CN114670659B - Vehicle torque control method and device and electric automobile - Google Patents

Vehicle torque control method and device and electric automobile Download PDF

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Publication number
CN114670659B
CN114670659B CN202110308664.4A CN202110308664A CN114670659B CN 114670659 B CN114670659 B CN 114670659B CN 202110308664 A CN202110308664 A CN 202110308664A CN 114670659 B CN114670659 B CN 114670659B
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China
Prior art keywords
accelerator pedal
driving intention
vehicle
pedal opening
torque
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CN114670659A (en
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门昌伟
储琦
梁海强
代康伟
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle 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
    • 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
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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 invention provides a vehicle torque control method and device and an electric automobile, and relates to the technical field of electric automobile control, wherein the vehicle torque control method comprises the steps of obtaining current driving state information of a vehicle, wherein the driving state information comprises the following steps: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal; calculating an adaptive adjustment change rate according to the driving intention; acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal; and according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal, calculating the current output torque of the vehicle. According to the scheme, the vehicle torque can be adaptively adjusted according to the driving intention of the driver, and the use experience of the driver is improved.

Description

Vehicle torque control method and device and electric automobile
Technical Field
The invention belongs to the technical field of electric automobile control, and particularly relates to a vehicle torque control method and device and an electric automobile.
Background
With the development of new energy automobile technology, especially pure electric automobile technology, the performance of experience is gradually improved aiming at the use of a driver, driving modes are divided into a sport driving mode, a comfortable driving mode and an economic driving mode, driving gears can be divided into a forward gear, a power gear and the like, and under the conditions of different driving modes and different driving gears, the control of the output torque of the existing vehicle cannot meet the driving intention of the driver, namely, the output torque of the vehicle cannot be adaptively adjusted according to the driving intention.
Disclosure of Invention
The embodiment of the invention aims to provide a vehicle torque control method and device and an electric automobile, so that the problem of how to adaptively control the vehicle torque according to driving states in the prior art is solved.
In order to achieve the above object, an embodiment of the present invention provides a vehicle torque control method, including:
acquiring current driving state information of a vehicle, wherein the driving state information comprises: an accelerator pedal opening signal and a gear signal;
identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal;
calculating an adaptive adjustment change rate according to the driving intention;
acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal;
and according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal, calculating the current output torque of the vehicle.
Optionally, identifying the current driving intention of the driver according to the accelerator opening signal and the gear signal includes:
when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period to obtain an accelerator pedal change interval;
identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of a quick-on accelerator pedal, a quick-off accelerator pedal, a slow-on accelerator pedal, a slow-off accelerator pedal, and an accelerator pedal opening degree maintenance.
Optionally, when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of a previous preset period to obtain an accelerator pedal change interval, including:
comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal change interval includes at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval, and a zero negative interval.
Optionally, calculating an adaptive adjustment change rate according to the driving intention includes:
and accumulating the calibration values corresponding to the driving intentions in each preset period, and calculating the self-adaptive adjustment change rate.
Optionally, according to the adaptive adjustment change rate and the accelerator pedal opening signal, obtaining a driving intention recognition policy coefficient includes:
acquiring a driving intention recognition strategy coefficient corresponding to the adaptive adjustment change rate and the accelerator pedal opening signal according to a pre-stored driving intention recognition strategy coefficient corresponding relation table; the driving intention recognition strategy coefficient corresponding relation table comprises driving intention recognition strategy coefficients corresponding to different accelerator pedal opening degree signals and self-adaptive adjustment change rate combinations.
Optionally, the driving state information further includes: at least one of motor speed signal, motor maximum allowable torque, and battery maximum available discharge power.
Optionally, calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the accelerator opening signal and the gear signal includes:
acquiring the current driving intention recognition gear torque of the vehicle according to the accelerator pedal opening signal and the motor rotating speed signal;
acquiring the current gear torque of the vehicle according to the accelerator pedal opening signal, the motor rotating speed signal and the gear signal;
and calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the driving intention recognition gear torque and the gear torque.
Optionally, calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the driving intention recognition gear torque and the gear torque comprises:
the current output torque of the vehicle is calculated according to the following formula:
output torque=the driving intention recognition gear torque×driving intention recognition strategy coefficient+gear torque× (1-driving intention recognition strategy coefficient).
Optionally, the method further comprises:
comparing the output torque with the maximum allowable torque of the motor, and respectively comparing the output power corresponding to the output torque with the maximum available discharge power of the battery;
and when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery, controlling to output the output torque.
The embodiment of the invention also provides a vehicle torque control method device, which comprises the following steps:
the first acquisition module is used for acquiring current driving state information of the vehicle, wherein the driving state information comprises: an accelerator pedal opening signal and a gear signal;
the identification module is used for identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal;
the first calculation module is used for calculating the self-adaptive adjustment change rate according to the driving intention;
the second acquisition module is used for acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal;
and the second calculation module is used for calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal.
The embodiment of the invention also provides an electric automobile, which comprises the vehicle torque control device.
The technical scheme of the invention has at least the following beneficial effects:
in the above scheme, the vehicle torque control method obtains current driving state information of the vehicle, where the driving state information includes: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal; calculating an adaptive adjustment change rate according to the driving intention; acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal; according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal, the current output torque of the vehicle is calculated, and driving intention recognition of a driver is better realized, so that accurate control of torque response adjustment of driving state information recognition is realized, and driving use experience of the vehicle is improved.
Drawings
FIG. 1 is one of the flow charts of a vehicle torque control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle torque control method according to an embodiment of the present invention;
FIG. 3 is a second flowchart of a vehicle torque control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a vehicle torque control apparatus according to an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a vehicle torque control method and device and an electric vehicle, aiming at the problem of how to adaptively control the vehicle torque according to the driving state in the prior art.
As shown in fig. 1, an embodiment of the present invention provides a vehicle torque control method, including:
step 101, obtaining current driving state information of a vehicle, wherein the driving state information comprises: an accelerator pedal opening signal and a gear signal;
here, as shown in fig. 2, the accelerator pedal opening signal is obtained by communicating with a vehicle controller through a CAN (controller area network) bus; and the gear signal is obtained through communication with the electronic gear shifting mechanism through the CAN bus.
It should be noted that, the embodiment of the invention can be compatible with architecture system vehicles for transmitting the signals, and has strong universality.
102, identifying the current driving intention of a driver according to the accelerator pedal opening signal and the gear signal;
step 103, calculating an adaptive adjustment change rate according to the driving intention;
it should be noted that, according to the embodiment of the present invention, the adaptive adjustment change rate can be accurately calculated according to the driving intention, and accurate calibration can be performed for different vehicle types to obtain the corresponding adaptive adjustment change rate, where the range of the adaptive adjustment change rate is 0 to 1.
104, obtaining a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal;
and 105, calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal.
The embodiment of the invention obtains the current driving state information of the vehicle, wherein the driving state information comprises the following steps: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal; calculating an adaptive adjustment change rate according to the driving intention; acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal; according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal, the current output torque of the vehicle is calculated, and driving intention recognition of a driver is better realized, so that accurate control of driving state information recognition torque response adjustment is performed, and driving use experience of the vehicle is better improved under the condition that the external characteristics of a motor of the vehicle are unchanged.
It should be noted that, the vehicle torque control method provided by the embodiment of the invention accurately controls the driving intention recognition torque response adjustment, meets the acceleration and deceleration requirements of a driver, is applicable to different driving modes and different gears, and has the condition of mass production of the whole vehicle.
Optionally, step 102, identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal includes:
when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period to obtain an accelerator pedal change interval;
identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of a quick-on accelerator pedal, a quick-off accelerator pedal, a slow-on accelerator pedal, a slow-off accelerator pedal, and an accelerator pedal opening degree maintenance.
Here, taking the preset gear as a D (forward) gear as an example, in the D gear, the accelerator pedal opening signal according to each preset period is compared with the accelerator pedal opening signal of the previous preset period, so as to obtain an accelerator pedal variation interval, thereby identifying the driving intention according to the preset corresponding condition.
Optionally, when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of a previous preset period to obtain an accelerator pedal change interval, including:
comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal change interval includes at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval, and a zero negative interval.
The preset interval range is set according to calibration, the interval range corresponding to the difference value is compared with the preset interval range, and the accelerator pedal change interval corresponding to the difference value is judged to be one of the six items, so that the driving intention is determined according to the accelerator pedal change interval.
When the accelerator pedal change interval is a large positive interval, the driving intention is to quickly step on an accelerator pedal; when the accelerator pedal change interval is a large negative interval, the driving intention is to quickly loosen an accelerator pedal; when the accelerator pedal change interval is a small positive interval, the driving intention is to slowly step on an accelerator pedal; when the accelerator pedal change interval is a small negative interval, the driving intention is to loosen the accelerator pedal slowly; when the accelerator pedal change interval is a zero positive interval or a zero negative interval, the driving intention is to maintain an accelerator pedal opening.
Optionally, step 103, calculating an adaptive adjustment change rate according to the driving intention, including:
and accumulating the calibration values corresponding to the driving intentions in each preset period, and calculating the self-adaptive adjustment change rate.
Here, the preset period is 5ms, the adaptive adjustment change rate is calculated based on the driving intention, that is, the adaptive adjustment change rate is calculated based on the accelerator pedal change interval, an initial value is given first, and if the driving intention is to be quickly stepped on or quickly released, that is, the accelerator pedal change interval is a large positive interval or a large negative interval, the adaptive adjustment change rate is increased by 0.1 as a calibrated value of each preset period, and the maximum value is 1; if the driving intention is to step on slowly or loose slowly, namely the accelerator pedal change interval is a small positive interval or a small negative interval, the self-adaptive adjustment change rate is decreased by a calibrated value of-0.01 in each preset period, and the minimum value is 0; if the driving intention is that the opening degree of the accelerator pedal is kept, the adaptive adjustment change rate is set to be 0 at a calibration value of each preset period, that is, the adaptive adjustment change rate is kept unchanged.
Optionally, step 104, obtaining a driving intention recognition policy coefficient according to the adaptive adjustment change rate and the accelerator pedal opening signal, including:
acquiring a driving intention recognition strategy coefficient corresponding to the adaptive adjustment change rate and the accelerator pedal opening signal according to a pre-stored driving intention recognition strategy coefficient corresponding relation table; the driving intention recognition strategy coefficient corresponding relation table comprises driving intention recognition strategy coefficients corresponding to different accelerator pedal opening degree signals and self-adaptive adjustment change rate combinations.
In order to further accurately identify the driving intention of the driver, the driving intention identification strategy coefficient corresponding relation table is calibrated in advance, and the self-adaptive adjustment change rate and the accelerator pedal opening degree signal are actually coupled to obtain the driving intention identification strategy coefficient.
It should be further noted that, since the driving intention recognition policy coefficient varies with the driving intention of the driver, the vehicle torque control method according to the embodiment of the present invention may adaptively adjust the driving intention recognition policy coefficient according to the acceleration response requirement and the accelerator opening of the driver, so as to effectively recognize the driving intention and improve the power response when the driving mode is not switched.
Optionally, the driving state information further includes: at least one of motor speed signal, motor maximum allowable torque, and battery maximum available discharge power.
It should be noted that, as shown in fig. 2, the signal of the motor rotation speed, the maximum allowable torque of the motor and the maximum available discharge power of the battery are obtained by communicating with a motor controller through a CAN bus.
Optionally, step 105, calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal, including:
acquiring the current driving intention recognition gear torque of the vehicle according to the accelerator pedal opening signal and the motor rotating speed signal;
acquiring the current gear torque of the vehicle according to the accelerator pedal opening signal, the motor rotating speed signal and the gear signal;
and calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the driving intention recognition gear torque and the gear torque.
Here, after calculating the current output torque of the vehicle, the whole vehicle controller outputs a torque control instruction to the motor controller.
Optionally, calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the driving intention recognition gear torque and the gear torque comprises:
the current output torque of the vehicle is calculated according to the following formula:
output torque=the driving intention recognition gear torque×driving intention recognition strategy coefficient+gear torque× (1-driving intention recognition strategy coefficient).
The above formula is applicable to calculation of the output torque when the driver does not perform the driving mode switching.
Optionally, the method further comprises:
comparing the output torque with the maximum allowable torque of the motor, and respectively comparing the output power corresponding to the output torque with the maximum available discharge power of the battery;
and when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery, controlling to output the output torque.
It should be noted that, the calculated output torque also needs to be arbitrated and judged according to the maximum allowable torque of the motor and the maximum available discharge power of the battery, so as to realize driving intention and promote power response.
As shown in fig. 3, a specific embodiment of the vehicle torque control method of the present invention will be described:
respectively acquiring an accelerator pedal opening signal, a motor rotating speed signal and a gear signal; determining driving intention to identify gear torque according to the accelerator pedal opening signal and the motor rotating speed signal; determining gear torque according to the motor rotation speed signal, the accelerator pedal opening signal and the gear signal; according to the formula: output torque = the driving intention recognition gear torque x the driving intention recognition strategy coefficient + the gear torque x (1-driving intention recognition strategy coefficient), calculating an output torque; and arbitrating the calculated output torque according to the maximum allowable motor torque output by the motor controller, wherein the output torque is required to be smaller than the maximum allowable motor torque, and finally, the whole vehicle controller outputs a torque control instruction to the motor controller.
As shown in fig. 4, the embodiment of the invention further provides a vehicle torque control method device, which includes:
a first obtaining module 401, configured to obtain current driving state information of a vehicle, where the driving state information includes: an accelerator pedal opening signal and a gear signal;
the identifying module 402 is configured to identify a current driving intention of a driver according to the accelerator opening signal and the gear signal;
a first calculation module 403, configured to calculate an adaptive adjustment change rate according to the driving intention;
a second obtaining module 404, configured to obtain a driving intention recognition policy coefficient according to the adaptive adjustment change rate and the accelerator opening signal;
the second calculating module 405 is configured to calculate a current output torque of the vehicle according to the driving intention recognition strategy coefficient, the accelerator opening signal, and the gear signal.
The embodiment of the invention obtains the current driving state information of the vehicle, wherein the driving state information comprises the following steps: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal; calculating an adaptive adjustment change rate according to the driving intention; acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal; according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal, the current output torque of the vehicle is calculated, and driving intention recognition of a driver is better realized, so that accurate control of torque response adjustment of driving state information recognition is realized, and driving use experience of the vehicle is improved.
Optionally, the identification module 402 includes:
the first identification unit is used for comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period when the gear signal is a preset gear, and acquiring an accelerator pedal change interval;
the second identifying unit is used for identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of a quick-on accelerator pedal, a quick-off accelerator pedal, a slow-on accelerator pedal, a slow-off accelerator pedal, and an accelerator pedal opening degree maintenance.
Optionally, the first identifying unit is specifically configured to:
comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal change interval includes at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval, and a zero negative interval.
Optionally, the first computing module 403 is specifically configured to:
and accumulating the calibration values corresponding to the driving intentions in each preset period, and calculating the self-adaptive adjustment change rate.
Optionally, the second obtaining module 404 is specifically configured to:
acquiring a driving intention recognition strategy coefficient corresponding to the adaptive adjustment change rate and the accelerator pedal opening signal according to a pre-stored driving intention recognition strategy coefficient corresponding relation table; the driving intention recognition strategy coefficient corresponding relation table comprises driving intention recognition strategy coefficients corresponding to different accelerator pedal opening degree signals and self-adaptive adjustment change rate combinations.
Optionally, the driving state information further includes: at least one of motor speed signal, motor maximum allowable torque, and battery maximum available discharge power.
Optionally, the second computing module 405 includes:
a first calculation unit for calculating a current output torque of the vehicle according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal, and the gear signal, including:
the second calculation unit is used for acquiring the current driving intention recognition gear torque of the vehicle according to the accelerator pedal opening signal and the motor rotating speed signal;
the third calculation unit is used for obtaining the current gear torque of the vehicle according to the accelerator pedal opening signal, the motor rotating speed signal and the gear signal;
and the fourth calculation unit is used for calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the driving intention recognition gear torque and the gear torque.
Optionally, the fourth computing unit is specifically configured to:
the current output torque of the vehicle is calculated according to the following formula:
output torque=the driving intention recognition gear torque×driving intention recognition strategy coefficient+gear torque× (1-driving intention recognition strategy coefficient).
Optionally, the apparatus further comprises:
the comparison module is used for comparing the output torque with the maximum allowable torque of the motor and comparing the output power corresponding to the output torque with the maximum available discharge power of the battery respectively;
and the control module is used for controlling the output torque to be output when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery.
The embodiment of the invention also provides an electric automobile, which comprises the vehicle torque control device.
The electric automobile provided by the embodiment of the invention comprises the vehicle torque control device, so that all the embodiments of the vehicle torque control device are applicable to the electric automobile and can achieve the same or similar beneficial effects.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims (10)

1. A vehicle torque control method, characterized by comprising:
acquiring current driving state information of a vehicle, wherein the driving state information comprises: an accelerator pedal opening signal and a gear signal;
identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal;
calculating an adaptive adjustment change rate according to the driving intention;
acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal;
according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal, calculating the current output torque of the vehicle;
according to the self-adaptive adjustment change rate and the accelerator pedal opening signal, obtaining a driving intention recognition strategy coefficient comprises the following steps:
acquiring a driving intention recognition strategy coefficient corresponding to the adaptive adjustment change rate and the accelerator pedal opening signal according to a pre-stored driving intention recognition strategy coefficient corresponding relation table; the driving intention recognition strategy coefficient corresponding relation table comprises driving intention recognition strategy coefficients corresponding to different accelerator pedal opening degree signals and self-adaptive adjustment change rate combinations.
2. The vehicle torque control method according to claim 1, characterized in that identifying the driver's current driving intention from the accelerator pedal opening signal and the gear signal includes:
when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period to obtain an accelerator pedal change interval;
identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of a quick-on accelerator pedal, a quick-off accelerator pedal, a slow-on accelerator pedal, a slow-off accelerator pedal, and an accelerator pedal opening degree maintenance.
3. The vehicle torque control method according to claim 2, characterized in that when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset cycle with the accelerator pedal opening signal of a previous preset cycle, obtaining an accelerator pedal variation section, comprising:
comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the last preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal change interval includes at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval, and a zero negative interval.
4. The vehicle torque control method according to claim 1, characterized in that calculating an adaptive adjustment change rate according to the driving intention includes:
and accumulating the calibration values corresponding to the driving intentions in each preset period, and calculating the self-adaptive adjustment change rate.
5. The vehicle torque control method according to claim 1, characterized in that the driving state information further includes: at least one of motor speed signal, motor maximum allowable torque, and battery maximum available discharge power.
6. The vehicle torque control method according to claim 5, characterized in that calculating a current output torque of the vehicle based on the driving intention recognition strategy coefficient, the accelerator pedal opening signal, and the gear signal, includes:
acquiring the current driving intention recognition gear torque of the vehicle according to the accelerator pedal opening signal and the motor rotating speed signal;
acquiring the current gear torque of the vehicle according to the accelerator pedal opening signal, the motor rotating speed signal and the gear signal;
and calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the driving intention recognition gear torque and the gear torque.
7. The vehicle torque control method according to claim 6, characterized in that calculating a current output torque of the vehicle based on the driving intention recognition policy coefficient, the driving intention recognition gear torque, and the gear torque, includes:
the current output torque of the vehicle is calculated according to the following formula:
output torque=the driving intention recognition gear torque×driving intention recognition strategy coefficient+gear torque× (1-driving intention recognition strategy coefficient).
8. The vehicle torque control method according to claim 5, characterized by further comprising:
comparing the output torque with the maximum allowable torque of the motor, and respectively comparing the output power corresponding to the output torque with the maximum available discharge power of the battery;
and when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery, controlling to output the output torque.
9. A vehicle torque control apparatus, characterized by comprising:
the first acquisition module is used for acquiring current driving state information of the vehicle, wherein the driving state information comprises: an accelerator pedal opening signal and a gear signal;
the identification module is used for identifying the current driving intention of the driver according to the accelerator pedal opening signal and the gear signal;
the first calculation module is used for calculating the self-adaptive adjustment change rate according to the driving intention;
the second acquisition module is used for acquiring a driving intention recognition strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening signal;
the second calculation module is used for calculating the current output torque of the vehicle according to the driving intention recognition strategy coefficient, the accelerator pedal opening signal and the gear signal;
the second obtaining module is specifically configured to:
acquiring a driving intention recognition strategy coefficient corresponding to the adaptive adjustment change rate and the accelerator pedal opening signal according to a pre-stored driving intention recognition strategy coefficient corresponding relation table; the driving intention recognition strategy coefficient corresponding relation table comprises driving intention recognition strategy coefficients corresponding to different accelerator pedal opening degree signals and self-adaptive adjustment change rate combinations.
10. An electric vehicle comprising the vehicle torque control device according to claim 9.
CN202110308664.4A 2021-03-23 2021-03-23 Vehicle torque control method and device and electric automobile Active CN114670659B (en)

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CN115716413B (en) * 2022-11-28 2024-04-26 重庆赛力斯凤凰智创科技有限公司 Torque control method, device, equipment and storage medium
CN116278816A (en) * 2023-03-02 2023-06-23 华中科技大学 Speed limiting control method for new energy automobile

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