal to a first threshold value; when the vehicle is not in a braking state and the change rate of the air pressure signal of the current air reservoir is smaller than a first threshold value, controlling the electric air compressor to stop working; the second control module is used for controlling the electric air compressor to start working when the vehicle is in a braking state and the change rate of the air pressure signal of the air storage cylinder is smaller than or equal to a second threshold value; and when the vehicle is in a braking state and the air pressure signal change rate of the air reservoir is greater than a second threshold value, controlling the electric air compressor to stop working.
For specific definition of the vehicle control device, reference may be made to the above definition of the vehicle control method, which is not described herein again. The respective modules in the vehicle control of the vehicle control apparatus described above may be realized in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. The computer device comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining the target output torque and the target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic area, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
In one embodiment, the status information includes vehicle speed and load, the traffic information includes grade information, and the processor when executing the computer program further performs the steps of:
and determining a target output torque and a target output rotating speed of the driving motor according to the current vehicle speed, the current load, the current gradient information and the optimal torque characteristic area.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring driving habit data of a user, and determining a gear shifting rotating speed and a loading slope gear of torque of a driving motor according to the driving habit data and a current operation mode;
judging whether the vehicle needs to be shifted according to the current gear and the target output rotating speed of the motor, determining the target gear according to the target output rotating speed when the gear shifting is judged to be needed, adjusting the rotating speed of the driving motor to the gear shifting rotating speed, switching the gear to the target gear, and adjusting the rotating speed of the driving motor to the target output rotating speed;
and controlling the output torque of the driving motor to change to the target output torque based on the loading slope.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the reference output rotating speed of the oil pump motor according to the angle of the steering wheel and the angle change rate of the steering wheel;
acquiring a pre-stored optimal working area of the oil pump motor, and determining a reference output torque of the oil pump motor according to the optimal working area and the reference output rotating speed of the oil pump motor;
acquiring the optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring the optimal output torque of the oil pump motor based on the reference output torque;
and adjusting the rotating speed of the oil pump motor to the optimal output rotating speed, and adjusting the output torque of the oil pump motor to the optimal output torque.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining compensation parameters of a reference output rotating speed and a reference output torque according to the current vehicle speed and the current running road surface information;
and compensating the reference output rotating speed and the reference output torque according to the compensation parameters, and respectively determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and determining an adhesion coefficient of the current running road surface according to the current running road surface information, and determining compensation parameters for the reference output rotating speed and the reference output torque according to the adhesion coefficient and the current vehicle speed.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring data acquired by a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring the oil pressure of an oil pump driven by an oil pump motor;
and judging whether the output capacity of the oil pump meets the requirement or not according to the acquired data, if not, adjusting the output rotating speed and the torque of the oil pump motor according to the acquired data of the steering oil pressure sensor, and repeating the steps until the output capacity of the oil pump motor meets the requirement.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
judging whether the vehicle is in a braking state or not according to the state information, and acquiring the change rate of the air pressure signal of the current air reservoir;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the change rate of the air pressure signal of the current air storage cylinder is greater than or equal to a first threshold value; when the change rate of the air pressure signal of the current air reservoir is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, controlling the electric air compressor to start working when the air pressure signal change rate of the air storage cylinder is smaller than or equal to a second threshold value; and when the air pressure signal change rate of the air storage cylinder is greater than a second threshold value, controlling the electric air compressor to stop working.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining the target output torque and the target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic area, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
In one embodiment, the status information comprises vehicle speed and load, the road condition information comprises grade information, and the computer program when executed by the processor further performs the steps of:
and determining a target output torque and a target output rotating speed of the driving motor according to the current vehicle speed, the current load, the current gradient information and the optimal torque characteristic area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring driving habit data of a user, and determining a gear shifting rotating speed and a loading slope gear of torque of a driving motor according to the driving habit data and a current operation mode;
judging whether the vehicle needs to be shifted according to the current gear and the target output rotating speed of the motor, determining the target gear according to the target output rotating speed when the gear shifting is judged to be needed, adjusting the rotating speed of the driving motor to the gear shifting rotating speed, switching the gear to the target gear, and adjusting the rotating speed of the driving motor to the target output rotating speed;
and controlling the output torque of the driving motor to change to the target output torque based on the loading slope.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the reference output rotating speed of the oil pump motor according to the angle of the steering wheel and the angle change rate of the steering wheel;
acquiring a pre-stored optimal working area of the oil pump motor, and determining a reference output torque of the oil pump motor according to the optimal working area and the reference output rotating speed of the oil pump motor;
acquiring the optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring the optimal output torque of the oil pump motor based on the reference output torque;
and adjusting the rotating speed of the oil pump motor to the optimal output rotating speed, and adjusting the output torque of the oil pump motor to the optimal output torque.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining compensation parameters of a reference output rotating speed and a reference output torque according to the current vehicle speed and the current running road surface information;
and compensating the reference output rotating speed and the reference output torque according to the compensation parameters, and respectively determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining an adhesion coefficient of the current running road surface according to the current running road surface information, and determining compensation parameters for the reference output rotating speed and the reference output torque according to the adhesion coefficient and the current vehicle speed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring data acquired by a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring the oil pressure of an oil pump driven by an oil pump motor;
and judging whether the output capacity of the oil pump meets the requirement or not according to the acquired data, if not, adjusting the output rotating speed and the torque of the oil pump motor according to the acquired data of the steering oil pressure sensor, and repeating the steps until the output capacity of the oil pump motor meets the requirement.
In one embodiment, the computer program when executed by the processor further performs the steps of:
judging whether the vehicle is in a braking state or not according to the state information, and acquiring the change rate of the air pressure signal of the current air reservoir;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the change rate of the air pressure signal of the current air storage cylinder is greater than or equal to a first threshold value; when the air pressure signal change rate of the current air cylinder is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, controlling the electric air compressor to start working when the air pressure signal change rate of the air storage cylinder is smaller than or equal to a second threshold value; and when the air pressure signal change rate of the air storage cylinder is greater than a second threshold value, controlling the electric air compressor to stop working.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining the target output torque and the target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic area, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
In one embodiment, the status information comprises vehicle speed and load, the road condition information comprises grade information, and the computer program when executed by the processor further performs the steps of:
and determining a target output torque and a target output rotating speed of the driving motor according to the current vehicle speed, the current load, the current gradient information and the optimal torque characteristic area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring driving habit data of a user, and determining a gear shifting rotating speed and a loading slope gear of torque of a driving motor according to the driving habit data and a current operation mode;
judging whether the vehicle needs to be shifted according to the current gear and the target output rotating speed of the motor, determining the target gear according to the target output rotating speed when the gear shifting is judged to be needed, adjusting the rotating speed of the driving motor to the gear shifting rotating speed, switching the gear to the target gear, and adjusting the rotating speed of the driving motor to the target output rotating speed;
and controlling the output torque of the driving motor to change to the target output torque based on the loading slope.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the reference output rotating speed of the oil pump motor according to the angle of the steering wheel and the angle change rate of the steering wheel;
acquiring a pre-stored optimal working area of the oil pump motor, and determining a reference output torque of the oil pump motor according to the optimal working area and the reference output rotating speed of the oil pump motor;
acquiring the optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring the optimal output torque of the oil pump motor based on the reference output torque;
and adjusting the rotating speed of the oil pump motor to the optimal output rotating speed, and adjusting the output torque of the oil pump motor to the optimal output torque.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining compensation parameters of a reference output rotating speed and a reference output torque according to the current vehicle speed and the current running road surface information;
and compensating the reference output rotating speed and the reference output torque according to the compensation parameters, and respectively determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining an adhesion coefficient of the current running road surface according to the current running road surface information, and determining compensation parameters for the reference output rotating speed and the reference output torque according to the adhesion coefficient and the current vehicle speed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring data acquired by a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring the oil pressure of an oil pump driven by an oil pump motor;
and judging whether the output capacity of the oil pump meets the requirement or not according to the acquired data, if not, adjusting the output rotating speed and the torque of the oil pump motor according to the acquired data of the steering oil pressure sensor, and repeating the steps until the output capacity of the oil pump motor meets the requirement.
In one embodiment, the computer program when executed by the processor further performs the steps of:
judging whether the vehicle is in a braking state or not according to the state information, and acquiring the change rate of the air pressure signal of the current air reservoir;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the change rate of the air pressure signal of the current air storage cylinder is greater than or equal to a first threshold value; when the change rate of the air pressure signal of the current air reservoir is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, controlling the electric air compressor to start working when the air pressure signal change rate of the air storage cylinder is smaller than or equal to a second threshold value; and when the air pressure signal change rate of the air storage cylinder is greater than a second threshold value, controlling the electric air compressor to stop working.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (12)

1. A vehicle control method, characterized by comprising:
when an externally input mode command is received, controlling the vehicle to enter a dynamic running mode or an economic running mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic zone of the driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
and determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic region, adjusting the output torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
2. The vehicle control method according to claim 1, wherein the state information includes a vehicle speed and a load, the road condition information includes gradient information, and the determining of the target output torque and the target output rotation speed of the drive motor based on the state information, the road condition information, and the optimal torque characteristic region includes:
and determining the target output torque and the target output rotating speed of the driving motor according to the current vehicle speed, the current load, the current gradient information and the optimal torque characteristic zone.
3. The vehicle control method according to claim 1 or 2, wherein the adjusting the output torque of the drive motor to the target output torque, and the adjusting the rotation speed of the drive motor to the target output rotation speed, includes:
acquiring driving habit data of a user, and determining the gear shifting rotating speed and the loading slope of torque of the driving motor according to the driving habit data and the current operation mode;
judging whether the vehicle needs to be shifted according to the current gear of the motor and the target output rotating speed, determining the target gear according to the target output rotating speed when the shift is judged to be needed, adjusting the rotating speed of the driving motor to the shift rotating speed, switching the gear to the target gear, and adjusting the rotating speed of the driving motor to the target output rotating speed;
and controlling the output torque of the driving motor to be changed to the target output torque based on the loading slope.
4. The vehicle control method according to claim 2, characterized in that the state information further includes a steering wheel angle and a rate of change in the steering wheel angle, the method further comprising:
determining the reference output rotating speed of the oil pump motor according to the steering wheel angle and the change rate of the steering wheel angle;
acquiring a pre-stored optimal working area of an oil pump motor, and determining a reference output torque of the oil pump motor according to the optimal working area and the reference output rotating speed of the oil pump motor;
acquiring the optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring the optimal output torque of the oil pump motor based on the reference output torque;
and adjusting the rotating speed of the oil pump motor to the optimal output rotating speed, and adjusting the output torque of the oil pump motor to the optimal output torque.
5. The vehicle control method according to claim 4, characterized in that the road condition information further includes traveling road surface information; the acquiring an optimal output rotation speed of the oil pump motor based on the reference output rotation speed and acquiring an optimal output torque of the oil pump motor based on the reference output torque includes:
determining compensation parameters of the reference output rotating speed and the reference output torque according to the current vehicle speed and the current running road surface information;
and compensating the reference output rotating speed and the reference output torque according to the compensation parameters, and respectively determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque.
6. The vehicle control method according to claim 5, wherein the determining of the compensation parameters for the reference output rotation speed and the reference output torque based on the current vehicle speed and the current traveling surface information includes:
and determining an adhesion coefficient of the current running road surface according to the current running road surface information, and determining compensation parameters for the reference output rotating speed and the reference output torque according to the adhesion coefficient and the current vehicle speed.
7. The vehicle control method according to any one of claims 4 to 6, characterized by further comprising:
acquiring data collected by a steering oil pressure sensor, wherein the steering oil pressure sensor is used for collecting the oil pressure of an oil pump driven by an oil pump motor;
and judging whether the output capacity of the oil pump meets the requirement or not according to the acquired data, if not, adjusting the output rotating speed and the torque of the oil pump motor according to the acquired data of the steering oil pressure sensor, and repeating the steps until the output capacity of the oil pump motor meets the requirement.
8. The vehicle control method according to claim 1, characterized by further comprising:
judging whether the vehicle is in a braking state or not according to the state information, and acquiring the change rate of the air pressure signal of the current air reservoir;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the change rate of the air pressure signal of the current air reservoir is greater than or equal to a first threshold value; when the change rate of the air pressure signal of the current air reservoir is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, controlling the electric air compressor to start working when the air pressure signal change rate of the air storage cylinder is smaller than or equal to a second threshold value; and when the air pressure signal change rate of the air storage cylinder is greater than a second threshold value, controlling the electric air compressor to stop working.
9. A vehicle control apparatus, characterized in that the apparatus comprises:
the mode control module is used for controlling the vehicle to enter a dynamic running mode or an economic running mode when receiving a mode instruction;
the first acquisition module is used for acquiring the state information and road condition information of the vehicle;
the device comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining an optimal torque characteristic zone of a driving motor according to a pre-stored optimal economic working zone and a current running mode of the driving motor;
the first adjusting module is used for determining a target output torque and a target output rotating speed of the driving motor according to the state information, the road condition information and the optimal torque characteristic area, adjusting the torque of the driving motor to the target output torque, and adjusting the rotating speed of the driving motor to the target output rotating speed.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
12. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of any of claims 1 to 8 when executed by a processor.
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