CN116424109B - Sliding torque control method and device under deceleration strip working condition and new energy automobile - Google Patents
Sliding torque control method and device under deceleration strip working condition and new energy automobile Download PDFInfo
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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
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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
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Abstract
The application provides a method and a device for controlling sliding torque under a deceleration strip working condition and a new energy automobile. The method comprises the following steps: acquiring the wheel speed and the sliding target torque of each wheel, and calculating the corresponding wheel speed fluctuation amount and the wheel speed fluctuation absolute value of each wheel based on the wheel speed; judging a wheel speed reverse activation condition according to the wheel speed fluctuation quantity corresponding to each wheel; after the wheel triggers the wheel speed reverse activation condition, based on the wheel speed reverse times and the wheel speed fluctuation absolute value of each wheel in a preset time period, identifying whether the wheel is in a deceleration strip working condition; and when the wheels are identified to be in the deceleration strip working condition, determining a sliding limit torque coefficient by utilizing the wheel speed fluctuation quantity absolute value, calculating a final sliding torque according to the sliding target torque and the sliding limit torque coefficient, and transmitting the final sliding torque to the driving motor to execute torque control. The application can realize the advanced torque attenuation when the vehicle passes through the deceleration strip, improves the smoothness of the whole vehicle and provides high-quality driving experience for a driver.
Description
Technical Field
The application relates to the technical field of new energy automobiles, in particular to a method and a device for controlling sliding torque under a deceleration strip working condition and a new energy automobile.
Background
With the rapid development of new energy automobile technology, it becomes particularly important to realize the driving expectations of drivers for new energy automobiles. However, during the running process of the vehicle, the whole vehicle can run forward due to the bouncing of the tires when passing through the deceleration strip, and the requirements of a driver on smoothness cannot be effectively met.
In the prior art, although some technical solutions for smoothness of the automobile are provided, these solutions are usually aimed at traditional fuel automobiles, but not new energy automobiles. In addition, the traditional automobile ride comfort scheme mainly improves the ride comfort of the automobile through means of improving a suspension system, optimizing a shock absorber and the like, but the advantages of the new energy automobile, such as the quick response capability of an electric driving system, are not fully utilized. Therefore, it is needed to provide a new energy automobile ride control scheme to solve the problems of reduced ride comfort and poor driving experience when the automobile passes through the deceleration strip.
Disclosure of Invention
In view of the above, the embodiment of the application provides a method and a device for controlling sliding torque under a deceleration strip working condition and a new energy automobile, so as to solve the problems of reduced driving smoothness and poor driving experience when the automobile passes through the deceleration strip in the prior art.
In a first aspect of the embodiment of the present application, a method for controlling a sliding torque under a deceleration strip working condition is provided, including: acquiring wheel speeds of all wheels of a vehicle and a sliding target torque of the vehicle in the running process, and calculating the corresponding wheel speed fluctuation amount and the absolute value of the wheel speed fluctuation amount of each wheel based on the wheel speeds; judging the wheel speed reverse activation condition according to the wheel speed fluctuation quantity corresponding to each wheel so as to determine whether the wheel speed reverse activation condition is triggered or not; after the wheel triggers the wheel speed reverse activation condition, based on the wheel speed reverse times and the wheel speed fluctuation absolute value of each wheel in a preset time period, identifying whether the wheel is in a deceleration strip working condition; when the wheels are identified to be in the deceleration strip working condition, determining a sliding limit torque coefficient by utilizing the current wheel speed fluctuation quantity absolute value, calculating the final sliding torque of the vehicle according to the current sliding target torque and the sliding limit torque coefficient, and transmitting the final sliding torque to a driving motor to execute torque control.
In a second aspect of the embodiment of the present application, there is provided a motor torque zero-crossing control apparatus, including: the acquisition module is configured to acquire wheel speeds of all wheels of the vehicle and a sliding target torque of the vehicle in the running process, and calculate wheel speed fluctuation quantity and wheel speed fluctuation absolute value corresponding to each wheel based on the wheel speeds; the judging module is configured to judge the wheel speed reverse activation condition according to the wheel speed fluctuation quantity corresponding to each wheel so as to determine whether the wheel triggers the wheel speed reverse activation condition or not; the identification module is configured to identify whether the wheel is in a deceleration strip working condition or not based on the wheel speed reversal times and the wheel speed fluctuation absolute value of each wheel in a preset time period after the wheel triggers the wheel speed reversal activation condition; and the control module is configured to determine a sliding limit torque coefficient by utilizing the current wheel speed fluctuation quantity absolute value when the wheels are identified to be in the deceleration strip working condition, calculate the final sliding torque of the vehicle according to the current sliding target torque and the sliding limit torque coefficient, and transmit the final sliding torque to the driving motor to execute torque control.
In a third aspect of the embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the steps of the method for controlling a coasting torque under the deceleration strip condition when executing the computer program.
In a fourth aspect of the embodiment of the application, a new energy automobile is provided, which comprises an entire automobile controller, a motor controller, a driving motor and a transmission system; the whole vehicle controller is used for realizing the steps of the sliding torque control method under the working condition of the deceleration strip so as to send the final sliding torque to the motor controller; the motor controller is used for controlling the torque of the driving motor through the transmission system according to the final sliding torque.
The above at least one technical scheme adopted by the embodiment of the application can achieve the following beneficial effects:
the method comprises the steps of calculating the corresponding wheel speed fluctuation amount and the wheel speed fluctuation absolute value of each wheel based on the wheel speed by acquiring the wheel speed of each wheel and the sliding target torque of the vehicle in the running process of the vehicle; judging the wheel speed reverse activation condition according to the wheel speed fluctuation quantity corresponding to each wheel so as to determine whether the wheel speed reverse activation condition is triggered or not; after the wheel triggers the wheel speed reverse activation condition, based on the wheel speed reverse times and the wheel speed fluctuation absolute value of each wheel in a preset time period, identifying whether the wheel is in a deceleration strip working condition; when the wheels are identified to be in the deceleration strip working condition, determining a sliding limit torque coefficient by utilizing the current wheel speed fluctuation quantity absolute value, calculating the final sliding torque of the vehicle according to the current sliding target torque and the sliding limit torque coefficient, and transmitting the final sliding torque to a driving motor to execute torque control. According to the application, whether the wheels are in the deceleration zone or not can be identified based on the wheel speeds of the wheels of the vehicle according to the change characteristics of the wheel speeds in the deceleration zone, so that the torque is attenuated in advance, the smoothness of the whole vehicle is improved, and high-quality driving experience is provided for a driver.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling coasting torque under deceleration strip conditions according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a slip torque control device under a deceleration strip condition according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
New energy automobile technology is increasingly updated, and how to realize the driving expectations of drivers on new energy automobiles is extremely important. When an automobile passes through a deceleration strip, wheels need to pass over the deceleration strip one by one, which can lead to bouncing between the wheels and the tires. The bounce can cause vibration and instability of the vehicle, so that driving experience of a driver is affected, and the requirement of the driver on smoothness cannot be effectively met.
The existing technical scheme aiming at the automobile ride comfort mainly improves the automobile ride comfort through means of improving a suspension system, optimizing a shock absorber and the like, but the advantages of the new energy automobile, such as the quick response capability of an electric driving system, cannot be fully utilized. Therefore, it is needed to provide a new energy automobile ride control scheme to solve the problems of reduced ride comfort and poor driving experience when the automobile passes through the deceleration strip.
In view of the problems existing in the prior art, the embodiment of the application provides a method for controlling the sliding torque under the condition of a deceleration strip, which is characterized in that the wheel speed of each wheel and the sliding target torque of a vehicle are monitored in the running process of the vehicle, whether the wheel is reversed is judged based on the wheel speed fluctuation quantity of each wheel, the sliding torque control operation is activated when the wheel speed of the wheel is reversed, namely, whether the wheel is in the condition of the deceleration strip is identified, the zone flag bit is activated when the wheel is in the condition of the deceleration strip, the final sliding torque of the vehicle is determined according to the current sliding target torque and the sliding limiting torque of the vehicle, and the torque control is executed according to the final sliding torque by using a driving motor. According to the application, whether the wheels are in the deceleration strip is identified according to the change characteristics of the wheel speed in the deceleration strip, so that the sliding torque is reduced in advance, the smoothness of the new energy automobile when passing through the deceleration strip is improved, and the sliding torque is recovered until the tire passes through the deceleration strip, so that high-quality driving experience is provided for a driver.
It should be noted that, the application scenario of the embodiment of the present application is ride control of the new energy automobile when passing through the deceleration strip. The deceleration strip in the embodiment of the application can be also called a speed reducer, a speed deceleration strip or a speed reduction barrier, is a road traffic facility and is mainly used for limiting the running speed of a vehicle in a specific area. Deceleration strips are often set up in heavy traffic sections, near schools, residential areas, intersections, etc. to improve the safety of pedestrians and vehicles. The deceleration strip has various designs and shapes, and can be a protrusion transversely arranged on the lane or an isolation facility longitudinally arranged along the lane. Therefore, the name, the installation position, the material, the shape and the like of the deceleration strip in the practical application scene do not limit the technical scheme of the application, and any ground obstacle which can influence the driving smoothness of the vehicle can be regarded as one of the deceleration strips.
The new energy automobile in the embodiment of the application refers to an automobile which adopts novel energy (non-traditional petroleum and diesel energy) and has advanced technology. The automobiles adopt a novel power system, so that the automobile emission can be effectively reduced, the influence on the environment is reduced, and the energy utilization efficiency is improved. The new energy automobiles of the embodiment of the application include, but are not limited to, the following types of automobiles: electric Vehicles (EVs), pure electric vehicles (BEVs), fuel Cell Electric Vehicles (FCEVs), plug-in hybrid electric vehicles (PHEVs), hybrid Electric Vehicles (HEVs), and the like.
The technical scheme of the application is described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic flow chart of a method for controlling a coasting torque under a deceleration strip condition according to an embodiment of the present application. The coasting torque control method under the deceleration strip working condition of fig. 1 can be executed by the whole vehicle controller of the new energy vehicle. As shown in fig. 1, the method for controlling the sliding torque under the deceleration strip working condition specifically may include:
s101, acquiring wheel speeds of all wheels of a vehicle and a sliding target torque of the vehicle in the running process, and calculating the corresponding wheel speed fluctuation amount and the wheel speed fluctuation absolute value of each wheel based on the wheel speeds;
s102, judging wheel speed reverse activation conditions according to the wheel speed fluctuation quantity corresponding to each wheel so as to determine whether the wheel speed reverse activation conditions are triggered or not;
s103, after the wheel triggers a wheel speed reverse activation condition, identifying whether the wheel is in a deceleration strip working condition or not based on the wheel speed reverse times and the wheel speed fluctuation absolute value of each wheel in a preset time period;
And S104, when the wheels are identified to be in the deceleration strip working condition, determining a sliding limit torque coefficient by utilizing the current wheel speed fluctuation quantity absolute value, calculating the final sliding torque of the vehicle according to the current sliding target torque and the sliding limit torque coefficient, and transmitting the final sliding torque to the driving motor to execute torque control.
Torque, also referred to as torque, refers to a moment applied to an object to cause it to rotate. In a new energy automobile (e.g., an electric automobile), torque refers to torque generated by a driving motor, and is used to drive wheels to rotate, so as to drive the automobile to advance. Torque is an important parameter for measuring acceleration performance and climbing capacity of a new energy automobile. The coasting target torque of the embodiment of the application can be understood as the torque recovered by the drive motor when the vehicle coasts.
In some embodiments, acquiring wheel speeds of wheels of a vehicle during traveling and a target torque of the vehicle includes:
the method comprises the steps of utilizing a whole vehicle controller to monitor the wheel speed of each wheel in real time, and utilizing the current speed value and the accelerator value of the vehicle to inquire a preset two-dimensional table to obtain the real-time sliding target torque of the vehicle, wherein the two-dimensional table is used for representing the preset value of the sliding target torque changing along with the speed value and the accelerator value.
Specifically, in the embodiment of the application, the wheel speed of each wheel is monitored in real time by using a VCU (Vehicle Control Unit, vehicle controller) in the running process of the vehicle so as to acquire real-time wheel speed data. For acquiring the real-time sliding target torque of the vehicle, the embodiment of the application acquires the real-time speed value and the accelerator value of the vehicle, and queries a preset two-dimensional table by utilizing the real-time speed value and the accelerator value to acquire the sliding target torque, wherein the abscissa of the two-dimensional table represents the speed value and the ordinate represents the accelerator value.
Further, a wheel speed fluctuation amount and a wheel speed fluctuation amount absolute value corresponding to each wheel are calculated based on the wheel speed obtained in real time, wherein the wheel speed fluctuation amount (WHEEL SPEED fluctuation) refers to the change of the wheel speed in the running process of the automobile, and the wheel speed fluctuation amount is data calculated based on the wheel speed of the current period and the wheel speed of the previous period. The following description of the calculation process of the wheel speed fluctuation amount is given in conjunction with the formula, and may specifically include the following:
wherein, Represents the fluctuation amount of the wheel speed of the left front wheel,The left front wheel speed representing the current period,Left front wheel speed indicating the previous cycle; Represents the fluctuation amount of the wheel speed of the right front wheel, The right front wheel speed representing the current cycle,Right front wheel speed indicating the previous cycle; represents the fluctuation amount of the wheel speed of the left rear wheel, The wheel speed of the left rear wheel representing the current cycle,The left rear wheel speed representing the previous cycle; the fluctuation amount of the wheel speed of the right rear wheel is represented, The right rear wheel speed representing the current period,Indicating the right rear wheel speed of the previous cycle.
In some embodiments, determining the wheel speed reverse activation condition according to the wheel speed fluctuation amount corresponding to each wheel includes:
If the wheel speed fluctuation amount of the previous period is larger than or equal to the first wheel speed fluctuation amount threshold value and the wheel speed fluctuation amount of the current period is smaller than or equal to the second wheel speed fluctuation amount threshold value, judging a wheel trigger wheel speed reverse activation condition; or alternatively
And if the wheel speed fluctuation amount of the previous cycle is smaller than or equal to the third wheel speed fluctuation amount threshold value, and the wheel speed fluctuation amount of the current cycle is larger than or equal to the fourth wheel speed fluctuation amount threshold value, judging the wheel triggering wheel speed reverse activation condition.
Specifically, after the wheel speed fluctuation amount corresponding to each wheel is calculated, based on the wheel speed fluctuation amount of each wheel, whether the wheel speed of each wheel is reversely activated or not is judged, namely whether each wheel meets the wheel speed reverse activation condition is judged, and timing is started after the wheel meets the wheel speed reverse activation condition.
The following description will be made on two wheel speed reverse activation conditions provided in the embodiment of the present application by taking a left front wheel as an example, and specifically may include the following:
first wheel speed reverse activation condition: and is also provided with
Second wheel speed reverse activation condition: and is also provided with
Wherein,The amount of fluctuation of the wheel speed of the front left wheel in the previous cycle is represented,The threshold value a represents the first wheel speed fluctuation amount threshold value, the threshold value B represents the second wheel speed fluctuation amount threshold value, the threshold value C represents the third wheel speed fluctuation amount threshold value, and the threshold value D represents the fourth wheel speed fluctuation amount threshold value.
In practical application, the wheel speed trigger reverse activation condition is judged only when the wheel speed fluctuation amount of the previous cycle and the wheel speed fluctuation amount of the current cycle of the wheel meet any one of the two wheel speed reverse activation conditions (namely, the first wheel speed reverse activation condition and the second wheel speed reverse activation condition).
In some embodiments, identifying whether the wheel is in a deceleration strip condition based on the number of wheel speed reversals and the absolute value of the wheel speed fluctuation amount of each wheel within a preset period of time includes:
Determining the wheel speed reversal times of each wheel in a preset time period after the wheel triggering wheel speed reversal activation condition, and identifying that the wheel is in a deceleration strip working condition after the wheel speed reversal times of the wheel reach a reversal time threshold and the wheel speed fluctuation absolute value of the wheel exceeds the first wheel speed fluctuation absolute value threshold reaches the preset condition; and when the wheels are in the deceleration strip working condition, activating the deceleration strip zone bit corresponding to the wheels.
Specifically, when at least one wheel triggers a wheel speed reverse activation condition and begins to time, if the number of wheel speed reverse times and the number of times that the absolute value of the fluctuation amount of the wheel speed exceeds the absolute value threshold value of the first wheel speed fluctuation amount of the wheel in a next preset time period meet the requirements, identifying and determining that the wheel is in a deceleration strip working condition. In practical application, if the number of wheel speed reversals of the wheel in the preset time period is greater than or equal to a preset reversal number threshold value, and the number of wheel speed fluctuation absolute value of the wheel exceeds the first wheel speed fluctuation absolute value threshold value is greater than or equal to a preset threshold value, the wheel is identified to be in a deceleration strip working condition.
Further, after the wheels are identified to be in the deceleration strip working condition, the deceleration strip zone bit of the axle where the wheels are located is activated. For example: and activating the front axle speed reducing zone bit of the vehicle when the front wheels of the vehicle are identified to be in the speed reducing zone working condition, and activating the rear axle speed reducing zone bit of the vehicle when the rear wheels of the vehicle are identified to be in the speed reducing zone working condition. In practical applications, the deceleration strip flag bit is used to distinguish whether the front wheel (including the left front wheel and the right front wheel) or the rear wheel (including the left rear wheel and the right rear wheel) of the vehicle is in a deceleration strip working condition, for example: when the zone flag bit is 0, the wheel is not in the zone condition, and when the zone flag bit is1, the wheel is in the zone condition.
In some embodiments, determining a coasting-limited torque coefficient using the current wheel-speed-fluctuation-amount absolute value, calculating a final coasting torque of the vehicle from the current coasting target torque and the coasting-limited torque coefficient, includes:
Determining the absolute value of wheel speed fluctuation corresponding to a wheel under the working condition of a deceleration strip, and inquiring a preset sliding limit torque coefficient table by utilizing the absolute value of the wheel speed fluctuation to obtain a sliding limit torque coefficient corresponding to the absolute value of the wheel speed fluctuation;
multiplying the sliding limiting torque coefficient by the current sliding target torque of the vehicle, and taking the calculated result as the final sliding torque;
the sliding limiting torque coefficient table is used for representing a preset value of the sliding limiting torque coefficient changing along with the wheel speed fluctuation absolute value.
Specifically, the coasting target torque will be limited when the deceleration strip flag of the front axle or the rear axle of the vehicle is in the activated state. Firstly, determining the absolute value of wheel speed fluctuation corresponding to the wheel under the working condition of a deceleration strip, and inquiring a preconfigured sliding limit torque coefficient table by utilizing the absolute value of the wheel speed fluctuation to obtain a corresponding sliding limit torque coefficient.
In a specific example, as shown in table 1 below, table 1 is a coasting limitation torque coefficient table configured in a practical application scenario of an embodiment of the present application. The following details of the calculation process of the final coasting torque of the vehicle with reference to table 1 may include the following:
TABLE 1 coasting limitation torque coefficient table
| Absolute value of wheel speed fluctuation amount | 5 | 10 | 15 | 20 |
| Coefficient of coasting limiting torque | 1 | 0.8 | 0.6 | 0.4 |
In practical application, the abscissa of the slip limit torque coefficient table represents the absolute value of the wheel speed fluctuation amount, and the ordinate represents the slip limit torque coefficient, and the slip limit torque coefficient table can represent a preset value of the slip limit torque coefficient changing along with the absolute value of the wheel speed fluctuation amount. Therefore, the absolute value of the fluctuation amount of the wheel speed is used for inquiring the sliding limit torque coefficient table, and the sliding limit torque coefficient corresponding to the absolute value of the fluctuation amount of the wheel speed of the wheel under the working condition of the speed reducing zone can be obtained.
Further, after determining the slip limit torque coefficient of the wheel, the current slip target torque of the wheel is obtained by the real-time lookup table according to the foregoing embodiment, the slip limit torque coefficient of the wheel is multiplied by the slip target torque, and the calculation result is taken as the final slip torque of the vehicle. And finally, transmitting the final sliding torque to a driving motor, and controlling the driving motor of the vehicle to control the torque of the vehicle according to the final sliding torque.
In some embodiments, after transmitting the final coasting torque to the drive motor to perform torque control, the method further comprises:
Continuously judging whether the wheel meets the working condition exit condition, and controlling the wheel to exit the deceleration strip working condition when the wheel meets the working condition exit condition;
The working condition exiting condition comprises that the zone bit of the deceleration strip in the previous period is in an activated state, and the absolute value of the fluctuation amount of the wheel speed of the wheel in the preset time period is smaller than or equal to the threshold value of the absolute value of the fluctuation amount of the second wheel speed.
Specifically, after the speed reduction zone flag bit is in an activated state, the speed reduction zone flag bit is continuously triggered until the speed reduction zone flag bit is withdrawn after reaching a working condition withdrawal condition, wherein the working condition withdrawal condition comprises that the speed reduction zone flag bit in the previous period is in the activated state, and the absolute value of the fluctuation amount of the wheel speed of the wheel in a preset time period is smaller than or equal to a threshold value of the absolute value of the fluctuation amount of the second wheel speed; that is, in a preset time period after the zone bit of the deceleration strip is in an activated state, comparing the absolute value of the fluctuation of the wheel speed with a preset threshold value of the absolute value of the fluctuation of the second wheel speed, and controlling the wheel to exit the working condition of the deceleration strip when the absolute value of the fluctuation of the wheel speed is less than or equal to the threshold value of the absolute value of the fluctuation of the second wheel speed, so as to recover the target torque of the sliding.
In some embodiments, the method further comprises:
when the zone bit of the deceleration strip is activated or exited, judging whether to carry out filtering processing on the final sliding torque based on the difference between the final sliding torque and the sliding target torque, and when judging to carry out filtering processing on the final sliding torque, carrying out filtering processing on the current final sliding torque by utilizing the final sliding torque of the previous period and a torque filtering coefficient to obtain the final sliding torque after filtering.
Specifically, to make the torque output smoother, when the deceleration strip flag rising edge or falling edge is triggered, the filtering process of the final coasting torque is triggered until the requested torque (i.e., the final coasting torque) approaches the coasting target torque, the filtering is canceled. That is, when the difference between the final coasting torque and the coasting target torque is large, the filter processing is performed on the final coasting torque, and when the difference between the final coasting torque and the coasting target torque is small, the filter processing is not performed on the final coasting torque any more.
Further, when the final sliding torque is subjected to filtering processing, the embodiment of the application uses the final sliding torque in the previous period and the torque filtering coefficient to carry out filtering processing on the current final sliding torque so as to obtain the filtered final sliding torque. In practical applications, the final coasting torque may be filtered using the following formula:
y(t)＝K·u(t)+(1-K)·y(t-1)
Where K represents a filter coefficient, u (t) represents the final coasting torque of the current cycle, y (t-1) represents the final coasting torque of the previous cycle, and y (t) represents the current filtered output value (i.e., the filtered final coasting torque).
According to the technical scheme provided by the embodiment of the application, the embodiment of the application monitors the wheel speed of the wheel in real time and obtains the sliding target torque so as to realize accurate and efficient torque control; by judging whether the wheel triggers the wheel speed reverse activation condition or not, whether the wheel is in the deceleration strip working condition or not is identified, and accurate identification of the wheel state is realized; when the wheels are identified to be in the deceleration strip working condition, determining the final sliding torque according to the sliding target torque and the sliding limiting torque, and improving the safety and the comfort in the driving process; and finally, determining the final coasting torque of the vehicle according to the coasting target torque and the coasting limiting torque and controlling the driving motor to execute torque control. In addition, the embodiment of the application carries out filtering treatment on the final sliding torque under specific conditions, so that the torque output is smoother, and the driving experience is improved.
Compared with the prior art, the method and the device have the advantages that the wheel speed reverse state is judged based on the wheel speeds of the wheels, the judgment is triggered when the wheel speeds are reverse and fluctuation is obvious, and if the wheel speed reverse times and the wheel speed fluctuation amplitude exceed the set threshold values for a period of time, the working conditions of the speed reduction zone are met, so that the working conditions of the speed reduction zone are identified, the sliding torque is reduced in advance, the smoothness of the vehicle when the vehicle passes through the speed reduction zone is improved, and the sliding torque is recovered until the tire passes through the speed reduction zone. The application realizes wheel speed reversal and fluctuation calculation based on real-time monitoring wheel speed data; the application can identify the working condition of the deceleration strip based on the wheel speed reversing times and the wheel speed fluctuation amplitude within a period of time; the application can also judge the fluctuation amplitude of the wheel speed in a period of time to recover the target torque.
The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.
Fig. 2 is a schematic structural diagram of a motor torque zero-crossing control device according to an embodiment of the present application. As shown in fig. 2, the motor torque zero-crossing control device includes:
an acquisition module 201 configured to acquire wheel speeds of the wheels of the vehicle and a target torque of the vehicle during running, calculate a wheel speed fluctuation amount and a wheel speed fluctuation amount absolute value corresponding to each wheel based on the wheel speeds;
A judging module 202 configured to judge the wheel speed reverse activation condition according to the wheel speed fluctuation amount corresponding to each wheel, so as to determine whether the wheel triggers the wheel speed reverse activation condition;
the identifying module 203 is configured to identify whether the wheel is in a deceleration strip working condition or not based on the wheel speed reversal times and the wheel speed fluctuation absolute value of each wheel in a preset time period after the wheel triggers the wheel speed reversal activation condition;
The control module 204 is configured to determine a coasting limitation torque coefficient by using the current wheel speed fluctuation amount absolute value when the wheels are identified to be in the deceleration strip working condition, calculate a final coasting torque of the vehicle according to the current coasting target torque and the coasting limitation torque coefficient, and transmit the final coasting torque to the driving motor to execute torque control.
In some embodiments, the obtaining module 201 of fig. 2 monitors the wheel speed of each wheel in real time by using the whole vehicle controller, and queries a preset two-dimensional table by using the current speed value and the accelerator value of the vehicle to obtain the real-time target torque of the vehicle, where the two-dimensional table is used for representing the preset value of the target torque of the vehicle along with the change of the speed value and the accelerator value.
In some embodiments, the determining module 202 of fig. 2 determines the wheel-triggered wheel-speed-reversal-activation condition if the wheel-speed fluctuation amount of the previous cycle is greater than or equal to the first wheel-speed fluctuation amount threshold and the wheel-speed fluctuation amount of the current cycle is less than or equal to the second wheel-speed fluctuation amount threshold; or if the wheel speed fluctuation amount of the previous cycle is smaller than or equal to the third wheel speed fluctuation amount threshold value, and the wheel speed fluctuation amount of the current cycle is larger than or equal to the fourth wheel speed fluctuation amount threshold value, judging the wheel triggering wheel speed reverse activation condition.
In some embodiments, the identification module 203 of fig. 2 determines the number of wheel speed reversals of each wheel within a preset time period after the wheel triggers the wheel speed reversal activation condition, and identifies that the wheel is in the deceleration strip condition after the number of wheel speed reversals reaches a reversal number threshold and the number of wheel speed fluctuation absolute value of the wheel exceeds the first wheel speed fluctuation absolute value threshold reaches the preset condition; and when the wheels are in the deceleration strip working condition, activating the deceleration strip zone bit corresponding to the wheels.
In some embodiments, the control module 204 of fig. 2 determines an absolute value of a wheel speed fluctuation amount corresponding to a wheel under a deceleration strip condition, and queries a preset slip limit torque coefficient table by using the absolute value of the wheel speed fluctuation amount to obtain a slip limit torque coefficient corresponding to the absolute value of the wheel speed fluctuation amount; multiplying the sliding limiting torque coefficient by the current sliding target torque of the vehicle, and taking the calculated result as the final sliding torque; the sliding limiting torque coefficient table is used for representing a preset value of the sliding limiting torque coefficient changing along with the wheel speed fluctuation absolute value.
In some embodiments, the control module 204 of fig. 2 continues to determine whether the wheel meets the condition exit condition after transmitting the final coasting torque to the drive motor to perform torque control, and controls the wheel to exit the deceleration strip condition when the wheel meets the condition exit condition; the working condition exiting condition comprises that the zone bit of the deceleration strip in the previous period is in an activated state, and the absolute value of the fluctuation amount of the wheel speed of the wheel in the preset time period is smaller than or equal to the threshold value of the absolute value of the fluctuation amount of the second wheel speed.
In some embodiments, when the deceleration strip flag is activated or exited, the filtering module 205 of fig. 2 determines whether to filter the final sliding torque based on a difference between the final sliding torque and the sliding target torque, and when determining to filter the final sliding torque, filters the current final sliding torque using the final sliding torque of the previous cycle and the torque filter coefficient to obtain a filtered final sliding torque.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
The embodiment of the application also provides a new energy automobile, which comprises an entire automobile controller, a motor controller, a driving motor and a transmission system; the whole vehicle controller is used for realizing the steps of the sliding torque control method under the working condition of the deceleration strip so as to send the final sliding torque to the motor controller; the motor controller is used for controlling the torque of the driving motor through the transmission system according to the final sliding torque.
Fig. 3 is a schematic structural diagram of an electronic device 3 according to an embodiment of the present application. As shown in fig. 3, the electronic apparatus 3 of this embodiment includes: a processor 301, a memory 302 and a computer program 303 stored in the memory 302 and executable on the processor 301. The steps of the various method embodiments described above are implemented when the processor 301 executes the computer program 303. Or the processor 301 when executing the computer program 303 performs the functions of the modules/units in the above-described device embodiments.
Illustratively, the computer program 303 may be partitioned into one or more modules/units, which are stored in the memory 302 and executed by the processor 301 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 303 in the electronic device 3.
The electronic device 3 may be an electronic device such as a desktop computer, a notebook computer, a palm computer, or a cloud server. The electronic device 3 may include, but is not limited to, a processor 301 and a memory 302. It will be appreciated by those skilled in the art that fig. 3 is merely an example of the electronic device 3 and does not constitute a limitation of the electronic device 3, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may also include an input-output device, a network access device, a bus, etc.
The Processor 301 may be a central processing unit (Central Processing Unit, CPU) or other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 302 may be an internal storage unit of the electronic device 3, for example, a hard disk or a memory of the electronic device 3. The memory 302 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk provided on the electronic device 3, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like. Further, the memory 302 may also include both an internal storage unit and an external storage device of the electronic device 3. The memory 302 is used to store computer programs and other programs and data required by the electronic device. The memory 302 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided by the present application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other manners. For example, the apparatus/computer device embodiments described above are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions of actual implementations, multiple elements or components may be combined or 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network 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 application 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 modules/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 present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. The method for controlling the sliding torque under the working condition of the deceleration strip is characterized by comprising the following steps of:
Acquiring wheel speeds of all wheels and a sliding target torque of the vehicle in a running process of the vehicle, and calculating a wheel speed fluctuation amount and a wheel speed fluctuation absolute value corresponding to each wheel based on the wheel speeds, wherein the wheel speed fluctuation amount is data calculated based on the wheel speeds of the wheels in a current period and the wheel speeds of the wheels in a previous period;
judging a wheel speed reverse activation condition according to the wheel speed fluctuation quantity corresponding to each wheel so as to determine whether the wheel triggers the wheel speed reverse activation condition or not;
after the wheel speed reverse activation condition is triggered by the wheel, identifying whether the wheel is in a deceleration strip working condition or not based on the wheel speed reverse times and the wheel speed fluctuation absolute value of each wheel in a preset time period;
When the wheels are identified to be in a deceleration strip working condition, determining a sliding limit torque coefficient by utilizing the current wheel speed fluctuation quantity absolute value, calculating the final sliding torque of the vehicle according to the current sliding target torque and the sliding limit torque coefficient, and transmitting the final sliding torque to a driving motor to execute torque control;
the judging of the wheel speed reverse activation condition according to the wheel speed fluctuation quantity corresponding to each wheel comprises the following steps:
if the wheel speed fluctuation amount of the previous period is larger than or equal to a first wheel speed fluctuation amount threshold value and the wheel speed fluctuation amount of the current period is smaller than or equal to a second wheel speed fluctuation amount threshold value, judging that the wheel triggers the wheel speed reverse activation condition; or alternatively
And if the wheel speed fluctuation amount of the previous period is smaller than or equal to a third wheel speed fluctuation amount threshold value, and the wheel speed fluctuation amount of the current period is larger than or equal to a fourth wheel speed fluctuation amount threshold value, judging that the wheel triggers the wheel speed reverse activation condition.
2. The method of claim 1, wherein the acquiring the wheel speed of each wheel of the vehicle during traveling and the target torque of the vehicle for coasting comprises:
the method comprises the steps of utilizing a whole vehicle controller to monitor the wheel speed of each wheel in real time, and utilizing the current speed value and the accelerator value of the vehicle to inquire a preset two-dimensional table to obtain the real-time sliding target torque of the vehicle, wherein the two-dimensional table is used for representing the preset value of the sliding target torque changing along with the speed value and the accelerator value.
3. The method of claim 1, wherein identifying whether the wheel is in a deceleration strip condition based on the number of wheel speed reversals and the absolute value of wheel speed fluctuation for each wheel over a predetermined period of time comprises:
Determining the wheel speed reversal times of each wheel in a preset time period after the wheel triggers the wheel speed reversal activation condition, and identifying that the wheel is in a deceleration strip working condition after the wheel speed reversal times of the wheel reach a reversal times threshold value and the wheel speed fluctuation absolute value of the wheel exceeds a first wheel speed fluctuation absolute value threshold value; and when the wheels are in the deceleration strip working condition, activating the deceleration strip zone bit corresponding to the wheels.
4. The method of claim 1, wherein determining a coasting-limited torque coefficient using the current wheel-speed-fluctuation-amount absolute value, and calculating a final coasting torque of the vehicle based on the current coasting target torque and the coasting-limited torque coefficient, comprises:
determining the absolute value of wheel speed fluctuation corresponding to a wheel under a deceleration strip working condition, and inquiring a preset sliding limit torque coefficient table by utilizing the absolute value of the wheel speed fluctuation to obtain a sliding limit torque coefficient corresponding to the absolute value of the wheel speed fluctuation;
multiplying the sliding limiting torque coefficient by the current sliding target torque of the vehicle, and taking the calculated result as the final sliding torque;
The sliding limiting torque coefficient table is used for representing a preset value of the sliding limiting torque coefficient changing along with the wheel speed fluctuation absolute value.
5. A method according to claim 3, wherein after said transmitting said final coasting torque to a drive motor for torque control, said method further comprises:
continuously judging whether the wheel meets the working condition exit condition, and controlling the wheel to exit the deceleration strip working condition when the wheel meets the working condition exit condition;
The working condition exiting condition comprises that the zone bit of the deceleration strip in the previous period is in an activated state, and the absolute value of the fluctuation amount of the wheel speed of the wheel in a preset time period is smaller than or equal to a threshold value of the absolute value of the fluctuation amount of the second wheel speed.
6. A method according to claim 3, characterized in that the method further comprises:
When the zone bit of the deceleration strip is activated or exited, judging whether to carry out filtering processing on the final sliding torque based on the difference between the final sliding torque and the sliding target torque, and when judging to carry out filtering processing on the final sliding torque, carrying out filtering processing on the current final sliding torque by utilizing the final sliding torque of the previous period and a torque filtering coefficient to obtain the final sliding torque after filtering.
7. A slip torque control device under deceleration strip conditions, comprising:
The device comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire wheel speeds of all wheels and a sliding target torque of the vehicle in a running process of the vehicle, and calculate a wheel speed fluctuation amount and a wheel speed fluctuation absolute value corresponding to each wheel based on the wheel speeds, wherein the wheel speed fluctuation amount is data calculated based on the wheel speeds of the current cycle and the previous cycle;
the judging module is configured to judge the wheel speed reverse activation condition according to the wheel speed fluctuation quantity corresponding to each wheel so as to determine whether the wheel triggers the wheel speed reverse activation condition or not;
The identification module is configured to identify whether the wheel is in a deceleration strip working condition or not based on the wheel speed reversal times and the wheel speed fluctuation absolute value of each wheel in a preset time period after the wheel triggers the wheel speed reversal activation condition;
the control module is configured to determine a sliding limit torque coefficient by utilizing the current wheel speed fluctuation amount absolute value when the wheels are identified to be in a deceleration strip working condition, calculate the final sliding torque of the vehicle according to the current sliding target torque and the sliding limit torque coefficient, and transmit the final sliding torque to the driving motor to execute torque control;
The judging module is used for judging that the wheel triggers the wheel speed reverse activation condition if the wheel speed fluctuation amount of the previous period is larger than or equal to a first wheel speed fluctuation amount threshold value and the wheel speed fluctuation amount of the current period is smaller than or equal to a second wheel speed fluctuation amount threshold value; or if the wheel speed fluctuation amount of the previous period is smaller than or equal to the third wheel speed fluctuation amount threshold value, and the wheel speed fluctuation amount of the current period is larger than or equal to the fourth wheel speed fluctuation amount threshold value, judging that the wheel triggers the wheel speed reverse activation condition.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of controlling slip torque under deceleration strip conditions of any one of claims 1 to 6 when the computer program is executed.
9. The new energy automobile is characterized by comprising a whole automobile controller, a motor controller, a driving motor and a transmission system;
the vehicle controller is configured to implement the method for controlling a coasting torque under the deceleration strip condition of any one of claims 1 to 6, so as to send a final coasting torque to the motor controller;
the motor controller is configured to control torque of the drive motor via the driveline in accordance with the final coasting torque.
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| CN112477851B (en) * | 2020-11-30 | 2022-03-11 | 广州小鹏自动驾驶科技有限公司 | Deceleration strip identification method and device, vehicle and readable storage medium |
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