CN116476839A

CN116476839A - Vehicle starting control method and device, electronic equipment and storage medium

Info

Publication number: CN116476839A
Application number: CN202310638957.8A
Authority: CN
Inventors: 朱桂庆; 宁甲奎; 孙鹏远; 孙飞
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-05-31
Filing date: 2023-05-31
Publication date: 2023-07-25

Abstract

The invention discloses a vehicle starting control method, a vehicle starting control device, electronic equipment and a storage medium. Determining a target required torque and a target starting rotating speed when the input shaft of the transmission is synchronous with the clutch in response to accelerator stepping operation of a driver, and acquiring the current input shaft rotating speed and the current clutch rotating speed of the transmission; determining a target input shaft speed based on the target starting speed and the current clutch speed; determining a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determining a target closed-loop control torque based on the target demand torque and the current closed-loop control torque; the running mode of the control motor is a rotating speed mode, the control motor performs closed-loop control on the rotating speed of the next input shaft of the transmission input shaft based on the target closed-loop control torque until the current clutch rotating speed and the current input shaft rotating speed reach the target starting rotating speed, so that the vehicle realizes linear starting acceleration, and the smoothness of starting acceleration of the vehicle is improved.

Description

Vehicle starting control method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a vehicle start control method and apparatus, an electronic device, and a storage medium.

Background

The start control function is a basic control function of the vehicle, and is aimed at: after the driver steps on the accelerator, the rotation speed of the input shaft of the transmission of the vehicle is enabled to approach linear acceleration, so that smooth starting acceleration is realized.

At present, the existing starting control mode is as follows: when the input shaft rotation speed of the transmission is not equal to the target input shaft rotation speed, the input shaft rotation speed of the transmission is controlled by adjusting the clutch torque, so that the input shaft rotation speed of the transmission is equal to the target input shaft rotation speed.

However, in the existing starting control method, although the rotation speed of the transmission input shaft can approach to linear acceleration, because the clutch torque corresponds to the actual driving torque on the wheels, the clutch torque is nonlinear in the process of controlling the rotation speed of the transmission input shaft by adopting the clutch torque, so that the actual driving torque on the wheels is nonlinear, the actual starting acceleration of the vehicle is nonlinear, and the smooth starting acceleration effect cannot be achieved.

Disclosure of Invention

The embodiment of the invention provides a vehicle starting control method, a vehicle starting control device, electronic equipment and a storage medium, so that the vehicle realizes linear starting acceleration, and the smoothness of the vehicle starting acceleration is improved.

In a first aspect, the present invention provides a vehicle start control method, including:

responding to accelerator stepping operation of a driver, determining target required torque corresponding to the accelerator stepping operation and target starting rotating speed when a transmission input shaft is synchronous with a clutch, and acquiring current input shaft rotating speed of the transmission input shaft and current clutch rotating speed;

determining a target input shaft rotational speed corresponding to the transmission input shaft based on the target starting rotational speed and the current clutch rotational speed;

determining a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determining a target closed-loop control torque based on the target demand torque and the current closed-loop control torque;

and controlling the running mode of the motor to be a rotating speed mode, and controlling the motor to carry out closed-loop control on the rotating speed of the next input shaft of the transmission input shaft based on the target closed-loop control torque until the current clutch rotating speed and the current input shaft rotating speed reach the target starting rotating speed.

In a second aspect, the present invention provides a start control device for a vehicle, the device comprising:

the system comprises a current data acquisition module, a speed control module and a speed control module, wherein the current data acquisition module is used for responding to the accelerator stepping operation of a driver, determining target required torque corresponding to the accelerator stepping operation and target starting rotating speed when a transmission input shaft is synchronous with a clutch, and acquiring the current input shaft rotating speed of the transmission input shaft and the current clutch rotating speed;

The target rotating speed determining module is used for determining a target input shaft rotating speed corresponding to the transmission input shaft based on the target starting rotating speed and the current clutch rotating speed;

the closed-loop control torque determining module is used for determining a current closed-loop control torque based on the current input shaft rotating speed and the target input shaft rotating speed and determining a target closed-loop control torque based on the target required torque and the current closed-loop control torque;

the starting control module is used for controlling the running mode of the motor to be a rotating speed mode, and controlling the motor to carry out closed-loop control on the rotating speed of the next input shaft of the transmission input shaft based on the target closed-loop control torque until the current clutch rotating speed and the current input shaft rotating speed reach the target starting rotating speed.

In a third aspect, the present invention provides an electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle launch control method of any one of the embodiments of the present invention.

In a fourth aspect, the present invention provides a computer readable storage medium storing computer instructions for causing a processor to execute a vehicle launch control method according to any one of the embodiments of the present invention.

According to the technical scheme provided by the embodiment of the invention, the target required torque corresponding to the accelerator pedal operation and the target starting rotation speed when the transmission input shaft and the clutch are synchronous are determined by responding to the accelerator pedal operation of the driver, the current input shaft rotation speed and the current clutch rotation speed of the transmission input shaft are obtained, and the target input shaft rotation speed corresponding to the transmission input shaft is determined based on the target starting rotation speed and the current clutch rotation speed. And determining a current closed-loop control torque based on the current input shaft rotating speed and the target input shaft rotating speed, and determining a target closed-loop control torque based on the target required torque and the current closed-loop control torque, so as to control the running mode of the motor to be a rotating speed mode, and controlling the motor to perform closed-loop control on the next input shaft rotating speed of the transmission input shaft based on the target closed-loop control torque until the current clutch rotating speed and the current input shaft rotating speed reach the target starting rotating speed. According to the embodiment of the invention, the characteristic of strong motor rotation speed control capability is fully utilized, the control of the rotation speed of the transmission input shaft is realized, the robustness of starting control can be improved, the vehicle can realize linear starting acceleration, and the smoothness of starting acceleration of the vehicle is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a vehicle start control method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a vehicle start control process according to a first embodiment of the present invention;

fig. 3 is a flowchart of a vehicle start control method according to a second embodiment of the present invention;

fig. 4 is a flowchart of a vehicle start control method according to a third embodiment of the present invention;

fig. 5 is a schematic structural diagram of a start control device for a vehicle according to a fourth embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device according to a fifth 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, in the description and claims of the present invention and the above figures, the terms "first preset condition", "second preset condition", and the like are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented 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

Fig. 1 is a flowchart of a vehicle start control method according to an embodiment of the present invention, where the embodiment is applicable to controlling a rotational speed of an input shaft of a transmission of a vehicle to approach linear acceleration when the vehicle starts, so as to achieve smooth start acceleration. The method may be performed by a launch control apparatus of a vehicle, which may be implemented in hardware and/or software, which may be configured on a computer device, which may be a notebook, a desktop computer, a smart tablet, etc. As shown in fig. 1, the method includes:

s110, responding to the accelerator pedal operation of a driver, determining target required torque corresponding to the accelerator pedal operation and target starting rotation speed when the transmission input shaft is synchronous with the clutch, and acquiring the current input shaft rotation speed of the transmission input shaft and the current clutch rotation speed.

The target required torque is a vehicle required torque corresponding to the accelerator pedal depth of the driver, which is generated when the driver pedals the accelerator. The target starting rotational speed is a target rotational speed value that should be reached synchronously with the transmission input shaft rotational speed and the clutch rotational speed when the starting operation is completed. The current input shaft rotation speed is the rotation speed corresponding to the transmission input shaft at the current moment. The current clutch rotating speed is the rotating speed corresponding to the clutch at the current moment.

Specifically, when the driver steps on the accelerator, the target required torque can be determined by inquiring a corresponding relation table of the required torque of the driver and the accelerator opening according to the accelerator opening corresponding to the stepping on the accelerator by the driver. In the present embodiment, the clutch torque corresponds to the target demand torque. The target demand torque controls the clutch torque, i.e., what the target demand torque is, what the clutch torque is. The advantages of this arrangement are that: the clutch torque is controlled according to the target required torque, so that the influence of the change of the rotation speed of the input shaft of the transmission on the clutch torque in the starting process is avoided, and the starting acceleration is more linear.

Specifically, according to the accelerator opening, a corresponding relation table of the synchronous starting rotational speed and the accelerator opening is queried to determine the target starting rotational speed when the transmission input shaft and the clutch are synchronous. The current input shaft speed of the transmission input shaft may be obtained by a speed sensor provided on the transmission input shaft. The current clutch rotational speed may be obtained by a rotational speed sensor provided on the clutch.

Fig. 2 is a schematic diagram illustrating a vehicle start control process according to an embodiment of the present invention. The solid black line in coordinate system (a) in fig. 2 is the transmission speed trace of the transmission input shaft speed over time. In practical application, the current input shaft rotation speed acquired by the rotation speed sensor on the transmission input shaft can be acquired once every preset time, and the transmission rotation speed track line can be obtained by sequentially connecting the current input shaft rotation speeds corresponding to all the moments. The black dot-dash line in coordinate system (a) in fig. 2 is the clutch rotational speed trace of the clutch rotational speed over time. In practical application, the current clutch rotation speed on the clutch rotation speed sensor can be obtained once every preset time, and the clutch rotation speed track line can be obtained by sequentially connecting the current clutch rotation speeds corresponding to all the moments. The rotational speed value corresponding to the upper right black circle in the coordinate system (a) in fig. 2 is the target starting rotational speed that should be achieved when the transmission input shaft rotational speed and the clutch rotational speed are synchronized.

S120, determining the target input shaft rotating speed corresponding to the transmission input shaft based on the target starting rotating speed and the current clutch rotating speed.

The target input shaft rotating speed is a target rotating speed value expected to be reached by the transmission input shaft at each moment in the starting process of the vehicle. The target input shaft rotational speed varies linearly with time.

Exemplary, as shown in coordinate system (A) of FIG. 2, the driver is at T ₀ And stepping on the accelerator at the moment, wherein the black dotted line is the track line of the target input shaft, and the rotating speed of the target input shaft changes along with time. The purpose of determining the target input shaft rotational speed is: making the speed variatorThe actual input shaft rotating speed is obtained by taking the target input shaft rotating speed as a target value, so that the input shaft rotating speed of the transmission is in a linear change trend in the starting process of the vehicle, and the smooth starting of the vehicle is realized.

Specifically, the target input shaft rotation speed may be determined in real time according to the start initial input shaft rotation speed B0 corresponding to the start initial time, the start initial clutch rotation speed L0 corresponding to the start initial time, the target start rotation speed S, and the current clutch rotation speed L. The specific formula for determining the target input shaft rotating speed in real time is as follows:

s130, determining a current closed-loop control torque based on the current input shaft rotating speed and the target input shaft rotating speed, and determining a target closed-loop control torque based on the target required torque and the current closed-loop control torque.

When the current closed-loop control torque is different between the current input shaft rotating speed and the target input shaft rotating speed, the torque quantity provided by other adjusting modules on the vehicle is needed in order to enable the next input shaft rotating speed and the next target input shaft rotating speed to be the same.

Specifically, after determining the current input shaft rotation speed and the target input shaft rotation speed corresponding to the current time, a rotation speed difference between the current input shaft rotation speed and the target input shaft rotation speed may be further determined. Based on the rotational speed difference and a preset torque control algorithm, a current closed-loop control torque corresponding to the rotational speed difference may be determined. And then, carrying out summation operation on the current closed-loop control torque and the target required torque, and determining the target closed-loop control torque.

For example, the determined rotational speed difference between the current input shaft rotational speed and the target input shaft rotational speed is Δp, and a proportional-integral-derivative control (PID) control algorithm may be used to determine the current closed-loop control torque. The specific implementation process is as follows: the rotational speed difference Δp is input into a PID control algorithm, which can output the current closed loop control torque. Further, the target closed-loop control torque may be expressed as: target closed-loop control torque = target demand torque + current closed-loop control torque.

And S140, controlling the running mode of the motor to be a rotating speed mode, and controlling the motor to carry out closed-loop control on the rotating speed of the next input shaft of the transmission input shaft based on the target closed-loop control torque until the current clutch rotating speed and the current input shaft rotating speed reach the target starting rotating speed.

In the present embodiment, the operation modes of the motor include a rotational speed mode and a torque mode. On the basis of determining the target closed-loop control torque, controlling a motor of the vehicle to enter a rotating speed control mode, and controlling the motor to operate based on the target closed-loop control torque so as to realize the purpose of closed-loop control on the rotating speed of the next input shaft of the transmission input shaft. In the starting control process, the motor continuously runs in a rotating speed mode based on a target closed-loop control torque corresponding to the current speed change input shaft rotating speed until the current clutch rotating speed is detected to be synchronous with the current input shaft rotating speed of the transmission input shaft and the target starting rotating speed is reached.

Exemplary, as shown in FIG. 2, when the driver is at T ₀ The throttle is stepped on at the moment, from T ₀ And from moment to moment, acquiring the current input shaft rotating speed and the current transmission rotating speed in real time, further determining the target input shaft rotating speed corresponding to the current moment according to the current clutch rotating speed and the target starting rotating speed, calculating a rotating speed difference value between the current transmission rotating speed and the target input shaft rotating speed, and determining the target closed-loop control torque according to the rotating speed difference value. From T ₀ After the target closed-loop control torque is calculated, the motor performs closed-loop control on the rotation speed of the next input shaft of the transmission input shaft according to the target closed-loop control torque so as to enable the rotation speed of the next input shaft to approach the rotation speed of the target input shaft. As shown in fig. 2, the solid black line in the coordinate system (a) in fig. 2 is an input shaft rotational speed trace in which the input shaft rotational speed varies with time, the dotted black line is a target input shaft rotational speed trace in which the target input shaft rotational speed varies with time, and the dotted black line in the coordinate system (B) in fig. 2 is a motor operation torque trace in which the motor operation torque varies with time. Wherein the motor operating torque is controlled by a target closed loopControlled. At T ₁ At the moment, the current input shaft rotating speed is smaller than the target input shaft rotating speed, and the motor running torque corresponding to the motor is larger than the target required torque at the moment, so that the transmission input shaft rotating speed is adjusted, the transmission input shaft rotating speed at the next moment is increased, and the target input shaft rotating speed tends to be reached. At T ₂ The current input shaft rotating speed is larger than the target input shaft rotating speed at the moment, and the motor running torque corresponding to the motor is smaller than the target required torque, so that the input rotating speed of the variable device is adjusted, the input shaft rotating speed of the next transmission is reduced, and the target input shaft rotating speed is trended. To T ₃ At that time, the clutch rotational speed is synchronized with the input shaft rotational speed of the transmission input shaft, and the target starting rotational speed is reached, and the motor stops the operation of closed-loop control of the transmission input shaft rotational speed.

Example two

Fig. 3 is a flowchart of a vehicle start control method according to a second embodiment of the present invention, where after the current clutch rotational speed and the current input shaft rotational speed reach the target start rotational speed, the current start ending torque corresponding to the motor is determined, the operation mode of the motor is switched from the rotational speed mode to the torque mode, and the operation is performed with the current start ending torque. Embodiments of the invention may be combined with various alternatives to one or more of the embodiments described above. As shown in fig. 3, the method includes:

s210, responding to the accelerator pedal operation of a driver, determining target required torque corresponding to the accelerator pedal operation and target starting rotation speed when the transmission input shaft is synchronous with the clutch, and acquiring the current input shaft rotation speed of the transmission input shaft and the current clutch rotation speed.

S220, determining the target input shaft rotating speed corresponding to the transmission input shaft based on the target starting rotating speed and the current clutch rotating speed.

S230, determining a current closed-loop control torque based on the current input shaft rotating speed and the target input shaft rotating speed, and determining a target closed-loop control torque based on the target required torque and the current closed-loop control torque.

S240, controlling the running mode of the motor to be a rotating speed mode, and controlling the motor to carry out closed-loop control on the rotating speed of the next input shaft of the transmission input shaft based on the target closed-loop control torque until the current clutch rotating speed and the current input shaft rotating speed reach the target starting rotating speed.

S250, determining the current starting and ending torque corresponding to the motor.

The current starting ending torque is the torque of the motor for controlling the motor to run after the starting control is completed.

In this embodiment, the current starting end torque corresponding to the motor may be determined according to the target required torque and the current restoring torque. The current restoring torque is determined according to the target closed-loop control torque corresponding to the starting control completion time.

Based on the above embodiment, S250 specifically includes: determining a target closed-loop control torque corresponding to the current moment; determining the current recovery torque based on the target closed-loop control torque and a preset slope; and determining the current starting ending torque corresponding to the motor based on the current restoring torque and the target required torque.

Specifically, when the current clutch rotational speed and the current input shaft rotational speed reach the target starting rotational speed, the starting control completion time is the starting control completion time. And determining a target closed-loop control torque corresponding to the current moment at the starting control completion moment. And determining a change line segment between different moments with preset slopes and the restoring torque by taking the target closed-loop control torque as an initial torque and the zero torque as an end torque, and further determining the current restoring torque based on the current moment and the change line segment. Further, the sum of the current restoring torque and the target required torque is used as the corresponding current starting ending torque of the motor.

And S260, switching the operation mode of the motor from a rotating speed mode to a torque mode, and operating with the current starting and ending torque.

In the present embodiment, after the start control is completed, the operation mode of the motor is switched from the rotation speed mode to the torque mode. The motor can be understood to enter a torque mode after the starting control is completed, and operates with the current starting ending torque until the current restoring torque in the current starting ending torque is zero, and the motor continues to operate with the target required torque of the vehicle.

According to the technical scheme provided by the embodiment of the invention, after the starting control is finished, the current starting ending torque corresponding to the motor is determined, the running mode of the motor is switched from the rotating speed mode to the torque mode, and the motor runs with the current starting ending torque, so that after the starting control is finished, the motor can smoothly realize mode switching based on the current starting ending torque, the running torque of the motor is gradually transited from the target closed-loop control torque corresponding to the starting control ending moment to the target required torque, and the smoothness of the vehicle starting process is further improved.

Example III

Fig. 4 is a flowchart of a vehicle start control method according to a third embodiment of the present invention, where the steps of determining a target input shaft rotational speed corresponding to the transmission input shaft based on the target start rotational speed, the current input shaft rotational speed, and the current clutch rotational speed, and determining a current closed-loop control torque based on the current input shaft rotational speed and the target input shaft rotational speed are further optimized based on the foregoing embodiments, and the embodiments of the present invention may be combined with each of the alternatives in one or more embodiments. As shown in fig. 4, the method includes:

And S310, responding to the accelerator pedal operation of a driver, determining target required torque corresponding to the accelerator pedal operation and target starting rotation speed when the transmission input shaft is synchronous with the clutch, and acquiring the current input shaft rotation speed of the transmission input shaft and the current clutch rotation speed.

S320, determining the starting initial input shaft rotating speed and the starting initial clutch rotating speed of the transmission input shaft based on the corresponding time of the accelerator pedal operation.

In this embodiment, since the current clutch rotational speed and the current input shaft rotational speed are both amounts that change continuously with time, each time a current clutch rotational speed is obtained, there is a current clutch rotational speed obtaining time corresponding thereto; similarly, each time a current input shaft rotational speed is obtained, there is a corresponding current input shaft rotational speed obtaining time. Based on the above, the moment corresponding to the moment when the driver steps on the accelerator is taken as the initial moment, the current input shaft rotation speed corresponding to the initial moment is the starting initial input shaft rotation speed, and the current clutch rotation speed corresponding to the initial moment is the starting initial clutch rotation speed.

S330, determining the target input shaft rotating speed corresponding to the transmission input shaft based on the target starting rotating speed, the current clutch rotating speed, the starting initial input shaft rotating speed and the starting initial clutch rotating speed.

In this embodiment, according to the target starting rotational speed S, the current clutch rotational speed L, the starting initial input shaft rotational speed B0, and the starting initial clutch rotational speed L0, the specific formula for determining the target input shaft rotational speed is:

s340, determining a rotating speed difference value between the current input shaft rotating speed and the target input shaft rotating speed.

In this embodiment, the time interval may be preset, and the current input shaft rotation speed may be obtained once at intervals of the preset time interval, and the target input shaft rotation speed corresponding to the current time may be determined, so as to calculate the rotation speed difference between the current input shaft rotation speed and the target input shaft rotation speed.

S350, determining the current closed-loop control torque based on the proportional-integral-derivative control mode and the rotating speed difference value.

The proportional-integral-derivative control mode can be realized through a PID control algorithm.

In this embodiment, the rotational speed difference between the current input shaft rotational speed determined in step S340 and the target input shaft rotational speed is used as the input value of the PID control algorithm, and the PID control algorithm may determine the current closed-loop control torque according to the rotational speed difference.

S360, determining the maximum closed-loop torque and the minimum closed-loop torque corresponding to the motor speed mode based on the current clutch speed and the target starting speed.

The maximum closed-loop torque is the maximum torque that the motor can operate in the rotating speed mode. The minimum closed loop torque is the minimum torque that the motor can operate in the rotational speed mode.

On the basis of the above embodiment, S360 specifically includes: determining a rotation speed ratio of the current clutch rotation speed to the target starting rotation speed; and determining the maximum closed-loop torque and the minimum closed-loop torque corresponding to the motor rotating speed mode based on a relation table between the rotating speed ratio and a preset rotating speed ratio and the limit torque.

Illustratively, the relationship between the rotational speed ratio and the maximum closed loop torque is shown in Table 1, and the relationship between the rotational speed ratio and the minimum closed loop torque is shown in Table 2.

Table 1 table of the relationship between the rotational speed ratio and the maximum closed loop torque

Ratio of rotational speeds	0	0.25	0.5	0.75	1
						Maximum closed loop torque	100	80	50	30	10

Table 2 table of the relationship between the rotational speed ratio and the maximum closed loop torque

Ratio of rotational speeds	0	0.25	0.5	0.75	1
						Minimum closed loop torque	-100	-80	-50	-30	-10

In this embodiment, after determining the rotation speed ratio of the current clutch rotation speed to the target starting rotation speed, the maximum closed-loop torque corresponding to the motor rotation speed mode may be determined by querying a relationship table between the rotation speed ratio and the maximum closed-loop torque; and determining the minimum closed-loop torque corresponding to the motor speed mode by inquiring a relation table between the speed ratio and the minimum closed-loop torque.

And S370, correcting the current closed-loop control torque based on the maximum closed-loop torque and the minimum closed-loop torque to obtain the corrected current closed-loop control torque.

In this embodiment, there may be an extreme case where the current closed-loop control torque exceeds the maximum value of the torque that the motor can output in the rotational speed mode, or where the current closed-loop control torque is lower than the minimum value of the torque that the motor can output in the rotational speed mode. Based on this, after the current closed-loop control torque is obtained, the current closed-loop control torque may be corrected based on the maximum closed-loop torque and the minimum closed-loop torque.

On the basis of the above embodiment, S370 specifically includes: if the current closed-loop control torque is greater than or equal to the maximum closed-loop torque, determining the maximum closed-loop torque as the corrected current closed-loop control torque; if the current closed-loop control torque is smaller than the maximum closed-loop torque and larger than the minimum closed-loop torque, stopping the operation of correcting the current closed-loop control torque; and if the current closed-loop control torque is smaller than or equal to the minimum closed-loop torque, determining the minimum closed-loop torque as the corrected current closed-loop control torque.

For example, if the maximum closed-loop torque is denoted as X, the minimum closed-loop torque is denoted as Y, and the current closed-loop control torque is denoted as Z, the corrected current closed-loop control torque H may be denoted as:

And S380, determining the target closed-loop control torque based on the target required torque and the current closed-loop control torque.

S390, controlling the running mode of the motor to be a rotating speed mode, and controlling the motor to carry out closed-loop control on the rotating speed of the next input shaft of the transmission input shaft based on the target closed-loop control torque until the current clutch rotating speed and the current input shaft rotating speed reach the target starting rotating speed.

According to the technical scheme provided by the embodiment of the invention, after the front closed-loop control torque is obtained, the current closed-loop control torque is further corrected based on the maximum closed-loop torque and the minimum closed-loop torque, and then the target closed-loop control torque is determined according to the corrected current closed-loop control torque, so that the damage to the motor caused by the fact that the target closed-loop control torque exceeds the range of the motor capable of outputting the torque is avoided, and the starting control safety is ensured.

Example IV

Fig. 5 is a schematic structural diagram of a vehicle start control device according to a fourth embodiment of the present invention, where the device may execute the vehicle start control method according to the embodiment of the present invention. The device comprises: the current data acquisition module 410, the target rotational speed determination module 420, the closed loop control torque determination module 430, and the launch control module 440.

The current data obtaining module 410 is configured to determine a target required torque corresponding to an accelerator pedal operation, a target starting rotational speed when the transmission input shaft is synchronized with the clutch, and obtain a current input shaft rotational speed of the transmission input shaft and a current clutch rotational speed in response to the accelerator pedal operation of the driver;

a target rotational speed determination module 420 configured to determine a target input shaft rotational speed corresponding to the transmission input shaft based on the target starting rotational speed and the current clutch rotational speed;

a closed-loop control torque determination module 430 for determining a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determining a target closed-loop control torque based on the target demand torque and the current closed-loop control torque;

the start control module 440 is configured to control an operation mode of the motor to be a rotational speed mode, and control the motor to perform closed-loop control on a next input shaft rotational speed of the transmission input shaft based on the target closed-loop control torque until the current clutch rotational speed and the current input shaft rotational speed reach a target start rotational speed.

Based on the above aspects, the target rotation speed determining module 420 includes:

the initial data determining unit is used for determining the starting initial input shaft rotating speed and the starting initial clutch rotating speed of the transmission input shaft based on the moment corresponding to the accelerator stepping operation;

the target rotation speed determining unit is used for determining the target input shaft rotation speed corresponding to the transmission input shaft based on the target starting rotation speed, the current input shaft rotation speed, the current clutch rotation speed, the starting initial input shaft rotation speed and the starting initial clutch rotation speed.

Based on the above aspects, the closed-loop control torque determination module 430 includes:

a rotation speed difference value determining unit for determining a rotation speed difference value between the current input shaft rotation speed and the target input shaft rotation speed;

the current torque determining unit is used for determining the current closed-loop control torque based on the proportional-integral-derivative control mode and the rotating speed difference value;

the limit torque determining unit is used for determining the maximum closed-loop torque and the minimum closed-loop torque corresponding to the motor rotating speed mode based on the current clutch rotating speed and the target starting rotating speed;

the control torque correction unit is used for correcting the current closed-loop control torque based on the maximum closed-loop torque and the minimum closed-loop torque to obtain the corrected current closed-loop control torque.

On the basis of the above aspects, the limit torque determining unit includes:

the rotating speed ratio determining subunit is used for determining the rotating speed ratio of the current clutch rotating speed to the target starting rotating speed;

and the limit torque determining subunit is used for determining the maximum closed-loop torque and the minimum closed-loop torque corresponding to the motor rotating speed mode based on a relation table between the rotating speed ratio and the preset rotating speed ratio and the limit torque.

Based on the above technical solutions, the control torque correction unit is specifically configured to: if the current closed-loop control torque is greater than or equal to the maximum closed-loop torque, determining the maximum closed-loop torque as the corrected current closed-loop control torque; if the current closed-loop control torque is smaller than the maximum closed-loop torque and larger than the minimum closed-loop torque, stopping the operation of correcting the current closed-loop control torque; and if the current closed-loop control torque is smaller than or equal to the minimum closed-loop torque, determining the minimum closed-loop torque as the corrected current closed-loop control torque.

On the basis of the technical schemes, the starting control device also comprises a motor mode conversion module; wherein, the motor mode conversion module includes:

The ending torque determining unit is used for determining the current starting ending torque corresponding to the motor;

and the motor mode conversion unit is used for switching the operation mode of the motor from a rotating speed mode to a torque mode and operating at the current starting and ending torque.

On the basis of the above technical solutions, the ending torque determining unit is specifically configured to: determining a target closed-loop control torque corresponding to the current moment; determining the current recovery torque based on the target closed-loop control torque and a preset slope; and determining the current starting ending torque corresponding to the motor based on the current restoring torque and the target required torque.

The vehicle starting control device provided by the embodiment of the disclosure can execute the vehicle starting control method provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

It should be noted that each unit and module included in the above apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for convenience of distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present disclosure.

Example five

Fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable electronic devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 13. An input/output (I/O) interface 15 is also connected to bus 13.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other electronic devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the respective methods and processes described above, such as a start control method of the vehicle.

In some embodiments, the vehicle launch control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle start control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle launch control method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable vehicle launch control apparatus, such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or electronic device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage electronic device, a magnetic storage electronic device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome. It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein. The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle start control method, comprising:

2. The method of claim 1, wherein the determining a target input shaft speed for the transmission input shaft based on the target launch speed and the current clutch speed comprises:

Determining a starting initial input shaft rotating speed and a starting initial clutch rotating speed of the transmission input shaft based on the corresponding moment of the accelerator stepping operation;

and determining the target input shaft rotating speed corresponding to the transmission input shaft based on the target starting rotating speed, the current clutch rotating speed, the starting initial input shaft rotating speed and the starting initial clutch rotating speed.

3. The method of claim 1, wherein the determining a current closed-loop control torque based on the current input shaft speed and the target input shaft speed comprises:

determining a rotational speed difference between the current input shaft rotational speed and the target input shaft rotational speed;

determining the current closed-loop control torque based on a proportional-integral-derivative control mode and the rotating speed difference value;

determining a maximum closed-loop torque and a minimum closed-loop torque corresponding to the motor speed mode based on the current clutch speed and the target starting speed;

and correcting the current closed-loop control torque based on the maximum closed-loop torque and the minimum closed-loop torque to obtain corrected current closed-loop control torque.

4. The method of claim 3, wherein the determining a maximum closed-loop torque and a minimum closed-loop torque corresponding to the motor speed mode based on the current clutch speed and the target launch speed comprises:

Determining a rotation speed ratio of the current clutch rotation speed to the target starting rotation speed;

and determining the maximum closed-loop torque and the minimum closed-loop torque corresponding to the motor rotating speed mode based on the relation table between the rotating speed ratio and the preset rotating speed ratio and the limit torque.

5. The method of claim 3, wherein modifying the current closed-loop control torque based on the maximum closed-loop torque and the minimum closed-loop torque to obtain a modified current closed-loop control torque comprises:

if the current closed-loop control torque is greater than or equal to the maximum closed-loop torque, determining the maximum closed-loop torque as the corrected current closed-loop control torque;

if the current closed-loop control torque is smaller than the maximum closed-loop torque and larger than the minimum closed-loop torque, stopping the operation of correcting the current closed-loop control torque;

and if the current closed-loop control torque is smaller than or equal to the minimum closed-loop torque, determining the minimum closed-loop torque as the corrected current closed-loop control torque.

6. The method of claim 1, further comprising, after the current clutch speed and current input shaft speed reach a target launch speed:

Determining the current starting and ending torque corresponding to the motor;

and switching the operation mode of the motor from the rotating speed mode to a torque mode, and operating with the current starting and ending torque.

7. The method of claim 6, wherein the determining the current launch end torque for the electric machine comprises:

determining a target closed-loop control torque corresponding to the current moment;

determining the current recovery torque based on the target closed-loop control torque and a preset slope;

and determining the current starting ending torque corresponding to the motor based on the current restoring torque and the target required torque.

8. A start control device for a vehicle, comprising:

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle launch control method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to execute the vehicle launch control method of any one of claims 1-7.