CN116534022A - Intelligent control method and system for whole vehicle driving mode - Google Patents

Intelligent control method and system for whole vehicle driving mode Download PDF

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Publication number
CN116534022A
CN116534022A CN202310454480.8A CN202310454480A CN116534022A CN 116534022 A CN116534022 A CN 116534022A CN 202310454480 A CN202310454480 A CN 202310454480A CN 116534022 A CN116534022 A CN 116534022A
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China
Prior art keywords
driving mode
torque
vehicle
value
determining
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Chinese (zh)
Inventor
李登辉
李海波
权卫平
张德全
张珍
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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Priority to CN202310454480.8A priority Critical patent/CN116534022A/en
Publication of CN116534022A publication Critical patent/CN116534022A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention relates to the technical field of vehicle driving control, in particular to an intelligent control method and system for a whole vehicle driving mode. The driving mode switch does not directly output driving mode signals, but continuously adjusts a plurality of parameters to control the torque output of the vehicle, and the control method can realize smooth switching of a plurality of driving modes, thereby solving the limitation that only a plurality of fixed driving modes exist at present and greatly meeting the personalized driving requirements of users; the control method comprises two control strategies, namely a custom mode and an intelligent mode, wherein the custom mode requires a user to operate a driving mode main switch to select the custom mode, and then operates a driving mode sub-switch to realize switching of the driving mode; after the intelligent mode is selected by the main switch of the driving mode which is operated by the user, the driving mode sub-switch is not required to be operated by the user, and the vehicle intelligently switches the driving mode according to the running state and the road surface working condition, so that proper torque output is realized, and the driving experience of the vehicle is improved.

Description

Intelligent control method and system for whole vehicle driving mode
Technical Field
The invention relates to the technical field of vehicle driving control, in particular to an intelligent control method and system for a whole vehicle driving mode.
Background
At the moment of the increasing popularity of vehicles, the personalized demands of young people on vehicles are becoming higher, wherein the personalized demands on drivability are particularly prominent. While most vehicles now offer three driving modes, energy saving (EHo), comfort (Normal) and Sport (Sport), for most users these three modes are difficult to match exactly to the actual needs of the user and do not experience personalized driving pleasure.
The intelligent control of the driving mode can well solve the problem to meet the driving requirements of different crowds. However, the driving mode intelligent control method in the prior art generally depends on the cloud server and the internet of things technology, or needs to collect a large amount of excellent driving experience of a driver, has high requirements on the networking environment of the vehicle, has the possibility of delay or unavailable risk in the environment with poor or no network, has high control cost, and is difficult to apply to the actual mass production vehicle.
Disclosure of Invention
The invention aims to solve the technical problems that: aiming at the defects of the prior art, the intelligent control method and the system for the whole vehicle driving mode are provided, the proper driving mode can be intelligently matched, the driving mode is supported to be customized, and the personalized driving requirement of a user is further met to the greatest extent.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent control method for a whole vehicle driving mode mainly comprises the following steps:
s1, acquiring the type of the current main driving mode, if the current main driving mode is a custom mode, executing a step S2, and if the current main driving mode is an intelligent mode, executing a step S3;
s2, acquiring a current sub-driving mode category, determining a torque distribution parameter k and a torque filtering parameter r according to the sub-driving mode category, and executing a step S6;
s3, acquiring a speed signal, a wheel speed signal, a gradient signal, a terrain signal and an accelerator pedal signal of the current vehicle;
s4, determining a slip rate value H of the current vehicle according to the vehicle speed signal and the wheel speed signal, determining a gradient inclination angle value A of the current vehicle according to the gradient signal, determining a road friction coefficient U of the current vehicle running according to the terrain signal, and determining an accelerator opening B and an opening change rate W of the current vehicle according to the accelerator pedal signal;
s5, calculating a torque distribution parameter k and a torque filtering parameter r according to the slip value H, the gradient inclination angle value A, the road friction coefficient U, the accelerator opening B and the opening change rate W, and executing a step S6;
s6, executing a corresponding torque output table according to the torque distribution parameter k, and determining a target output torque corresponding to the current accelerator pedal opening according to the torque output table;
s7, determining torque response time corresponding to the target output torque according to the torque filtering parameter r;
and S8, controlling a torque output value of the vehicle according to the target output torque and the torque response time.
Wherein, the value range of the torque distribution parameter k is 0-1, and when k is 1, a strong power torque output table is executed; when k is 0, then executing a weak power torque output table; when k is between 0 and 1, the larger the k value is, the smaller the accelerator pedal opening value required for reaching the same target output torque in the executed torque output table is; the value range of the torque filtering parameter r is 0-1, and when r is 0, torque filtering is not performed; when r is not 0, torque filtering is performed, and the larger the r is, the longer the torque response time required for reaching the same target output torque is.
Further, in step S1, the main driving mode category is obtained through a driving mode main switch in the vehicle, and the driving mode main switch is provided with two gears, namely a "custom mode" and an "intelligent mode".
Further, in step S2, the sub-driving mode category is obtained through a driving mode sub-switch in the vehicle, where the driving mode sub-switch is provided with a plurality of modes, and each mode corresponds to a different torque distribution parameter k and a torque filtering parameter r.
Further, in step S4, the slope inclination angle value a is positive in the vehicle uphill state and negative in the vehicle downhill state; the specific determination method of the road friction coefficient U comprises the following steps: firstly, determining the road surface working condition of the current vehicle according to the terrain signal, and then determining the road surface friction coefficient U of the current vehicle according to a preset reference table of friction coefficients of the road surface working conditions.
Further, in step S5, the calculation formulas of the torque distribution parameter k and the torque filtering parameter r are as follows:
k＝A×k 2 +U×k 3 +B×k 4 +W×k 5 －H×k 1
r＝H×r 1 －A×r 2 －U×r 3 －B×r 4 －W×r 5
wherein k is 1 、k 2 、k 3 、k 4 、k 5 Torque distribution weight coefficients respectively comprise a slip rate value H, a gradient inclination angle value A, a road friction coefficient U, an accelerator opening B and an opening change rate W; r is (r) 1 、r 2 、r 3 、r 4 、r 5 The torque filter weight coefficients are respectively a slip rate value H, a gradient inclination angle value A, a road friction coefficient U, an accelerator opening B and an opening change rate W.
Further, in step S6, a plurality of torque output tables are provided, and different torque distribution parameters k correspond to different torque output tables, where target output torques corresponding to the opening values of the accelerator pedal are recorded.
Based on the same inventive concept, the application also provides an intelligent control system for the whole vehicle driving mode, which mainly comprises a driving mode input module, a driving mode control module and a power output module, wherein the driving mode input module consists of a driving mode input module, a whole vehicle parameter monitoring module and a road surface working condition identification module;
the driving mode input module comprises a driving mode main switch and a driving mode sub-switch, and is used for acquiring the main driving mode category and the sub-driving mode category of the current vehicle respectively;
the whole vehicle parameter monitoring module is used for monitoring a speed signal, a wheel speed signal and an accelerator pedal signal of a vehicle in real time, calculating a slip rate value of the current vehicle according to the speed signal and the wheel speed signal, and determining the accelerator opening and the opening change rate of the current vehicle according to the accelerator pedal signal;
the road surface working condition identification module is used for monitoring gradient signals and terrain signals of the vehicle in real time, determining the up-down slope state and gradient inclination angle value of the current vehicle according to the gradient signals, and determining the road surface working condition of the current vehicle according to the terrain signals;
the driving mode control module is used for receiving the output signal of the driving mode input module, calculating and determining the torque distribution parameter and the torque filtering parameter of the current vehicle;
and the power output module is used for determining the target output torque and the torque response time of the current vehicle according to the torque distribution parameter and the torque filtering parameter and combining a preset torque output table.
Compared with the prior art, the invention has the following main advantages:
1. the invention provides a brand new driving mode control method and system, wherein a driving mode switch does not directly output driving mode signals, but continuously adjusts a plurality of parameters to control the torque output of a vehicle, and the control method can realize smooth switching of a plurality of driving modes, thereby solving the limitation that only a plurality of fixed driving modes exist at present and greatly meeting the personalized driving requirements of users;
2. the control method provided by the invention comprises two control strategies, namely a custom mode and an intelligent mode, wherein the custom mode requires a user to operate a driving mode main switch to select the custom mode, and then operates a driving mode sub-switch to realize switching of the driving mode; after the intelligent mode is selected by the main switch of the driving mode which is operated by the user, the driving mode sub-switch is not required to be operated by the user, and the vehicle intelligently switches the driving mode according to the running state and the road surface working condition, so that proper torque output is realized, and the driving experience of the vehicle is improved.
Drawings
FIG. 1 is a flow chart of an intelligent control method for a whole vehicle driving mode in an embodiment of the invention;
FIG. 2 is a graph showing the torque distribution parameter versus the target output torque according to an embodiment of the present invention;
FIG. 3 is a graph showing the torque response time versus torque filter parameter in accordance with an embodiment of the present invention;
fig. 4 is a schematic diagram of an intelligent control system for a whole vehicle driving mode in an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
It should be noted that each step/component described in the present application may be split into more steps/components, or two or more steps/components or part of the operations of the steps/components may be combined into new steps/components, as needed for implementation, to achieve the object of the present invention.
Embodiment one, the intelligent control method for the whole vehicle driving mode provided in this embodiment, as shown in fig. 1, mainly includes the following steps:
an intelligent control method for a whole vehicle driving mode mainly comprises the following steps:
s1, acquiring the type of the current main driving mode, if the current main driving mode is a custom mode, executing a step S2, and if the current main driving mode is an intelligent mode, executing a step S3;
the main driving mode type is obtained through a driving mode main switch in the vehicle, and the driving mode main switch is provided with two gears of a self-defined mode and an intelligent mode.
S2, acquiring a current sub-driving mode category, determining a torque distribution parameter k and a torque filtering parameter r according to the sub-driving mode category, and executing a step S6;
the sub driving mode category is obtained through a driving mode sub switch in the vehicle, the driving mode sub switch is provided with a plurality of modes, and each mode corresponds to different torque distribution parameters k and torque filtering parameters r.
S3, acquiring a speed signal, a wheel speed signal, a gradient signal, a terrain signal and an accelerator pedal signal of the current vehicle;
s4, determining a slip rate value H of the current vehicle according to the vehicle speed signal and the wheel speed signal, determining a gradient inclination angle value A of the current vehicle according to the gradient signal, determining a road friction coefficient U of the current vehicle running according to the terrain signal, and determining an accelerator opening B and an opening change rate W of the current vehicle according to the accelerator pedal signal;
wherein, the slope inclination angle value A is positive number when the vehicle is in an ascending state and is negative number when the vehicle is in a descending state;
the specific determination method of the road friction coefficient U comprises the following steps: firstly, determining the road surface working condition of the current vehicle according to the terrain signal, and then determining the road surface friction coefficient U of the current vehicle according to a preset reference table of friction coefficients of the road surface working conditions;
the calculation formulas of the torque distribution parameter k and the torque filtering parameter r are as follows:
k＝A×k 2 +U×k 3 +B×k 4 +W×k 5 －H×k 1
r＝H×r 1 －A×r 2 －U×r 3 －B×r 4 －W×r 5
wherein k is 1 、k 2 、k 3 、k 4 、k 5 Torque distribution weight coefficients respectively comprise a slip rate value H, a gradient inclination angle value A, a road friction coefficient U, an accelerator opening B and an opening change rate W; r is (r) 1 、r 2 、r 3 、r 4 、r 5 The torque filter weight coefficients are respectively a slip rate value H, a gradient inclination angle value A, a road friction coefficient U, an accelerator opening B and an opening change rate W.
S5, calculating a torque distribution parameter k and a torque filtering parameter r according to the slip value H, the gradient inclination angle value A, the road friction coefficient U, the accelerator opening B and the opening change rate W, and executing a step S6;
s6, executing a corresponding torque output table according to the torque distribution parameter k, and determining a target output torque corresponding to the current accelerator pedal opening according to the torque output table;
the torque output tables are provided with a plurality of torque distribution parameters k, and the different torque distribution parameters k correspond to different torque output tables respectively, and target output torques corresponding to opening values of all accelerator pedals are recorded in the torque output tables.
S7, determining torque response time corresponding to the target output torque according to the torque filtering parameter r;
and S8, controlling a torque output value of the vehicle according to the target output torque and the torque response time.
As shown in fig. 2, the value range of the torque distribution parameter K is 0-1, and when K is 1, a strong power torque output table is executed; executing a weak power torque output table when K is 0; when K is between 0 and 1, the overall vehicle torque output value is also between the two torque output tables.
Meanwhile, when the value of K is larger, the output torque value changes faster, the maximum torque value is reached faster, the opening value of the accelerator pedal corresponding to the maximum torque value is smaller, the dynamic property is stronger, a user can output large torque only by stepping on a small accelerator, and the starting, accelerating and overtaking performances of the vehicle are improved.
As shown in fig. 3, the value range of the torque filtering parameter r is 0-1, and when r is 0, torque filtering is not performed; when r is not 0, torque filtering is performed.
Meanwhile, as the r value is increased, the larger the torque filtering strength is, the response of the output torque is poor, the smoothness is good, the r value does not influence the torque output value under the same accelerator, and only the torque change process is regulated. It can be seen from the graph that as the r value increases, the longer it takes to reach the same output torque. When the r value is larger, after the user pulls down the accelerator, the user can feel that the power output is slowly increased but the acceleration smoothness is better.
Further, when the user controls the driving mode main switch to select the self-defining mode, if the user pursues dynamic driving experience, the driving mode can be selected to adjust a large K value and a small r value, the torque output value of the vehicle under the same accelerator opening can be large, the torque response is quick, and the acceleration sense is strong; if the user pursues comfortable driving experience and fuel economy, the user can select a driving mode to adjust a small K value and a large r value, the vehicle torque output value under the same accelerator opening degree is lower, the torque response is slower, and the acceleration feeling is weaker.
Further, when the user controls the driving mode main switch to select the intelligent mode, the driving mode sub-switch does not control the driving mode any more, and the vehicle intelligently selects the driving mode according to the running state and the road surface working condition to adjust the torque output of the vehicle. The intelligent mode function of the vehicle driving mode requires an accelerator pedal signal, a vehicle speed signal, a wheel speed signal, a gradient signal and a multi-terrain signal, calculates the accelerator opening and the opening change rate according to the accelerator pedal signal, and calculates the vehicle slip rate according to the vehicle speed signal and the wheel speed signal. When the torque distribution parameters and the torque filtering parameters are calculated, the magnitude of the slip rate of the vehicle is firstly judged, the greater the slip rate is, the higher the risk of the slip of the vehicle is, and when the slip rate is greater than a certain value, the grip of the vehicle can be rapidly reduced, so that the driving stability and the safety of the vehicle are affected. When the slip rate is greater than a certain value, the driving mode is intelligently selected to reduce the K value, the r value is increased, the torque output value under the same accelerator opening is reduced, and the slip rate is reduced to a reasonable level. Secondly, judging the gradient, the road surface working condition and the accelerator pedal signal, when the vehicle ascends, the required torque is larger, intelligently selecting a driving mode to increase the K value, reducing the r value, improving the torque output value under the same accelerator opening, and selecting the downhill just opposite; when the vehicle is on a road working condition with larger friction coefficients such as rock, sand and the like, the driving mode is intelligently selected to increase the K value, the r value is reduced, the torque output value under the same accelerator opening is improved, and when the vehicle is on a road working condition with smaller friction coefficients such as snow, mud and the like, the driving mode is intelligently selected to decrease the K value, the r value is increased, and the torque output value under the same accelerator opening is reduced; when the accelerator opening of the user is larger or the change rate of the accelerator opening is larger, the driving mode is intelligently selected to increase the K value, the r value is reduced, and the torque output value under the same accelerator opening is improved. Through the judgment of the signals, proper K value and r value are finally output to adjust the output values of the torques under different accelerographs, so that the drivability requirement of a user is met.
Based on the same inventive concept, the second embodiment also provides an intelligent control system for the driving mode of the whole vehicle, which is used for realizing the intelligent control method for the driving mode of the whole vehicle, as shown in fig. 4, the control system comprises a driving mode signal input module composed of a whole vehicle parameter monitoring module, a road surface working condition identifying module and a driving mode key input module, so as to jointly determine the input signals required by the driving mode control,
the whole vehicle monitoring module monitors signals such as the speed, the wheel speed, the opening degree of an accelerator pedal and the like of a vehicle in real time;
further, the road surface working condition recognition module judges whether the basic state of the road surface is a ramp, a rock, a snowfield, a sand, a mud, a wading or highway working condition and the like in real time;
further, the driving mode key input signal judges whether the main switch and the sub switch of the current driving mode are pressed, loosened, failed and other states;
further, the driving mode control module controls switching of driving modes according to the received input signals of the driving mode input module, and corresponding torque distribution parameters and torque filtering parameters are calculated;
further, the power output module is used for receiving the torque distribution parameter and the torque filtering parameter signals output by the driving mode control module, and calculating the output torque of the vehicle by combining a torque output table preset by the vehicle, so that the drivability requirement of a user is met.
An embodiment III provides a method and a system for intelligently controlling a driving mode of a whole vehicle, wherein the control system is provided with a driving mode main switch and a driving mode sub-switch, the main switch selects the driving mode as an intelligent mode or a custom mode, and the driving mode sub-switch controls the switching of the driving mode; therefore, the user can set the driving mode by himself or can intelligently match the proper driving mode according to the running state of the vehicle and the road surface working condition.
The driving mode sub-switch has multiple modes which can be selected (in theory, countless types can exist), and a user can switch the driving modes by adjusting the sub-switch, such as a knob, a vehicle-mounted screen key or utilizing voice control and the like, experience driving feelings in different driving modes and set the driving modes which are met by the user.
The vehicle sets two basic torque output tables, one is a strong power output table and the other is a weak power output table. Different driving modes select different torque coefficients and filtering coefficients, firstly, a torque output value is determined through the torque coefficients and two torque meters, and then the torque response and the torque smoothness of the whole vehicle are adjusted through the filtering coefficients, so that different driving experiences are realized.
The driving mode sub-switch does not output a specific driving mode, but outputs continuous digital signals, torque distribution parameters and torque filtering parameters are calculated through internal conversion, different torque output is determined by different torque distribution parameters and torque filtering parameters based on a preset torque output table, and different driving experiences are realized.
Further, the preset torque output table is not limited to two, but may be one or more.
Further, the parameters of the driving mode control are not limited to the torque distribution parameters and the torque filter coefficients, and may relate to other parameters that affect the drivability feeling.
Further, the torque distribution parameter and the torque filter coefficient of the driving mode control are not limited to the one-dimensional table, and may be a multidimensional table.
To sum up:
1. the invention provides a brand new driving mode control method and system, wherein a driving mode switch does not directly output driving mode signals, but continuously adjusts a plurality of parameters to control the torque output of a vehicle, and the control method can realize smooth switching of a plurality of driving modes, thereby solving the limitation that only a plurality of fixed driving modes exist at present and greatly meeting the personalized driving requirements of users;
2. the control method provided by the invention comprises two control strategies, namely a custom mode and an intelligent mode, wherein the custom mode requires a user to operate a driving mode main switch to select the custom mode, and then operates a driving mode sub-switch to realize switching of the driving mode; after the intelligent mode is selected by the main switch of the driving mode which is operated by the user, the driving mode sub-switch is not required to be operated by the user, and the vehicle intelligently switches the driving mode according to the running state and the road surface working condition, so that proper torque output is realized, and the driving experience of the vehicle is improved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. The intelligent control method for the whole vehicle driving mode is characterized by comprising the following steps of:
s1, acquiring the type of the current main driving mode, if the current main driving mode is a custom mode, executing a step S2, and if the current main driving mode is an intelligent mode, executing a step S3;
s2, acquiring a current sub-driving mode category, determining a torque distribution parameter k and a torque filtering parameter r according to the sub-driving mode category, and executing a step S6;
s3, acquiring a speed signal, a wheel speed signal, a gradient signal, a terrain signal and an accelerator pedal signal of the current vehicle;
s4, determining a slip rate value H of the current vehicle according to the vehicle speed signal and the wheel speed signal, determining a gradient inclination angle value A of the current vehicle according to the gradient signal, determining a road friction coefficient U of the current vehicle running according to the terrain signal, and determining an accelerator opening B and an opening change rate W of the current vehicle according to the accelerator pedal signal;
s5, calculating a torque distribution parameter k and a torque filtering parameter r according to the slip value H, the gradient inclination angle value A, the road friction coefficient U, the accelerator opening B and the opening change rate W, and executing a step S6;
s6, executing a corresponding torque output table according to the torque distribution parameter k, and determining a target output torque corresponding to the current accelerator pedal opening according to the torque output table;
s7, determining torque response time corresponding to the target output torque according to the torque filtering parameter r;
and S8, controlling a torque output value of the vehicle according to the target output torque and the torque response time.
2. The intelligent control method for the whole vehicle driving mode according to claim 1, wherein in step S1, the main driving mode category is obtained through a driving mode main switch in the vehicle, and the driving mode main switch is provided with two gears, namely a "custom mode" and an "intelligent mode".
3. The intelligent control method for the whole vehicle driving mode according to claim 1, wherein in step S2, the sub-driving mode category is obtained through a driving mode sub-switch in the vehicle, the driving mode sub-switch is provided with a plurality of modes, and each mode corresponds to a different torque distribution parameter k and a torque filtering parameter r respectively.
4. The intelligent control method for the whole vehicle driving mode according to claim 1, wherein in the step S4, the gradient inclination angle value a is positive in a vehicle ascending state and is negative in a vehicle descending state; the specific determination method of the road friction coefficient U comprises the following steps: firstly, determining the road surface working condition of the current vehicle according to the terrain signal, and then determining the road surface friction coefficient U of the current vehicle according to a preset reference table of friction coefficients of the road surface working conditions.
5. The intelligent control method for the whole vehicle driving mode according to claim 1, wherein in step S5, the calculation formulas of the torque distribution parameter k and the torque filtering parameter r are as follows:
k＝A×k 2 +U×k 3 +B×k 4 +W×k 5 －H×k 1
r＝H×r 1 －A×r 2 －U×r 3 －B×r 4 －W×r 5
wherein k is 1 、k 2 、k 3 、k 4 、k 5 Torque distribution weight coefficients respectively comprise a slip rate value H, a gradient inclination angle value A, a road friction coefficient U, an accelerator opening B and an opening change rate W; r is (r) 1 、r 2 、r 3 、r 4 、r 5 The torque filter weight coefficients are respectively a slip rate value H, a gradient inclination angle value A, a road friction coefficient U, an accelerator opening B and an opening change rate W.
6. The intelligent control method for the whole vehicle driving mode according to claim 1, wherein in step S6, a plurality of torque output tables are provided, different torque distribution parameters k respectively correspond to different torque output tables, and target output torques corresponding to opening values of all accelerator pedals are recorded in the torque output tables.
7. The intelligent control method for the whole vehicle driving mode according to claim 6, wherein the value range of the torque distribution parameter k is 0-1, and the larger the value of k is, the smaller the accelerator pedal opening value required for achieving the same target output torque in the executed torque output table is.
8. The intelligent control method for the whole vehicle driving mode according to claim 1, wherein in the step S7, the value range of the torque filter parameter r is 0-1, and the larger the value of r is, the longer the torque response time required for achieving the same target output torque is.
9. An intelligent control system for a whole vehicle driving mode, which is used for realizing the control method of any one of claims 1 to 8, and is characterized by comprising a driving mode input module, a driving mode control module and a power output module, wherein the driving mode input module consists of a driving mode input module, a whole vehicle parameter monitoring module and a road surface working condition identification module;
the driving mode input module comprises a driving mode main switch and a driving mode sub-switch, and is used for acquiring the main driving mode category and the sub-driving mode category of the current vehicle respectively;
the whole vehicle parameter monitoring module is used for monitoring a speed signal, a wheel speed signal and an accelerator pedal signal of a vehicle in real time, calculating a slip rate value of the current vehicle according to the speed signal and the wheel speed signal, and determining the accelerator opening and the opening change rate of the current vehicle according to the accelerator pedal signal;
the road surface working condition identification module is used for monitoring gradient signals and terrain signals of the vehicle in real time, determining the up-down slope state and gradient inclination angle value of the current vehicle according to the gradient signals, and determining the road surface working condition of the current vehicle according to the terrain signals;
the driving mode control module is used for receiving the output signal of the driving mode input module, calculating and determining the torque distribution parameter and the torque filtering parameter of the current vehicle;
and the power output module is used for determining the target output torque and the torque response time of the current vehicle according to the torque distribution parameter and the torque filtering parameter and combining a preset torque output table.
10. The intelligent control system for a vehicle driving mode according to claim 9, wherein: the driving mode control module is provided with a driving mode control program, and the driving mode control module realizes the control method according to any one of claims 1 to 8 when the driving mode control module runs the program.
CN202310454480.8A 2023-04-25 2023-04-25 Intelligent control method and system for whole vehicle driving mode Pending CN116534022A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117565871A (en) * 2023-12-14 2024-02-20 中科华芯(东莞)科技有限公司 Multi-mode automatic switching driving safety method and system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117565871A (en) * 2023-12-14 2024-02-20 中科华芯(东莞)科技有限公司 Multi-mode automatic switching driving safety method and system

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