CN116142169A - Control method, device, storage medium and equipment for improving crawling smoothness of vehicle - Google Patents
Control method, device, storage medium and equipment for improving crawling smoothness of vehicle Download PDFInfo
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- CN116142169A CN116142169A CN202310437843.7A CN202310437843A CN116142169A CN 116142169 A CN116142169 A CN 116142169A CN 202310437843 A CN202310437843 A CN 202310437843A CN 116142169 A CN116142169 A CN 116142169A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
Abstract
The invention discloses a control method, a control device, a storage medium and control equipment for improving crawling smoothness of a vehicle. The method relates to the technical field of vehicle engine control, wherein the method comprises the following steps: responding to a crawling start instruction of a target vehicle, and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is positioned; determining an idle speed control torque based on the operating state and the operating parameter; analyzing and processing the environmental parameters to obtain a processing result; and performing torque compensation processing on the idle speed control torque based on the processing result, determining a target control torque, and controlling the target vehicle to perform creep start based on the target control torque. The invention solves the technical problem of lower torque compensation accuracy of the existing vehicle crawling control method.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method, a control device, a storage medium and control equipment for improving crawling smoothness of a vehicle.
Background
Among various automatic transmissions, the hydromechanical automatic transmission is popular with various large-sized vehicle enterprises and consumers because of its unique advantages in terms of power performance, drivability, NVH performance, and the like of the entire vehicle. At present, a vehicle carrying the hydromechanical automatic transmission generally has a neutral gear control function, the neutral gear control function cuts off power transmission between an engine and the whole vehicle, reduces load of the engine during idle running, is beneficial to fuel economy and NVH performance of the vehicle, simultaneously avoids on-load sliding friction running of a low-gear clutch, and improves reliability and service life of the low-gear clutch.
When the vehicle exits neutral gear control to perform crawling start, the engine controller ECU controls the engine to perform torque compensation based on the neutral gear control exit zone bit sent to the CAN bus by the received transmission controller TCU, and a calibration engineer performs real vehicle calibration based on the torque compensation, so that the torque compensation of the engine CAN be well matched with the pressurizing time and the pressurizing process of the low-gear clutch under certain environmental parameters (such as a calibration environment that the environmental temperature is about 25 ℃, the transmission oil temperature is about 90 ℃, the vehicle driving place is a plain area, and the altitude is less than 100 m), thereby ensuring smoothness of crawling start of the vehicle. However, when the external environment such as temperature and altitude changes, the torque capacity and load disturbance resistance of the engine also change, and the pressurizing performance of the low-gear clutch has great difference on the load influence of the engine at different transmission oil temperatures, so that the previously calibrated engine torque compensation is not applicable any more, the engine speed is obviously dragged down when the vehicle is in crawling starting, the acceleration fluctuation of the whole vehicle is obvious, the phenomenon of crawling stumbling occurs, and the crawling of the whole vehicle is unsmooth.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a control method, a control device, a storage medium and control equipment for improving the crawling smoothness of a vehicle, which at least solve the technical problem of low torque compensation accuracy of the existing vehicle crawling control method.
According to an aspect of the embodiment of the invention, there is provided a control method for improving the creep smoothness of a vehicle, including: responding to a crawling start instruction of a target vehicle, and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is positioned; determining an idle speed control torque based on the operating state and the operating parameter; analyzing and processing the environmental parameters to obtain a processing result; and performing torque compensation processing on the idle speed control torque based on the processing result, determining a target control torque, and controlling the target vehicle to perform creep start based on the target control torque.
Optionally, before the responding to the creep start command of the target vehicle, the method further includes: judging whether the running state of the target vehicle meets a preset condition or not; and if the running state meets the preset condition, controlling the target vehicle to exit the neutral gear control, and performing crawling start.
Optionally, the determining the idle speed control torque based on the operating state and the operating parameter includes: and analyzing and processing the working state and the working parameters by adopting an engine controller to obtain the idle speed control torque, wherein the idle speed control torque is the control torque of the target vehicle under the current working state and the working parameters.
Optionally, the analyzing the environmental parameter to obtain a processing result includes: acquiring the environmental temperature, the altitude parameter and the transmission oil temperature parameter in the environmental parameters; a torque compensation value is determined based on the ambient temperature, the altitude parameter, and the transmission oil temperature parameter, and the torque compensation value is determined as the processing result.
Optionally, the determining a torque compensation value based on the ambient temperature, the altitude parameter, and the transmission oil temperature parameter, and determining the torque compensation value as the processing result includes: determining a basic torque value corresponding to the ambient temperature and the altitude parameter based on an ambient parameter table, wherein the ambient parameter table is preset; determining a correction coefficient value corresponding to the transmission oil temperature parameter based on a correction coefficient table, wherein the correction coefficient table is preset; and determining the processing result based on the base torque value and the correction coefficient value.
Optionally, the determining the processing result based on the base torque value and the correction coefficient value includes: performing product operation on the basic torque value and the correction coefficient value to obtain the torque compensation value; and determining the torque compensation value as the processing result to control the target vehicle.
According to another aspect of the embodiment of the present invention, there is also provided a control device for improving creep smoothness of a vehicle, including: the acquisition module is used for responding to a crawling starting instruction of the target vehicle and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is positioned; the first determining module is used for determining the idle speed control torque based on the working state and the working parameters; the processing module is used for analyzing and processing the environmental parameters to obtain a processing result; and the second determining module is used for carrying out torque compensation processing on the idle speed control torque based on the processing result, determining target control torque and controlling the target vehicle to carry out crawling starting based on the target control torque.
According to another aspect of the embodiment of the present invention, there is further provided a non-volatile storage medium, where a plurality of instructions are stored in the non-volatile storage medium, where the instructions are adapted to be loaded and executed by a processor, where any one of the above control methods for improving the creep smoothness of a vehicle is provided.
According to another aspect of the embodiment of the present invention, there is further provided a processor, where the processor is configured to run a program, where the program is configured to execute any one of the control methods for improving the creep smoothness of a vehicle.
According to another aspect of the embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor is configured to run the computer program to execute any one of the control methods for improving the creep smoothness of a vehicle.
In the embodiment of the invention, the working state and the working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is positioned are obtained by responding to the crawling start instruction of the target vehicle; determining an idle speed control torque based on the operating state and the operating parameter; analyzing and processing the environmental parameters to obtain a processing result; and based on the processing result, performing torque compensation processing on the idle speed control torque, determining target control torque, and controlling the target vehicle to perform crawling starting based on the target control torque, thereby achieving the purpose of performing crawling starting torque compensation by an engine controller ECU according to the environment temperature, the altitude and the transmission oil temperature, further realizing the technical effects of improving the universality of the crawling performance of the vehicle to the environment working conditions, ensuring that the vehicle has good crawling performance under various environment working conditions, and further solving the technical problem of lower torque compensation accuracy of the existing vehicle crawling control method.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of a control method for improving vehicle creep smoothness according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative control method for improving vehicle creep smoothness according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an alternate neutral control advance and retreat determination condition according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of an alternative vehicle out of neutral control for creep start in accordance with an embodiment of the present invention;
FIG. 5 is an alternative start-up and exit schematic diagram of neutral control based on torque converter impeller to turbine speed determination in accordance with an embodiment of the present invention;
FIG. 6 is an alternative torque converter turbine speed change rate based neutral control start exit schematic according to an embodiment of the invention;
FIG. 7 is a schematic diagram of an alternative Map table for D-value calibration in accordance with an embodiment of the invention;
FIG. 8 is a schematic diagram of an alternative D-value calibrated Curve table according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an alternative Map table for E-value calibration in accordance with an embodiment of the invention;
FIG. 10 is a schematic diagram of an alternative E-value calibrated Curve table according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of an alternative engine controller ECU determining that neutral control is beginning to exit in accordance with an embodiment of the invention;
FIG. 12 is a schematic diagram of an alternative compensation value calibration Map table according to an embodiment of the invention;
FIG. 13 is a schematic diagram of an alternative compensation value calibration Curve table according to an embodiment of the invention;
FIG. 14 is a schematic structural view of a control device for improving the creep smoothness of a vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided an embodiment of a control method for improving creep smoothness of a vehicle, it should be noted that, steps shown in the flowchart of the drawings may be executed in a computer system including at least one set of computer executable instructions, and although a logic sequence is shown in the flowchart, in some cases, steps shown or described may be executed in a different order from that shown or described herein.
FIG. 1 is a flowchart of a control method for improving the creep smoothness of a vehicle according to an embodiment of the present invention, as shown in FIG. 1, the method includes the following steps:
step S102, responding to a crawling start instruction of a target vehicle, and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is located;
step S104, determining an idle speed control torque based on the working state and the working parameters;
step S106, analyzing and processing the environmental parameters to obtain a processing result;
and step S108, performing torque compensation processing on the idle speed control torque based on the processing result, determining a target control torque, and controlling the target vehicle to perform creep start based on the target control torque.
In the embodiment of the present invention, the execution body of the control method for improving the creep smoothness of the vehicle provided in the steps S102 to S108 is a vehicle control system, and the system responds to a creep start instruction of a target vehicle to obtain a working state and a working parameter of the target vehicle and an environmental parameter of an environment in which the target vehicle is located; determining an idle speed control torque based on the operating state and the operating parameter; analyzing and processing the environmental parameters to obtain a processing result; and performing torque compensation processing on the idle speed control torque based on the processing result, determining a target control torque, and controlling the target vehicle to perform creep start based on the target control torque.
As an alternative embodiment, as shown in a control method schematic diagram of improving the creep smoothness of the vehicle in fig. 2, the vehicle starts to exit from the neutral gear control to perform creep start; the engine controller ECU precisely determines the start and exit points of the neutral gear control function according to the opening and closing states of the brake pedal, the speed difference between the pump wheel and the turbine of the hydraulic torque converter and the change rate of the rotation speed of the turbine of the hydraulic torque converter; when the ECU precisely locates the neutral gear control function to start to exit, the ECU controls the engine to start torque compensation; after recognizing that the neutral gear control function starts to exit, the engine controller ECU controls the engine to perform torque compensation according to the ambient temperature, the altitude and the transmission oil temperature, so that the vehicle is guaranteed to have good crawling performance under various ambient working conditions.
In the embodiment of the invention, the start and exit points of the neutral gear control function are accurately determined by the ECU according to the opening and closing state of the brake pedal, the speed difference between the pump wheel and the turbine of the hydraulic torque converter and the change rate of the rotating speed of the turbine of the hydraulic torque converter, and the pressurizing time and the pressurizing process of the low gear clutch when the neutral gear control function exits are well matched by combining environmental parameters such as the environmental temperature, the altitude, the oil temperature of the transmission and the like, so that the smoothness of vehicle crawling is improved. The engine controller ECU does not recognize the exiting process of the neutral gear control function according to the neutral gear control exiting zone bit sent to the controller area network CAN bus by the transmission controller TCU, but realizes the accurate determination of the starting and exiting point of the neutral gear control according to the opening and closing state of a brake pedal, the speed difference between a pump wheel of the hydraulic torque converter and a turbine and the change rate of the rotating speed of the turbine of the hydraulic torque converter, thereby being beneficial to the good matching of the engine torque compensation and the pressurization time and the pressurization process of the low-gear clutch; after the neutral gear control function is identified to start to exit, the engine controller ECU controls the engine to perform torque compensation according to the ambient temperature, the altitude and the transmission oil temperature, so that universality of the vehicle crawling performance on the ambient working conditions can be improved, and the vehicle is guaranteed to have good crawling performance under various ambient working conditions.
In an alternative embodiment, the method further comprises, prior to the responding to the creep start command of the target vehicle: judging whether the running state of the target vehicle meets a preset condition or not; and if the running state meets the preset condition, controlling the target vehicle to exit the neutral gear control, and performing crawling start.
As an alternative embodiment, the vehicle begins to exit the neutral control and creep starts, and in connection with the purposes of the present invention, the driver releases the brake pedal when the vehicle is in the neutral control, and the vehicle exits the neutral control and creep starts.
Optionally, as shown in a forward and reverse judging condition diagram of neutral gear control shown in fig. 3, the transmission oil temperature meets the oil temperature range condition, specifically that the oil temperature of the transmission is within a certain oil temperature value range, such as-10 ℃ to 170 ℃; the opening of the accelerator pedal is smaller than a threshold A, specifically, the engine is in an idle speed control state, and the value of the threshold A can be specifically calibrated according to the condition of the vehicle and can be taken as 3%; the engine speed meets the speed range condition, specifically means that the engine speed is in a certain speed range, such as 700 r/min-1200 r/min; the gradient of the position where the vehicle is located is smaller than a threshold value B, and the value of the gradient threshold value B can be 15%; the driving mode meets the driving mode requirement of neutral gear control activation, specifically means that the vehicle is in a comfortable or economical driving mode and the driving mode of neutral gear control function activation can be set according to the specific situation of the vehicle; the brake pressure is greater than a threshold value C, specifically, the brake pedal is depressed, and the brake master cylinder pressure value is greater than a pressure threshold value C, which may be set according to the specific situation of the vehicle, and may be 9bar.
Alternatively, the driver releases the brake pedal when the vehicle is in the neutral control, so that the vehicle can creep and start after exiting the neutral control, as shown in fig. 4.
In an alternative embodiment, the determining the idle control torque based on the operating state and the operating parameter includes: and analyzing and processing the working state and the working parameters by adopting an engine controller to obtain the idle speed control torque, wherein the idle speed control torque is the control torque of the target vehicle under the current working state and the working parameters.
As an alternative embodiment, the engine controller ECU accurately determines a start-stop point of the neutral gear control function according to the brake pedal opening and closing state, the speed difference between the impeller and the turbine of the torque converter, and the rate of change of the turbine speed of the torque converter, specifically, the engine controller ECU receives the brake pedal opening and closing state, the speed difference between the impeller and the turbine of the torque converter, and the rate of change signal of the turbine speed of the torque converter in real time, on the one hand, when the brake pedal is closed, i.e., the driver does not step On the brake pedal, and the speed difference between the impeller and the turbine of the torque converter is greater than a certain speed difference threshold D, the engine controller ECU determines that the neutral gear control function starts to be stopped, i.e., the neutral gear control state is changed from the neutral gear control state to the start-stop neutral gear control state (on→apply). In the neutral gear control process, the low-gear clutch is released, the turbine of the hydraulic torque converter is driven by the pump impeller to keep a certain speed difference between the turbine of the hydraulic torque converter and the pump impeller to operate, the speed difference is generally within 100r/min, various brands of hydraulic mechanical automatic transmissions possibly have a certain difference, after a driver releases a brake pedal, the neutral gear control begins to exit, the low-gear clutch begins to pressurize, the turbine rotating speed of the hydraulic torque converter is reduced due to the pressurization of the low-gear clutch, the pump impeller of the hydraulic torque converter is fixedly connected with an engine flywheel, and the rotating speed of the pump impeller is equal to the rotating speed of the engine, so that the rotating speed difference between the pump impeller of the hydraulic torque converter and the turbine is gradually increased. The threshold D should be greater than the rotational speed difference maintained between the torque converter impeller and the turbine wheel during neutral control, while not being too great, specifically, for example: the rotation speed difference maintained between the hydraulic torque converter pump impeller and the turbine wheel in the neutral gear control process is 50r/min, and the threshold D can be set to 60r/min, so that the situation that the neutral gear control starts to exit due to misjudgment caused by fluctuation of the rotation speed difference maintained between the hydraulic torque converter pump impeller and the turbine wheel in the neutral gear control process can be avoided, and the engine can be timely and accurately identified and positioned when the neutral gear control starts to exit, so that the engine controller ECU can control the engine to perform torque compensation, the problem that the torque compensation of the engine controller ECU cannot be well matched with the pressurization time and the pressurization process of the low gear clutch is avoided, the engine rotation speed is prevented from being obviously dragged down when the vehicle is started in a crawling mode, the acceleration of the whole vehicle is smoothly increased, and the crawling smoothness of the vehicle is improved.
Alternatively, when the change rate of the turbine rotational speed of the torque converter is smaller than a certain threshold E, it is indicated that the turbine rotational speed is reduced faster under the pressurization action of the low-gear clutch, because the pressure rising rate of the low-gear clutch is faster, at this time, even if the speed difference between the pump impeller of the torque converter and the turbine is not larger than the threshold D, it is determined that the low-gear clutch is already pressurized, and the neutral control starts to exit, that is, the neutral control state is from the neutral control state to the neutral control state (on→apply), and the neutral control start exit is determined according to the change rate of the turbine rotational speed of the torque converter, as shown in fig. 6, so that the engine controller ECU controls the engine to perform torque compensation, the problem that the torque compensation of the engine controller ECU cannot be well matched with the pressurization timing and the pressurization history of the low-gear clutch is avoided, the phenomenon that the engine rotational speed is obviously dragged down when the vehicle is creeping to start, and the creep smoothness of the vehicle is improved.
Optionally, the speed difference between the impeller and the turbine of the torque converter is a speed difference obtained by subtracting the rotational speed of the turbine of the torque converter from the rotational speed of the impeller of the torque converter, wherein the threshold D is a positive value, and the unit is r/min; the threshold E is negative and has a unit of r/min/s. The values of the threshold D and the threshold E are related to the ambient temperature, the altitude and the transmission oil temperature, and the values can be calibrated, specifically, the altitude coefficient signal altitudexactor is obtained by measuring the atmospheric pressure value F of the place where the vehicle runs by an air pressure sensor of the engine and calculating the atmospheric pressure value F, and the calculation method comprises the following steps:
The value of the altitude coefficient signal AltitudeFactor is generally less than or equal to 1, and the atmospheric pressure value F of the place where the vehicle runs is measured by an air pressure sensor of the engine, and the unit is kPa. The altitude value of the place where the vehicle is driven can be indirectly obtained through the altitude coefficient signal AltitudeFactor, and the ambient atmospheric pressure value is reduced by 1.2kPa every 100m of the general altitude, therefore, when the altitude coefficient signal AltitudeFactor is G, the altitude of the place where the vehicle is driven is indicated to reach
m。
Optionally, the threshold value D value is checked according to the altitude coefficient of the place where the vehicle runs, the ambient temperature and the oil temperature of the transmission of the vehicle to obtain a calibration value (positive value) in a threshold value D value calibration Map and a calibration value (positive value) in a threshold value D value calibration Curve, and then the two values are multiplied to obtain the product; and the threshold E value is checked according to the altitude coefficient of the place where the vehicle runs, the ambient temperature and the oil temperature of the transmission of the vehicle to obtain a calibration value (negative value) in a threshold E value calibration Map and a calibration value (positive value) in a threshold E value calibration Curve, and then the two values are multiplied to obtain the product.
Alternatively, as shown in the schematic diagram of the Map table of the D-value calibration Map shown in fig. 7, the D-value calibration Map has a calibration value D 11 、d 12 ……d 78 The calibration principle is as follows: at the same ambient temperature, the altitude coefficient AltitudeFactor is reduced, which indicates that the altitude of the place where the vehicle is driven is gradually increased, the torque capacity and the load disturbance resistance of the engine are lower and lower, and the calibration value is d 11 、d 21 ……d 71 The smaller the D value is, the earlier the ECU judges that neutral gear control starts to exit, so that the torque compensation is carried out on the engine, and the problems that the engine speed is obviously dragged down and the vehicle is creeping and stumbled are prevented when the vehicle is creeping; at the same altitude coefficient, the air inlet efficiency of the engine is reduced with the increase of the ambient temperature, the torque capacity and the load disturbance resistance of the engine are lower and lower, and the calibration value is d 11 、d 12 ……d 18 The smaller the threshold value D is, so that the ECU of the engine can judge that neutral gear control starts to exit as soon as possible, the torque compensation is carried out on the engine, and the problems that the engine speed is obviously dragged down and the vehicle is creeping and stumbled are prevented when the vehicle is creeping are solved.
Alternatively, as shown in FIG. 8, a table of D-value calibration Curve is shown, wherein D is the calibration value D in Curve 1 、D 2 ……D 8 The calibration principle is as follows: with the increase of the transmission oil temperature, the viscosity of the transmission oil liquid is lower and lower, the following of the actual oil pressure to the target oil pressure in the pressurizing process of the low-gear clutch is more accurate, and when the transmission oil temperature is lower, the viscosity of the transmission oil liquid is higher, the following of the actual oil pressure to the target oil pressure in the pressurizing process of the low-gear clutch is poorer, a certain hysteresis exists, for example, when the target oil pressure is lower, the actual oil pressure is still higher and is not lower, and the problems that the engine rotating speed is obviously dragged down and crawled down are easier to occur under the condition. In addition, the higher the viscosity of the transmission fluid, the greater the stirring load of the pump impeller in the torque converter and the easier The engine speed is obviously dragged down and the engine is creeping and stumbled, so that the coefficient D is corrected along with the increase of the oil temperature of the transmission based on the problems 1 、D 2 ……D 8 The larger the transmission oil temperature is, the smaller the correction coefficient is, and the smaller the obtained D value is, so that the ECU of the engine can judge that neutral gear control starts to exit as soon as possible, and the torque compensation of the engine is facilitated, and the problems that the engine speed is obviously dragged down and the vehicle is creeping and stumbled are prevented when the vehicle is creeping are solved.
Alternatively, as shown in the table schematic diagram of the Map for calibrating the E value shown in FIG. 9, the E value is calibrated to the E value in the Map 11 、e 12 ……e 78 The calibration principle is as follows: at the same ambient temperature, the altitude coefficient AltitudeFactor is reduced, which indicates that the altitude of the place where the vehicle is driven is gradually increased, the torque capacity and the load disturbance resistance of the engine are lower and lower, and the calibration value is e 11 、e 21 ……e 71 Should be larger and larger (calibration value e) 11 、e 12 ……e 78 Negative values), and the larger the obtained E value (negative value), the engine controller ECU judges that neutral gear control starts to exit as soon as possible, so that the engine performs torque compensation, and the problems that the engine speed is obviously dragged down and the vehicle is creeping and stumbled are prevented when the vehicle is creeping; at the same altitude coefficient, the air inlet efficiency of the engine is reduced with the increase of the ambient temperature, the torque capacity and the load disturbance resistance of the engine are lower and lower, and the calibration value is e 11 、e 12 ……e 18 Should be larger and larger (calibration value e) 11 、e 12 ……e 78 All are negative values), and the larger the obtained E value (negative value), the engine controller ECU can judge that neutral gear control starts to exit as soon as possible, so that the engine can perform torque compensation, and the problems that the engine speed is obviously dragged down and the vehicle is creeping are prevented when the vehicle is creeping.
Alternatively, as shown in FIG. 10, a table of the E-value calibration Curve is shown, wherein the E-value calibration Curve is shown as a calibration value E in the E-value calibration Curve 1 、E 2 ……E 8 The calibration principle is as follows: with the speed variatorThe viscosity of the oil temperature is higher and lower, the actual oil pressure is more accurate to follow the target oil pressure in the pressurizing process of the low-gear clutch, and when the oil temperature of the transmission is lower, the viscosity of the transmission oil pressure is higher, so that the actual oil pressure is poorer to follow the target oil pressure in the pressurizing process of the low-gear clutch, a certain hysteresis exists, for example, when the target oil pressure is lowered, the actual oil pressure is still higher and is not lowered, and the problems that the engine speed is obviously dragged down and crawled and stumbled easily occur under the conditions. In addition, the higher the viscosity of the transmission fluid, the greater the stirring load of the pump impeller in the torque converter, and the more likely the engine speed is caused to be significantly lowered and the problem of creep and stumbling is caused, so that the correction coefficient E is corrected with the increase of the transmission fluid temperature based on the above 1 、E 2 ……E 8 The engine controller ECU judges that neutral gear control starts to exit as soon as possible so as to facilitate torque compensation of the engine and prevent the problems that the engine speed is obviously dragged down and the vehicle is creeping and stumbled when the vehicle is creeping.
Optionally, as shown in fig. 11, the engine controller ECU determines the start of the neutral control function according to the opening and closing state of the brake pedal, the speed difference between the pump impeller and the turbine of the torque converter, and the rate of change of the turbine speed of the torque converter, and the engine controller ECU determines the opening and closing state of the brake pedal first, if the driver does not step on the brake pedal, whether the speed difference between the pump impeller and the turbine speed is greater than a threshold D, and if so, the engine controller ECU determines the start of the neutral control; in addition, in a state that the driver does not step on the brake pedal, whether the change rate of the turbine speed of the hydraulic torque converter is smaller than a threshold E can be judged, and if so, the engine controller ECU judges that the neutral gear control starts to exit; that is, when the driver does not step on the brake pedal, it is determined that the neutral control is started, either by satisfying that the torque converter impeller-turbine rotational speed difference is larger than the threshold value D or by satisfying that the torque converter turbine rotational speed change rate is smaller than the threshold value E.
In an alternative embodiment, the analyzing the environmental parameter to obtain a processing result includes: acquiring the environmental temperature, the altitude parameter and the transmission oil temperature parameter in the environmental parameters; a torque compensation value is determined based on the ambient temperature, the altitude parameter, and the transmission oil temperature parameter, and the torque compensation value is determined as the processing result.
As an alternative embodiment, when the engine controller ECU accurately locates the start of the neutral gear control function, that is, controls the engine to start torque compensation, specifically, as shown in fig. 5 and 6, when the engine controller ECU determines that the neutral gear control starts to exit, that is, when the neutral gear control state is changed from the neutral gear control state to the start of exiting the neutral gear control state (on→apply), that is, controls the engine to start to increase torque compensation Offset based On the original idle speed control torque, the torque compensation Offset is additionally added to match the pressurization load of the low gear clutch, thereby avoiding the phenomenon that the engine speed is obviously lowered during the vehicle crawling starting process, and ensuring the smoothness of the vehicle crawling.
In an alternative embodiment, the determining a torque compensation value based on the ambient temperature, the altitude parameter, and the transmission oil temperature parameter, and determining the torque compensation value as the processing result includes: determining a basic torque value corresponding to the ambient temperature and the altitude parameter based on an ambient parameter table, wherein the ambient parameter table is preset; determining a correction coefficient value corresponding to the transmission oil temperature parameter based on a correction coefficient table, wherein the correction coefficient table is preset; and determining the processing result based on the base torque value and the correction coefficient value.
As an alternative embodiment, as shown in the Map table schematic diagram for compensation value calibration shown in fig. 12 and the Curve table schematic diagram for compensation value calibration shown in fig. 13, after recognizing that the neutral gear control function starts to exit, the engine controller ECU controls the engine to perform torque compensation according to the ambient temperature, the altitude and the transmission oil temperature, specifically, the additional torque compensation Offset is specifically calibrated according to the ambient temperature, the altitude and the transmission oil temperature, and similarly to the setting of the speed difference threshold D and the speed change rate threshold E, the torque compensation value is also obtained by looking up a table according to the altitude coefficient of the vehicle driving place, the ambient temperature and the vehicle transmission oil temperature, obtaining a calibration value in the Offset Map and a calibration value in the compensation value calibration Curve, and then obtaining the product of the two values.
Alternatively, as shown in FIG. 12, a Map table of compensation value calibration maps is shown, in which the calibration value o in the compensation value calibration maps 11 、o 12 ……o 78 The calibration principle of the torque compensation basic value is as follows: at the same ambient temperature, the altitude coefficient AltitudeFactor is reduced, which indicates that the altitude of the place where the vehicle is driven is gradually increased, the torque capacity and the load disturbance resistance of the engine are lower and lower, and the calibration value is o 11 、o 21 ……o 71 The larger the compensation value is, so that the torque capacity and the load disturbance resistance of the engine are improved, and the problems that the rotation speed of the engine is obviously lowered and the vehicle is creeping and stumbled are prevented when the vehicle is creeping; at the same altitude coefficient, the air inlet efficiency of the engine is reduced with the increase of the ambient temperature, the torque capacity and the load disturbance resistance of the engine are lower and lower, and the calibration value is o 11 、o 12 ……o 18 The larger the compensation value is, so that the torque capacity and the load disturbance resistance of the engine are improved, and the problems that the rotating speed of the engine is obviously lowered and the vehicle is creeping and stumbled are prevented when the vehicle is creeping.
Alternatively, as shown in FIG. 13, a table of compensation value calibration Curve is shown, and the compensation value calibration Curve is shown as calibration value O 1 、O 2 ……O 8 The calibration principle is as follows: as the transmission oil temperature increases, the viscosity of the transmission oil becomes lower and lower, the actual oil pressure following the target oil pressure during the pressurization of the low-speed clutch becomes more accurate, while when the transmission oil temperature is lower, the viscosity of the transmission oil is higher, the actual oil pressure following the target oil pressure during the pressurization of the low-speed clutch is also worse, a certain hysteresis exists, for example, when the target oil pressure is reduced, the actual oil pressure is still higher and is not reduced Then the problem of the engine speed being significantly lowered and creeping over is more likely to occur in this case. In addition, the higher the viscosity of the transmission fluid, the greater the stirring load of the pump impeller in the torque converter, and the more likely the engine speed is caused to be significantly lowered and the problem of creep and stumbling is caused, so that the correction coefficient O is based on the above as the transmission fluid temperature increases 1 、O 2 ……O 8 The lower the oil temperature of the transmission is, the larger the correction coefficient is, and the larger the obtained compensation value is, so that the torque capacity and the load disturbance resistance of the engine are improved, and the problems that the rotating speed of the engine is obviously dragged down and the vehicle is stumbled by creeping are prevented when the vehicle is creeping.
In an alternative embodiment, the determining the processing result based on the base torque value and the correction coefficient value includes: performing product operation on the basic torque value and the correction coefficient value to obtain a torque compensation value; the torque compensation value is determined as a result of the processing to control the target vehicle.
Optionally, after obtaining the calibration value in the compensation value calibration Map and the calibration value in the compensation value calibration Curve, multiplying the two values to obtain the torque compensation value.
As an alternative embodiment, unlike the prior art in which the engine controller ECU directly receives and adopts the transmission controller TCU to send the neutral gear control exit zone bit to the controller area network CAN bus, the engine controller ECU in the embodiment of the invention directly and accurately determines the start and exit point of the neutral gear control function according to the received brake pedal opening and closing state, the speed difference between the pump wheel of the hydraulic torque converter and the turbine and the change rate signal of the turbine speed of the hydraulic torque converter, is beneficial to the good matching of the engine torque compensation and the pressurization time and the pressurization process of the low gear clutch, avoids the phenomenon that the engine speed is obviously dragged down in the vehicle crawling starting process, improves the smoothness of vehicle crawling, is not influenced by the definition of the matching relation between the transmission of the neutral gear control exit zone bit, the pressurization time and the pressurization process of the low gear clutch and the hydraulic torque converter pump wheel and the turbine speed difference threshold value, and CAN be suitable for mechanical automatic speed variators of various brands.
Example 2
According to an embodiment of the present invention, an embodiment of a device for implementing the above control method for improving vehicle creep ride is further provided, and fig. 14 is a schematic structural diagram of a control device for improving vehicle creep ride according to an embodiment of the present invention, as shown in fig. 14, where the control device for improving vehicle creep ride includes: an acquisition module 80, a first determination module 82, a processing module 84, and a second determination module 86, wherein:
an obtaining module 80, configured to obtain a working state and a working parameter of the target vehicle, and an environmental parameter of an environment in which the target vehicle is located, in response to a creep start instruction of the target vehicle;
a first determination module 82 for determining an idle control torque based on the operating state and the operating parameters;
the processing module 84 is configured to analyze the environmental parameter to obtain a processing result;
and a second determining module 86 configured to perform torque compensation processing on the idle control torque based on the processing result, determine a target control torque, and control the target vehicle to perform creep start based on the target control torque.
It should be noted that each of the above modules may be implemented by software or hardware, for example, in the latter case, it may be implemented by: the above modules may be located in the same processor; alternatively, the various modules described above may be located in different processors in any combination.
It should be noted that, the control method for improving the creep smoothness of the vehicle corresponds to step S102 to step S108 in embodiment 1, and the modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in embodiment 1. It should be noted that the above modules may be run in a computer terminal as part of the apparatus.
It should be noted that, the optional or preferred implementation manner of this embodiment may be referred to the related description in embodiment 1, and will not be repeated here.
The control device for improving the vehicle crawling smoothness can further comprise a processor and a memory, the control method for improving the vehicle crawling smoothness and the like can be stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, the kernel fetches corresponding program units from the memory, and one or more of the kernels can be arranged. The memory may include forms of non-volatile memory, random Access Memory (RAM), and/or nonvolatile memory in a computer-readable medium, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.
According to an embodiment of the present application, there is also provided an embodiment of a computer-readable storage medium. Optionally, in this embodiment, the computer readable storage medium includes a stored program, where when the program runs, the device where the computer readable storage medium is controlled to execute the control method for improving the creep smoothness of the vehicle.
Alternatively, in this embodiment, the above-mentioned computer readable storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network or in any one of the mobile terminals in the mobile terminal group, and the above-mentioned computer readable storage medium includes a stored program.
Optionally, the computer readable storage medium is controlled to perform the following functions when the program is run: responding to a crawling start instruction of a target vehicle, and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is positioned; determining an idle speed control torque based on the operating state and the operating parameter; analyzing and processing the environmental parameters to obtain a processing result; and performing torque compensation processing on the idle speed control torque based on the processing result, determining a target control torque, and controlling the target vehicle to perform creep start based on the target control torque.
Optionally, the computer readable storage medium is controlled to perform the following functions when the program is run: judging whether the running state of the target vehicle meets a preset condition or not; and if the running state meets the preset condition, controlling the target vehicle to exit the neutral gear control, and performing crawling start.
Optionally, the computer readable storage medium is controlled to perform the following functions when the program is run: and analyzing and processing the working state and the working parameters by adopting an engine controller to obtain the idle speed control torque, wherein the idle speed control torque is the control torque of the target vehicle under the current working state and the working parameters.
Optionally, the computer readable storage medium is controlled to perform the following functions when the program is run: acquiring the environmental temperature, the altitude parameter and the transmission oil temperature parameter in the environmental parameters; a torque compensation value is determined based on the ambient temperature, the altitude parameter, and the transmission oil temperature parameter, and the torque compensation value is determined as the processing result.
Optionally, the computer readable storage medium is controlled to perform the following functions when the program is run: determining a basic torque value corresponding to the ambient temperature and the altitude parameter based on an ambient parameter table, wherein the ambient parameter table is preset; determining a correction coefficient value corresponding to the transmission oil temperature parameter based on a correction coefficient table, wherein the correction coefficient table is preset; and determining the processing result based on the base torque value and the correction coefficient value.
Optionally, the computer readable storage medium is controlled to perform the following functions when the program is run: performing product operation on the basic torque value and the correction coefficient value to obtain the torque compensation value; and determining the torque compensation value as the processing result to control the target vehicle.
According to an embodiment of the present application, there is also provided an embodiment of a processor. Optionally, in this embodiment, the processor is configured to run a program, where the control method for improving the creep smoothness of the vehicle is executed when the program runs.
Optionally, the device in which the control processor is located performs the following functions when the program is running: responding to a crawling start instruction of a target vehicle, and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is positioned; determining an idle speed control torque based on the operating state and the operating parameter; analyzing and processing the environmental parameters to obtain a processing result; and performing torque compensation processing on the idle speed control torque based on the processing result, determining a target control torque, and controlling the target vehicle to perform creep start based on the target control torque.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A control method for improving the crawling smoothness of a vehicle is characterized by comprising the following steps:
responding to a crawling start instruction of a target vehicle, and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is positioned;
determining an idle speed control torque based on the operating state and the operating parameter;
analyzing and processing the environmental parameters to obtain a processing result;
and performing torque compensation processing on the idle speed control torque based on the processing result, determining a target control torque, and controlling the target vehicle to perform creep start based on the target control torque.
2. The control method for improving creep smoothness of a vehicle according to claim 1, further comprising, before said responding to a creep start command of a target vehicle:
judging whether the running state of the target vehicle meets a preset condition or not;
And if the running state meets the preset condition, controlling the target vehicle to exit neutral gear control, and performing crawling start.
3. The control method for improving creep smoothness of a vehicle according to claim 1, wherein said determining an idle control torque based on said operating state and said operating parameter comprises:
and analyzing and processing the working state and the working parameter by adopting an engine controller to obtain the idle speed control torque, wherein the idle speed control torque is the control torque of the target vehicle under the current working state and the working parameter.
4. The control method for improving the creep smoothness of the vehicle according to claim 1, wherein the analyzing the environmental parameter to obtain the processing result comprises:
acquiring the environmental temperature, the altitude parameter and the transmission oil temperature parameter in the environmental parameters;
a torque compensation value is determined based on the ambient temperature, the altitude parameter, and the transmission oil temperature parameter, and the torque compensation value is determined as the processing result.
5. The control method for improving vehicle creep ride according to claim 4, wherein the determining a torque compensation value based on the ambient temperature, the altitude parameter, and the transmission oil temperature parameter and determining the torque compensation value as the processing result includes:
Determining a basic torque value corresponding to the ambient temperature and the altitude parameter based on an ambient parameter table, wherein the ambient parameter table is preset;
determining a correction coefficient value corresponding to the transmission oil temperature parameter based on a correction coefficient table, wherein the correction coefficient table is preset;
the processing result is determined based on the base torque value and the correction coefficient value.
6. The control method for improving vehicle creep smoothness according to claim 5, wherein said determining the processing result based on the base torque value and the correction coefficient value comprises:
performing product operation on the basic torque value and the correction coefficient value to obtain the torque compensation value;
and determining the torque compensation value as the processing result to control the target vehicle.
7. A control device for improving the creep smoothness of a vehicle, comprising:
the acquisition module is used for responding to a crawling starting instruction of the target vehicle and acquiring the working state and working parameters of the target vehicle and the environmental parameters of the environment where the target vehicle is located;
the first determining module is used for determining idle speed control torque based on the working state and the working parameters;
The processing module is used for analyzing and processing the environmental parameters to obtain a processing result;
and the second determining module is used for carrying out torque compensation processing on the idle speed control torque based on the processing result, determining target control torque and controlling the target vehicle to carry out crawling starting based on the target control torque.
8. A non-volatile storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the control method for improving vehicle creep ride quality of any one of claims 1 to 6.
9. A processor, wherein the processor is configured to run a program, wherein the program is configured to execute the control method for improving vehicle creep smoothness of any one of claims 1 to 6 when run.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the control method of any one of claims 1 to 6 for improving vehicle creep smoothness.
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