CN114435146B - Vehicle control method, device, computer device and storage medium - Google Patents

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

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Publication number
CN114435146B
CN114435146B CN202210197017.5A CN202210197017A CN114435146B CN 114435146 B CN114435146 B CN 114435146B CN 202210197017 A CN202210197017 A CN 202210197017A CN 114435146 B CN114435146 B CN 114435146B
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rotating speed
oil pump
optimal
vehicle
output torque
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CN114435146A (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 an externally input mode command is received, controlling the vehicle to enter a dynamic operation mode or an economic operation mode; acquiring state information and road condition information of a vehicle; determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area and a current running mode of the driving motor; and determining target output torque and 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. By adopting the method, the balance between the user demand and the vehicle economy can be realized.

Description

Vehicle control method, device, computer device and storage medium
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle control method, a device, a computer device, and a storage medium.
Background
At present, a control strategy of the new energy vehicle mainly comprises functions, and has surplus phenomenon, so that energy is consumed ineffectively, and the energy consumption is higher, so that the economical efficiency is poor.
However, if economy is concerned excessively, it is easy to sacrifice a part of the power performance of the vehicle. And different users have different requirements on the economical efficiency and the dynamic performance of the vehicle, some users pay more attention to the economical efficiency of the vehicle, some users pay more attention to the dynamic performance of the vehicle, the existing vehicle control method is not adapted according to the actual use requirements of the users, and the balance between the user requirements and the economical efficiency of the vehicle is difficult to realize.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a vehicle control method, apparatus, computer device, and storage medium capable of balancing vehicle economy and dynamics based on user demand.
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 operation mode or an economic operation mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area and a current running mode of the driving motor;
and determining target output torque and 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 state information includes a vehicle speed and a load, the road condition information includes gradient information, and 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 area includes:
and determining target output torque and 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 adjusting the output torque of the driving motor to the target output torque, 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 of torque of the driving motor according to the driving habit data and a current running mode;
judging whether the vehicle needs to be shifted according to the current gear of the motor and the target output rotating speed, determining a target gear according to the target output rotating speed when judging that the vehicle needs to be shifted, adjusting the rotating speed of the driving motor to the 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 status information further includes a steering wheel angle and a steering wheel angle rate of change, the method further comprising:
determining a reference output rotating speed of an oil pump motor according to the steering wheel angle and the steering wheel angle change rate;
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 a reference output rotating speed of the oil pump motor;
acquiring an optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring an 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 obtaining the optimal output rotation speed of the oil pump motor based on the reference output rotation speed, and obtaining the 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 driving 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 driving road 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.
In one embodiment, the method further comprises:
acquiring acquisition data of a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring oil pressure of an oil pump driven by an oil pump motor;
judging whether the output capacity of the oil pump meets the requirement or not according to the collected data, if not, regulating the output rotating speed and torque of the oil pump motor according to the collected 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 current air reservoir air pressure signal change rate;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the current air receiver air pressure signal change rate is more than or equal to a first threshold value; when the current air reservoir air pressure signal change rate is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, when the change rate of the air pressure signal of the air storage cylinder is smaller than or equal to a second threshold value, controlling the electric air compressor to start working; and when the change rate of the air pressure signal of the air storage cylinder is larger than a second threshold value, controlling the electric air compressor to stop working.
In a second aspect, the present application also provides a vehicle control apparatus. The device comprises:
the mode control module is used for controlling the vehicle to enter a dynamic operation mode or an economic operation mode when a mode instruction is received;
the first acquisition module is used for acquiring the state information and road condition information of the vehicle;
the first determining module is used for determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area of the driving motor and a current running mode;
And the first adjusting module is used for determining target output torque and 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 which when executing the computer program performs the steps of:
when an externally input mode command is received, controlling the vehicle to enter a dynamic operation mode or an economic operation mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area and a current running mode of the driving motor;
and determining target output torque and 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 a fourth aspect, the present application also 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 operation mode or an economic operation mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area and a current running mode of the driving motor;
and determining target output torque and 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 a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
when an externally input mode command is received, controlling the vehicle to enter a dynamic operation mode or an economic operation mode;
Acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area and a current running mode of the driving motor;
and determining target output torque and 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.
The vehicle control method, the device, the computer equipment, the storage medium and the computer program product control the vehicle to enter the operation mode corresponding to the mode instruction through the externally input mode instruction, so that a user can select the operation mode of the vehicle according to the self requirement; and according to the pre-stored optimal economic working area of the driving motor and the optimal torque characteristic area determined by the current running mode, the requirements of users and the economical efficiency of vehicles are considered, so that 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 area are optimal parameters for considering the requirements of the users and the economical efficiency of the vehicles, and the balance between the requirements of the users and the economical efficiency of the vehicles is realized.
Drawings
FIG. 1 is a flow chart of a method of controlling a vehicle in one embodiment;
FIG. 2 is a graph showing the efficiency of the drive motor at various speeds and torques according to one embodiment;
FIG. 3 is a flowchart illustrating a step of adjusting the output torque of the driving motor to the target output torque and adjusting the rotation speed of the driving motor to the target output rotation speed according to one embodiment;
FIG. 4 is a flow chart of a method of controlling a vehicle in another embodiment;
FIG. 5 is a flow chart of the steps for obtaining an optimal output speed and an optimal output torque of an oil pump motor in one embodiment;
FIG. 6 is a flow chart of a method of controlling a vehicle in another embodiment;
FIG. 7 is a flow chart of a method of controlling a vehicle in another embodiment;
FIG. 8 is a block diagram showing the construction of a vehicle control apparatus in one embodiment;
fig. 9 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. 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 application.
In one embodiment, as shown in fig. 1 and 2, a vehicle control method is provided, and the method is applied to a new energy vehicle for illustration, and includes the following steps:
s101: when an externally input mode command is received, the vehicle is controlled to enter a dynamic operation mode or an economical operation mode.
The economical operation mode is an operation mode with the lowest energy consumption as an optimization target, and the dynamic operation mode is an operation mode with the dynamic performance properly improved on the basis of the economical operation mode.
S102: and acquiring the state information and road condition information of the vehicle.
The vehicle state information is acquired through sensors arranged on the vehicle, road condition information is obtained by taking a road surface picture through a vehicle-mounted camera and analyzing the taken picture.
S103: and determining an optimal torque characteristic area of the driving motor according to the pre-stored optimal economic working area of the driving motor and the current running mode.
Wherein, driving motor is used for driving the vehicle to travel. As shown in fig. 2, fig. 2 is an example of a motor efficiency distribution diagram at different rotational speeds and torques, and the optimal economic operation region is a region in the distribution diagram where an efficiency value is greater than a preset efficiency threshold (for example, 95%).
Specifically, the optimal economic operation region of the driving motor may be further subdivided into regions corresponding to different operation modes, namely, a first region corresponding to an economy mode and a second region corresponding to a power mode, wherein the first region is an optimal torque characteristic region of the driving motor when the operation mode is the economy mode, and the second region is an optimal torque characteristic region of the driving motor when the operation mode is the power mode.
S104: and determining target output torque and 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 form condition information, a corresponding area of the condition information in the optimal torque characteristic area 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 area, so that the target output torque and the target output rotating speed of the driving motor are obtained. The first mapping relation is obtained through multiple experiments.
According to the vehicle control method, the vehicle is controlled to enter the operation mode corresponding to the mode instruction through the mode instruction input from the outside, so that a user can select the operation mode of the vehicle according to the self requirement; and according to the pre-stored optimal economic working area of the driving motor and the optimal torque characteristic area determined by the current running mode, the requirements of users and the economical efficiency of the vehicle are considered, so that 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 area are optimal parameters for considering the requirements of the users and the economical efficiency of the vehicle.
In one embodiment, the state information includes a vehicle speed and a load, the road condition information includes gradient information, and determining 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 includes: and determining target output torque and 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.
Wherein, the abscissa of the optimal torque characteristic area is the rotating speed, and the ordinate is the torque.
Specifically, the rotational speed of the motor affects the vehicle speed, which is related to the current load of the vehicle and the gradient of the current road surface of the vehicle, and thus the rotational speed range of the motor can be determined based on the current vehicle speed, the current load, and the current gradient information. After the rotating speed range of the motor is determined, comparing the rotating speed range with the optimal torque characteristic area to obtain a rotating speed superposition area, selecting a target point corresponding to the lowest energy consumption from the optimal torque characteristic area based on the superposition area, wherein the abscissa of the target point is the target output rotating speed, and the ordinate 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 drive motor to a target output torque, adjusting the rotational speed of the drive motor to the target output rotational speed, includes:
S301: and acquiring driving habit data of a user, and determining the loading slope of the gear shifting rotating speed and the torque of the driving motor according to the driving habit data and the current running mode.
When a user drives, driving habit data of the user, such as accelerator operation habit data of the user for different loads and road conditions, are collected, the driving habit of the user can be determined according to the driving habit data of the user, the user is classified into a "rational type" and an "passion type", and if the speed of the accelerator pedal of the driver is larger than a speed threshold value no matter how large 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 "rational type".
The loading slopes of the shift rotational speed and torque of the driving motor are determined according to the user type (passion type and wisdom type) and the current operation mode (economy and power). When the user type belongs to the intelligent type and the current running mode is economical, 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 an "passion type" and the current running mode is economical, or the user type belongs to a "wisdom" and the current running 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 an 'passion type' and the current running mode is dynamic, the loading slope is increased by a third proportion at the optimal loading slope, 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 problem that the energy consumption is high due to frequent acceleration and deceleration of a user is avoided, so that the energy consumption is reduced.
For example, when the user type belongs to "wisdom", the current operation mode is economical, the loading slope of the torque of the driving motor is the optimal loading slope, and the shift rotational speed is the optimal shift rotational speed; when the user type belongs to the "passion type" and the current running mode is economical, or the user type belongs to the "wisdom" and the current running 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 the "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 an optimal loading slope and an 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 by 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 judging that the vehicle needs to be shifted, adjusting the rotating speed of the driving motor to the 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, each of which is matched with a corresponding rotational speed range.
Specifically, if the current gear is not matched with the target output rotation speed, a gear shifting is needed, a target gear corresponding to the current gear is determined according to the target output rotation speed, and the gear shifting needs to be adjusted to the corresponding gear shifting rotation speed by the adjusting motor, so that after the rotation speed of the driving motor is adjusted to the gear shifting rotation speed, the gear is switched to the target gear, and after the gear shifting is completed, the rotation speed of the driving motor is adjusted to the target output rotation speed, and the rotation speed adjustment of the driving motor is realized.
It is understood that the rotation speed of the drive motor is directly adjusted to the target output rotation speed when it is determined that no gear shift is necessary.
S303: the output torque of the drive motor is controlled to be changed to the target output torque based on the load slope.
In one embodiment, as shown in fig. 4, the state information further includes a steering wheel angle and a steering wheel angle change rate, 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 steering wheel angle change rate.
Specifically, the oil pump motor is used for power-assisted steering, and a user realizes steering through the steering wheel, and it can be understood that when the angle of the steering wheel is larger, the angle of rotation required for restoring the steering wheel to the original position is larger, and when the change rate of the angle of the steering wheel is higher, the steering wheel rotation speed is higher, and the oil pump is required to provide larger power for both cases, so that the oil pump motor is required to have higher rotation speed; if the steering wheel angle is smaller, the steering wheel angle change rate is lower, and only the oil pump is needed to provide proper power to avoid that the steering wheel rotation angle exceeds a preset value. Therefore, the reference output rotation speed of the oil pump motor is determined from the steering wheel angle and the steering wheel angle change rate based on a preset relationship table, which is obtained from a test.
In application, a reference output rotation speed relation table of a steering wheel angle and an oil pump motor and a reference output rotation speed relation table of a steering wheel angle change rate and an oil pump motor can be preset, the reference output rotation speed of the oil pump motor corresponding to the reference output rotation speed relation table is determined according to the steering wheel angle, the reference output rotation speed of the oil pump motor corresponding to the reference output rotation speed is determined according to the steering wheel angle change rate, and then the final reference output rotation speed of the oil pump motor is obtained based on the weight of the steering wheel angle and the steering wheel angle change rate. Illustratively, the weight of the steering wheel angle is a, the weight of the steering wheel angle change rate is B, a+b=1, the reference output rotation speed corresponding to the steering wheel angle is a, the reference output rotation speed corresponding to the steering wheel angle change rate 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 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.
It will be appreciated that there is also an optimal economic operating area for the oil pump motor, based on which a reference output torque corresponding to the lowest energy consumption matching the reference output speed can be obtained. For example, the rotational speed control is aimed at, in the optimal economic operating range, the same rotational speed may correspond to different torques, and in the case of a constant rotational speed, a reference output torque corresponding to the lowest energy consumption in the optimal economic operating range is determined.
S403: and obtaining the optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and obtaining the optimal output torque of the oil pump motor based on the reference output torque.
Specifically, the steering wheel angle and the steering wheel angle change rate are factors that mainly affect the output rotation speed of the oil pump motor, and therefore, if other influencing factors are not considered, the reference output rotation speed is determined as the optimal output rotation speed of the oil pump motor, and the reference output torque is determined as the optimal output rotation speed of the oil pump motor. And if other influencing factors are considered, compensating the reference output rotating speed and the reference output torque according to the corresponding influencing 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 rotation speed of the oil pump motor is adjusted to the optimal output rotation 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 situation, a user can conveniently operate the 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, obtaining the optimal output rotational speed of the oil pump motor based on the reference output rotational speed, obtaining the 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 driving 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 to control the steering of the wheels, the vehicle speed and the road condition information affect the steering of the wheels, and thus the vehicle speed and the road condition information also affect the rotation of the steering wheel. The reference output rotating speed and the reference output torque are compensated according to the vehicle speed and the road condition information by considering the vehicle speed and the road condition information, so that 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 the energy consumption of the vehicle is reduced.
In one embodiment, determining compensation parameters for the reference output rotational speed and the reference output torque based on the current vehicle speed and the current travel road surface information includes: 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 attachment coefficient is increased, the steering resistance of the tire is increased, the corresponding output capacity is required to be increased, and the output torque and the output rotating speed of the oil pump motor are required to be increased; when the current vehicle speed increases, the steering resistance of the tire decreases, the corresponding output capacity needs to be reduced, and the output torque and the output rotating speed of the oil pump motor need to be reduced. Therefore, a current vehicle speed-first compensation parameter relation table and an adhesion coefficient-second compensation parameter relation table are preset respectively, a table is searched to obtain a first compensation parameter and a second compensation parameter, the first compensation parameter and the second compensation parameter are integrated to obtain a final compensation parameter, for example, the weights of the vehicle speed and the adhesion coefficient are preset, 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: acquiring acquisition data of a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring oil pressure of an oil pump driven by an oil pump motor.
S602: judging whether the output capacity of the oil pump meets the requirement or not according to the collected data, if not, regulating the output rotating speed and torque of the oil pump motor according to the collected 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, 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, 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 due to the problems of device aging and the like. At this time, the output rotation speed of the oil pump motor needs to be increased by a preset value, and when the adjustment of the output rotation speed is completed, the output rotation speed is kept unchanged, the output torque of the oil pump motor is adaptively adjusted by taking the lowest energy consumption as a target, so that the output capacity of the oil pump is improved, after the adjustment is completed, whether the output capacity of the oil pump meets the requirement is judged again, and the adjustment process is continuously repeated until the output capacity of the oil pump reaches an initial matching value (a value which is matched with the state when the output rotation speed and the output torque of the oil pump motor are respectively the optimal output rotation speed and the optimal output torque under ideal conditions), so that the steering power assisting requirement is met.
In one embodiment, as shown in fig. 7, the vehicle control method further includes:
S701: judging whether the vehicle is in a braking state or not according to the state information, and acquiring the current air pressure signal change rate of the air storage cylinder.
And judging whether the vehicle is in a braking state or not through a brake pedal signal, and determining the change rate of the air reservoir air pressure signal through the air reservoir air pressure signal.
S702: if the vehicle is not in a braking state, controlling the electric air compressor to start working when the current air receiver air pressure signal change rate is more than or equal to a first threshold value; and when the current air reservoir air pressure signal change rate is smaller than a first threshold value, controlling the electric air compressor to stop working.
S703: if the vehicle is in a braking state, when the change rate of the air pressure signal of the air storage cylinder is smaller than or equal to a second threshold value, controlling the electric air compressor to start working; and when the change rate of the air pressure signal of the air storage cylinder is larger 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 steps in the flowcharts of fig. 1 and 3-7 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps of fig. 1 and 3-7 may include steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in 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 operation mode or an economical operation mode when a mode command is received;
a first obtaining module 802, configured to obtain status information and road condition information of a vehicle;
a first determining module 803 for determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic operation area of the driving motor and a current operation mode;
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 status 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 a vehicle speed and a 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 rotational speed of the driving motor according to 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 first determining unit is used for 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 running mode; the gear shifting unit judges whether the vehicle needs to shift gears according to the current gear and the target output rotating speed of the motor, when judging that the vehicle needs to shift gears, the gear shifting unit determines the target gear according to the target output rotating speed, 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 adjustment unit is used for 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 includes a steering wheel angle and a steering wheel angle change rate, 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 steering wheel angle change rate;
the second acquisition module is used for acquiring an optimal working area of the pre-stored oil pump motor and determining a reference output torque of the oil pump motor according to the optimal working area and a 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 driving 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 determining the compensated output rotating speed and the compensated output torque as the optimal output rotating speed and the optimal output torque respectively.
In one embodiment, the second determining 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 compensation parameters for the reference output rotational 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 system comprises a fourth acquisition module and a first judgment module, wherein the fourth acquisition module is used for acquiring acquisition data of a steering oil pressure sensor, and the steering oil pressure sensor is used for acquiring 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 the requirement or not according to the collected data, and when the output capacity of the oil pump does not meet the requirement, the output rotating speed and the torque of the oil pump motor are regulated according to the collected data of the steering oil pressure sensor.
In one embodiment, the vehicle control apparatus 800 further includes: the second judging module is used for judging whether the vehicle is in a braking state or not according to the state information and acquiring the current air pressure signal change rate of the air storage cylinder; 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 current air receiver air pressure signal change rate is more than or equal to a first threshold value; when the vehicle is not in a braking state and the current air receiver air pressure signal change rate 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; when the vehicle is in a braking state and the change rate of the air pressure signal of the air reservoir is larger than a second threshold value, the electric air compressor is controlled to stop working.
The specific limitation of the vehicle control device may be referred to as limitation of the vehicle control method hereinabove, and will not be described herein. The respective modules in the vehicle control of the above-described vehicle control apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 9. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile 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 the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode 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, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by persons skilled in the art that the architecture shown in fig. 9 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the 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 stored therein a computer program, the processor when executing the computer program performing the steps of:
when an externally input mode command is received, controlling the vehicle to enter a dynamic operation mode or an economic operation mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area of the driving motor and a current running mode;
and determining target output torque and 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 road condition information includes grade information, and the processor when executing the computer program further performs the steps of:
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 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 of torque of a driving motor according to the driving habit data and a current running mode;
judging whether the vehicle needs to shift 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 judging that the vehicle needs to shift, 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;
the output torque of the drive motor is controlled to be changed to the target output torque based on the load slope.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining a reference output rotating speed of the oil pump motor according to the steering wheel angle and the steering wheel angle change rate;
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 a reference output rotating speed of the oil pump motor;
acquiring an optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring an 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 driving 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 acquisition data of a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring oil pressure of an oil pump driven by an oil pump motor;
judging whether the output capacity of the oil pump meets the requirement or not according to the collected data, if not, regulating the output rotating speed and torque of the oil pump motor according to the collected 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 according to the state information, and acquiring the current air pressure signal change rate of the air storage cylinder;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the current air receiver air pressure signal change rate is more than or equal to a first threshold value; when the current air reservoir air pressure signal change rate is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, when the change rate of the air pressure signal of the air storage cylinder is smaller than or equal to a second threshold value, controlling the electric air compressor to start working; and when the change rate of the air pressure signal of the air storage cylinder is larger 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 operation mode or an economic operation mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area of the driving motor and a current running mode;
and determining target output torque and 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 road condition information includes grade information, and the computer program when executed by the processor further performs the steps of:
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 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 of torque of a driving motor according to the driving habit data and a current running mode;
Judging whether the vehicle needs to shift 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 judging that the vehicle needs to shift, 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;
the output torque of the drive motor is controlled to be changed to the target output torque based on the load slope.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a reference output rotating speed of the oil pump motor according to the steering wheel angle and the steering wheel angle change rate;
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 a reference output rotating speed of the oil pump motor;
acquiring an optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring an 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 driving 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 acquisition data of a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring oil pressure of an oil pump driven by an oil pump motor;
judging whether the output capacity of the oil pump meets the requirement or not according to the collected data, if not, regulating the output rotating speed and torque of the oil pump motor according to the collected 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 according to the state information, and acquiring the current air pressure signal change rate of the air storage cylinder;
If the vehicle is not in a braking state, controlling the electric air compressor to start working when the current air receiver air pressure signal change rate is more than or equal to a first threshold value; when the current air reservoir air pressure signal change rate is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, when the change rate of the air pressure signal of the air storage cylinder is smaller than or equal to a second threshold value, controlling the electric air compressor to start working; and when the change rate of the air pressure signal of the air storage cylinder is larger 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 operation mode or an economic operation mode;
acquiring state information and road condition information of a vehicle;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area of the driving motor and a current running mode;
and determining target output torque and 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 road condition information includes grade information, and the computer program when executed by the processor further performs the steps of:
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 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 of torque of a driving motor according to the driving habit data and a current running mode;
judging whether the vehicle needs to shift 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 judging that the vehicle needs to shift, 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;
the output torque of the drive motor is controlled to be changed to the target output torque based on the load slope.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a reference output rotating speed of the oil pump motor according to the steering wheel angle and the steering wheel angle change rate;
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 a reference output rotating speed of the oil pump motor;
acquiring an optimal output rotating speed of the oil pump motor based on the reference output rotating speed, and acquiring an 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 driving 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 acquisition data of a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring oil pressure of an oil pump driven by an oil pump motor;
judging whether the output capacity of the oil pump meets the requirement or not according to the collected data, if not, regulating the output rotating speed and torque of the oil pump motor according to the collected 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 according to the state information, and acquiring the current air pressure signal change rate of the air storage cylinder;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the current air receiver air pressure signal change rate is more than or equal to a first threshold value; when the current air reservoir air pressure signal change rate is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, when the change rate of the air pressure signal of the air storage cylinder is smaller than or equal to a second threshold value, controlling the electric air compressor to start working; and when the change rate of the air pressure signal of the air storage cylinder is larger than a second threshold value, controlling the electric air compressor to stop working.
The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A vehicle control method, characterized in that the method comprises:
when an externally input mode command is received, controlling the vehicle to enter a dynamic operation mode or an economic operation mode;
acquiring state information and road condition information of a vehicle, wherein the state information comprises vehicle speed, load, steering wheel angle and steering wheel angle change rate, and the road condition information comprises gradient information and driving road surface information;
determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area and a current running mode of the driving motor;
determining target output torque and target output rotating speed of a driving motor according to the current speed, the current load, the current gradient 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;
Determining a reference output rotating speed of an oil pump motor according to the steering wheel angle and the steering wheel angle change rate;
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 a reference output rotating speed of the oil pump motor;
determining compensation parameters of the reference output rotating speed and the reference output torque according to the current vehicle speed and the current driving road surface information;
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 an optimal output rotating speed and an optimal 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.
2. The vehicle control method according to claim 1, characterized in that the adjusting the output torque of the drive motor to the target output torque, adjusting the rotational speed of the drive motor to the target output rotational speed, includes:
acquiring driving habit data of a user, and determining the loading slope of the gear shifting rotating speed and the torque of the driving motor according to the driving habit data and the current running mode;
Judging whether the vehicle needs to be shifted according to the current gear of the motor and the target output rotating speed, determining a target gear according to the target output rotating speed when judging that the vehicle needs to be shifted, adjusting the rotating speed of the driving motor to the 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.
3. The vehicle control method according to claim 1, characterized in that the determining of the compensation parameter of the reference output rotation speed and the reference output torque based on the current vehicle speed and the current running road 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.
4. A vehicle control method according to claim 1 or 3, characterized in that the method further comprises:
acquiring acquisition data of a steering oil pressure sensor, wherein the steering oil pressure sensor is used for acquiring oil pressure of an oil pump driven by an oil pump motor;
Judging whether the output capacity of the oil pump meets the requirement or not according to the collected data, if not, regulating the output rotating speed and torque of the oil pump motor according to the collected data of the steering oil pressure sensor, and repeating the steps until the output capacity of the oil pump motor meets the requirement.
5. The vehicle control method according to claim 1, characterized in that the method further comprises:
judging whether the vehicle is in a braking state or not according to the state information, and acquiring the current air reservoir air pressure signal change rate;
if the vehicle is not in a braking state, controlling the electric air compressor to start working when the current air receiver air pressure signal change rate is more than or equal to a first threshold value; when the current air reservoir air pressure signal change rate is smaller than a first threshold value, controlling the electric air compressor to stop working;
if the vehicle is in a braking state, when the change rate of the air pressure signal of the air storage cylinder is smaller than or equal to a second threshold value, controlling the electric air compressor to start working; and when the change rate of the air pressure signal of the air storage cylinder is larger than a second threshold value, controlling the electric air compressor to stop working.
6. A vehicle control apparatus, characterized in that the apparatus comprises:
The mode control module is used for controlling the vehicle to enter a dynamic operation mode or an economic operation mode when a mode instruction is received;
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring state information and road condition information of a vehicle, the state information comprises a vehicle speed, a load, a steering wheel angle and a steering wheel angle change rate, and the road condition information comprises gradient information and driving road surface information;
the first determining module is used for determining an optimal torque characteristic area of the driving motor according to a pre-stored optimal economic working area of the driving motor and a current running mode;
the first adjusting module is used for determining target output torque and target output rotating speed of the driving motor according to the current speed, the current load, the current gradient 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;
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 steering wheel angle change rate;
the second acquisition module is used for acquiring an optimal working area of the pre-stored oil pump motor and determining a reference output torque of the oil pump motor according to the optimal working area and a reference output rotating speed of the oil pump motor;
The third acquisition module, 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 driving 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;
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.
7. The vehicle control apparatus according to claim 6, characterized in that the second determination unit is further configured to determine an adhesion coefficient of a current running road surface based on the current running road surface information, and determine compensation parameters for the reference output rotation speed and the reference output torque based on the adhesion coefficient and the current vehicle speed.
8. The vehicle control apparatus according to claim 6, characterized in that the vehicle control apparatus further comprises: the system comprises a fourth acquisition module and a first judgment module, wherein the fourth acquisition module is used for acquiring acquisition data of a steering oil pressure sensor, and the steering oil pressure sensor is used for acquiring 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 the requirement according to the collected data, and when the output capacity of the oil pump does not meet the requirement, the output rotating speed and torque of the oil pump motor are regulated according to the collected data of the steering oil pressure sensor.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
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