CN117002465A - Speed-limiting torque control method, device, terminal and storage medium - Google Patents
Speed-limiting torque control method, device, terminal and storage medium Download PDFInfo
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- CN117002465A CN117002465A CN202310963442.5A CN202310963442A CN117002465A CN 117002465 A CN117002465 A CN 117002465A CN 202310963442 A CN202310963442 A CN 202310963442A CN 117002465 A CN117002465 A CN 117002465A
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Classifications
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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- 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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- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The application provides a speed-limiting torque control method, a device, a terminal and a storage medium, which are used for judging whether an automobile is in a state of greatly regulating a speed-limiting speed after a speed-limiting torque limiting function is started, if so, keeping the speed-limiting torque limiting function in the state of being started, if not, acquiring a first speed difference between the current first running speed of the automobile and the current first speed-limiting speed, judging whether the speed-limiting torque limiting function is kept in the state of being started according to the first speed difference, and because the speed-limiting torque limiting function is kept in the state of being started when the automobile is judged to be in the state of greatly regulating the speed-limiting speed, the speed-limiting torque limiting function is not stopped even if the speed-limiting speed is changed greatly at the moment, thereby continuously limiting the torque to the aim, solving the problems that the speed is limited in the process, the speed-limiting torque limiting function is started and stopped when the speed-limiting torque limiting function is started, and the actual output torque is negligence is improved.
Description
Technical Field
The present application relates to the field of torque control technologies, and in particular, to a speed-limiting torque control method, device, terminal, and storage medium.
Background
With the progress of science and technology, automobile strategies are more intelligent, functions are more abundant, requirements of drivers on automobiles are higher, economy and operability of automobiles are required, and auxiliary functions such as speed-limiting torque limitation are required to reduce driving burden. The speed-limiting torque limiting function is a function of limiting the vehicle speed by limiting the output torque, and is characterized in that a vehicle speed limit is preset for the vehicle, and the running speed of the vehicle is actively controlled within the vehicle speed limit. At present, whether to start the speed limit torque limiting function is generally determined by a speed difference between a current running speed of the automobile and a speed limit before the speed limit, for example, when the speed difference reaches a preset speed threshold, the speed limit torque limiting function is started, and when the speed difference does not reach the preset speed threshold, the speed limit torque limiting function is not started. However, there is a problem in that: when the speed limit is continuously and greatly increased, the speed limit rising speed may exceed the rising speed of the current running speed, the speed difference between the speed limit rising speed and the current running speed does not reach the threshold value, so that the speed limit torque limiting function is exited, the required running torque is output at the moment, the current running speed is quickly increased to be close to the speed limit by the larger running torque, the speed difference reaches the threshold value, the speed limit torque limiting function is activated, and the smaller speed limit torque is output. The speed-limiting torque limiting function is activated and exited in time under the scene, the actual output torque of the automobile is switched back and forth between the required running torque and the speed-limiting torque, and the actual output torque is shown as large and small in negligence, and the driving experience is poor.
Disclosure of Invention
The embodiment of the application aims to provide a speed-limiting torque control method, a speed-limiting torque control device, a speed-limiting torque control terminal and a speed-limiting torque control storage medium, so as to solve the technical problems.
In one aspect, a speed-limiting torque control method is provided, applied to an automobile, the method comprising:
after the speed-limiting torque limiting function is started, judging whether the automobile is in a state of greatly regulating the speed-limiting speed;
if yes, keeping the speed-limiting torque limiting function in an on state;
if not, a first speed difference between the current first running speed and the current first limiting speed of the automobile is obtained, and whether the speed limiting torque limiting function is kept in an on state is judged according to the first speed difference.
In one embodiment, the determining whether the vehicle is in a state of greatly adjusting the vehicle speed limit includes:
judging whether a vehicle speed limit amplitude adjusting button is in a long-press state, if so, judging that the vehicle is in a state of greatly adjusting the vehicle speed limit, otherwise, judging that the vehicle is not in a state of greatly adjusting the vehicle speed limit;
or alternatively, the first and second heat exchangers may be,
judging whether the variation range of the vehicle speed limit in unit time is larger than a preset range threshold value, if so, judging that the vehicle is in a state of greatly regulating the vehicle speed limit, otherwise, judging that the vehicle is not in a state of greatly regulating the vehicle speed limit.
In one embodiment, the method comprises:
when the speed limiting torque limiting function is in an on state, acquiring a current second speed limiting speed of the automobile;
determining a speed limit basic torque according to the second speed limit;
acquiring a second vehicle speed difference between a current second running vehicle speed of the automobile and the second limiting vehicle speed;
determining a speed limit adjustment torque according to the second vehicle speed difference;
determining a speed limiting limit torque according to the speed limiting base torque and the speed limiting adjustment torque;
determining target output torque of the automobile according to the speed limiting torque and the driving demand torque corresponding to the automobile;
and controlling the automobile to output torque according to the target output torque.
In one embodiment, the determining the speed limit base torque according to the current limit vehicle speed includes:
determining the sliding resistance corresponding to the second limiting speed according to the corresponding relation between the preset limiting speed and the preset sliding resistance, determining the corresponding sliding torque according to the sliding resistance, and taking the sliding torque as the speed limiting basic torque;
or alternatively, the first and second heat exchangers may be,
and determining the speed limiting basic torque corresponding to the second speed limiting according to the corresponding relation between the preset speed limiting speed and the preset speed limiting basic torque.
In one embodiment, the determining the speed limit torque from the speed limit base torque and the speed limit adjustment torque includes:
adding the speed limiting basic torque and the speed limiting adjusting torque to obtain sum torque;
acquiring the current actual output torque of the automobile;
determining the speed limit limiting torque of the automobile at each target time point in a target time period according to the sum torque and the actual output torque; the target time period is a time period which is from the current moment to a preset time period.
In one of the embodiments, the speed of change of the speed limit limiting torque in the target period of time is changed from fast to slow.
In one embodiment, the determining the target output torque of the automobile according to the speed limit limiting torque and the corresponding driving requirement torque of the automobile includes:
for each of the target time points, a smaller value of the speed limit torque corresponding to the target time point and the drive demand torque corresponding to the target time point is taken as a target output torque of the vehicle at the target time point.
In another aspect, there is provided a speed-limiting torque control device for use in an automobile, the device comprising:
the judging module is used for judging whether the automobile is in a state of greatly regulating the speed limit after the speed limit torque limiting function is started;
the first control module is used for keeping the speed-limiting torque limiting function in an on state when the judging result of the judging module is yes;
and the second control module is used for acquiring a first speed difference between the current first running speed and the current first speed limit of the automobile when the judging result of the judging module is no, and judging whether the speed limit torque limiting function is kept in an on state according to the first speed difference.
In another aspect, a vehicle terminal is provided, including a processor and a memory, where the memory stores a computer program, and the processor executes the computer program to implement any of the methods described above.
In another aspect, a computer readable storage medium is provided, storing a computer program which, when executed by at least one processor, implements any of the methods described above.
According to the speed-limiting torque control method, the speed-limiting torque control device, the terminal and the storage medium, after the speed-limiting torque limiting function is started, whether the automobile is in a state of greatly regulating the speed-limiting torque, if yes, the speed-limiting torque limiting function is kept in the starting state, if no, the first speed difference between the current first running speed of the automobile and the current first speed-limiting speed is obtained, whether the speed-limiting torque limiting function is kept in the starting state is judged according to the first speed difference, and because the speed-limiting torque limiting function is kept in the starting state when the automobile is judged to be in the state of greatly regulating the speed-limiting speed, the speed-limiting torque limiting function is not stopped even if the speed-limiting speed is greatly changed, so that the torque can be continuously limited to achieve the aim, the problems that the speed is limited in the process, the speed-limiting torque limiting function is started and stopped when the speed-limiting torque limiting function is stopped, and the actual output torque is negligence is solved, and the driving experience is improved.
Drawings
FIG. 1 is a schematic flow chart of a first part of a speed-limiting torque control method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a second portion of the speed-limiting torque control method according to the first embodiment of the present application;
fig. 3 is a schematic flow chart of a speed-limiting torque control method according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of a speed-limiting torque control device according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle terminal according to a fourth embodiment of the present application.
Detailed Description
The present application 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 application 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 application.
Embodiment one:
the embodiment of the application provides a speed-limiting torque control method applied to an automobile, and referring to fig. 1, the method can comprise the following steps:
s11: after the speed-limiting torque limiting function is started, whether the automobile is in a state of greatly regulating the speed-limiting speed is judged, if yes, the process goes to S12, if no, the process goes to S13.
S12: the speed limit torque limiting function is maintained in an on state.
S13: and acquiring a first speed difference between the current first running speed and the current first speed limit of the automobile, and judging whether the speed limit torque limiting function is kept in an on state according to the first speed difference.
According to the speed-limiting torque control method provided by the embodiment of the application, the speed-limiting torque limiting function is kept in the on state when the automobile is judged to be in the state of greatly regulating the speed-limiting speed, so that the speed-limiting torque limiting function cannot be exited even if the speed-limiting speed is greatly changed, the torque can be continuously limited to achieve the speed-limiting purpose, the problems that the speed-limiting torque limiting function is activated and exited in the process, and the actual output torque is large and small in negligence are solved, and the driving experience is improved.
The steps described above are described in detail below.
The speed-limiting torque limiting function in the embodiment of the application refers to a function of limiting the running speed of an automobile by limiting the output torque of the automobile. The vehicle speed limit means the maximum vehicle speed that the vehicle can travel after the speed limit torque limiting function is turned on, and the vehicle speed can be controlled within the limit vehicle speed by limiting the output torque of the vehicle.
For step S11, determining whether the vehicle is in a state of greatly adjusting the vehicle speed limit includes:
judging whether the automobile is in a state of greatly increasing and regulating the speed limit;
and/or the number of the groups of groups,
and judging whether the automobile is in a state of greatly reducing and regulating the speed limit.
In the first example, it is determined that the vehicle is in the state of greatly adjusting the vehicle speed limit only when it is determined that the vehicle is in the state of greatly increasing the vehicle speed limit, and otherwise, it is determined that the vehicle is not in the state of greatly adjusting the vehicle speed limit.
In the second example, it is determined that the vehicle is in the state of greatly adjusting the vehicle speed limit only when it is determined that the vehicle is in the state of greatly reducing the vehicle speed limit, and otherwise, it is determined that the vehicle is not in the state of greatly adjusting the vehicle speed limit.
In the third example, the vehicle is determined to be in the state of greatly adjusting the vehicle speed limit whenever the vehicle is determined to be in the state of greatly increasing the vehicle speed limit or in the state of greatly decreasing the vehicle speed limit, and otherwise, the vehicle is determined not to be in the state of greatly adjusting the vehicle speed limit.
Specifically, determining whether the vehicle is in a state of substantially regulating the vehicle speed limit may include one of two implementations:
judging whether the amplitude adjusting button for limiting the vehicle speed is in a long-press state, if so, judging that the vehicle is in a state for greatly adjusting the vehicle speed, otherwise, judging that the vehicle is not in a state for greatly adjusting the vehicle speed;
or alternatively, the first and second heat exchangers may be,
and judging whether the variation range of the limiting speed in unit time is larger than a preset range threshold value, if so, judging that the automobile is in a state of greatly regulating the limiting speed, otherwise, judging that the automobile is not in a state of greatly regulating the limiting speed.
It should be noted that, in some embodiments, the magnitude of the vehicle speed limit may be adjusted by the user at his own discretion. For this case, the above-described vehicle speed limit magnitude adjustment button may be a vehicle speed limit magnitude increase adjustment button and/or a vehicle speed limit magnitude decrease adjustment button. The vehicle speed limiting magnitude increase adjusting button is used for increasing and adjusting the vehicle speed limiting, the vehicle speed limiting magnitude decrease adjusting button is used for decreasing and adjusting the vehicle speed limiting, and a user can adjust the vehicle speed limiting through the vehicle speed limiting magnitude increase adjusting button or the vehicle speed limiting magnitude decrease adjusting button according to the use requirement.
In other embodiments, the magnitude of the vehicle speed limit may be automatically adjusted by the vehicle. For this case, the above-mentioned change amplitude may be an increase amplitude and/or a decrease amplitude. For example, if it is determined that the increase range of the vehicle speed limit in the unit time is greater than the preset range threshold, it is determined that the vehicle is in a state of greatly adjusting the vehicle speed limit, otherwise, it is determined that the vehicle is not in a state of greatly adjusting the vehicle speed limit. It should be noted that, the specific value of the preset amplitude threshold in the embodiment of the present application may be flexibly set by a developer, for example, may be set to 5km/h.
In the embodiment of the present application, when the speed-limiting torque limiting function of the automobile is on, the output torque of the automobile may be limited to limit the running speed of the automobile, and specifically, referring to fig. 2, the method may include the following steps:
s21: and when the speed-limiting torque limiting function is in an on state, acquiring the current second speed-limiting speed of the automobile.
S22: and determining the speed limiting basic torque according to the second speed limiting.
S23: a second vehicle speed difference between a current second traveling vehicle speed and a second vehicle speed limit of the vehicle is obtained.
S24: and determining the speed limiting adjustment torque according to the second vehicle speed difference.
S25: and determining the speed limiting torque according to the speed limiting basic torque and the speed limiting adjusting torque.
S26: and determining the target output torque of the automobile according to the speed limit limiting torque and the corresponding driving demand torque of the automobile.
S27: and controlling the automobile to output torque at the target output torque.
It should be noted that, optionally, in step S21, when it is determined that the vehicle speed limit is currently in a stable state, that is, the vehicle speed limit is not in an adjustment state, the current second vehicle speed limit is acquired again to execute a subsequent step, so as to avoid repeatedly calculating the speed limit torque and wasting calculation resources when the vehicle speed limit is in the adjustment process. In the embodiment of the application, when the limited vehicle speed is not changed within the preset time, the current limited vehicle speed of the automobile is determined to be in a stable state. The specific value of the preset duration can be flexibly set by a developer.
In step S22, the speed limit base torque may be determined by any one of the following means:
mode one: and determining the sliding resistance corresponding to the second limiting speed according to the corresponding relation between the preset limiting speed and the preset sliding resistance, determining the corresponding sliding torque according to the sliding resistance, and taking the sliding torque as the speed limiting basic torque.
Mode two: and determining the speed limiting basic torque corresponding to the second speed limiting according to the corresponding relation between the preset speed limiting speed and the preset speed limiting basic torque.
In the first mode, a developer can obtain a sliding resistance curve through testing, namely, a corresponding relation between preset sliding resistance and preset limiting speed is obtained, and then the relation is preset on an automobile.
In the second mode, a developer can obtain a sliding torque curve through testing, namely, a corresponding relation between a preset limiting speed and a preset sliding torque is obtained.
In the embodiment of the application, the sliding torque is taken as the speed limiting basic torque, so that the speed limiting basic torque does not suddenly and severely fluctuate when the speed limiting speed is greatly regulated, the speed limiting torque is ensured not to suddenly change, and the driving experience is further improved.
In step S24, PI control adjustment, or PID control adjustment, may be performed according to the second vehicle speed difference, thereby obtaining a speed limit adjustment torque. The content of this section may refer to a technology of performing closed-loop adjustment according to a vehicle speed difference in the existing solution, and details in the embodiment of the present application are not described.
For step S25, the following sub-steps may be included:
the method comprises the following substeps: and adding the speed limiting basic torque and the speed limiting adjusting torque to obtain a sum torque.
Sub-step two: and obtaining the current actual output torque of the automobile.
And a sub-step three: determining the speed limit torque of the automobile at each target time point in the target time period according to the sum torque and the actual output torque; the target time period is a time period of a preset time period from the current time.
It should be noted that, the target time point in the embodiment of the present application refers to a time point when the corresponding speed-limiting limit torque needs to be determined when the vehicle performs torque attenuation based on the current actual output torque. The determination method of the time point may be arbitrarily set by a developer, for example, N may be equally divided for the target time period to obtain each target time point, and it should be noted that, in other embodiments, uneven division may be performed. The target time period is a time period of a preset time period from the current time, and the preset time period and the N can be flexibly set by a developer. The speed limiting torque at each target time point is determined, so that the abrupt change of the actual output torque of the automobile can be prevented, the actual output torque of the automobile can be gradually reduced, and the driving experience satisfaction degree is improved.
In the embodiment of the application, the speed of change of the speed limit limiting torque in the process of the torque attenuation of the automobile based on the actual output torque, namely, in the target time period, can be unchanged. In order to achieve rapid deceleration, the running speed of the automobile is accurately limited within the limited speed, and preferably, the speed of change of the speed-limiting torque within the target time period is changed from rapid to slow.
For ease of understanding, specific examples are described herein. In the third sub-step, assuming that the target time period is from the time T1 to the time T4, wherein the target time points are T1, T2, T3 and T4, and the torque is N1, the current actual output torque of the vehicle is N2, and the speed limit torque corresponding to each of the target time points T1, T2, T3 and T4 is N11, N12, N13 and N14, the speed limit torque is sequentially attenuated from N11 to N12, N13 and N14. Wherein the sum torque is a target value to which the speed limit torque eventually needs to be attenuated within the target period, so N14 is substantially equal to N1.
It will be appreciated that to achieve rapid deceleration, accurately limiting the vehicle speed of the vehicle to a limited speed may have the following relationship:
(N11-N12)/(T2-T1) > (N12-N13)/(T3-T2); the speed limit torque change rate in the period of time T2 to T1 is characterized as being greater than the speed limit torque change rate in the period of time T3 to T2.
(N12-N13)/(T3-T2) < (N13-N14)/(T4-T4); the speed limit torque change rate in the period of time T3 to T2 is characterized as being smaller than the speed limit torque change rate in the period of time T4 to T3.
That is, in the above-described target period, the speed of change of the speed limit limiting torque is changed from fast to slow, which can be also understood as: when the automobile carries out torque attenuation based on the actual output torque, the speed of the speed limiting torque is changed from high speed to low speed.
For step S26, the following steps may be included:
for each target time point, the smaller value of the speed limit torque corresponding to the target time point and the driving demand torque corresponding to the target time point is taken as the target output torque of the automobile at the target time point.
That is, when the vehicle is traveling in the above-mentioned target time period, it is necessary to acquire the driving demand torque of the vehicle at the target time point, compare the driving demand torque with the speed limit torque corresponding to the target time point, and select the smaller value as the target output torque of the vehicle, that is, control the vehicle to output torque at the target output torque.
The driving requirement torque in the embodiment of the application refers to the torque required by the automobile determined according to the accelerator signal, and the driving requirement torque can be calculated by referring to the existing calculation method, which is not repeated in the embodiment of the application.
Finally, it should be noted that, for step S13, the speed-limiting torque limiting function may be turned off when the first vehicle speed difference is smaller than the preset vehicle speed difference threshold, and the speed-limiting torque limiting function may be kept in an on state when the first vehicle speed difference is greater than or equal to the preset vehicle speed difference threshold.
According to the speed-limiting torque control method provided by the embodiment of the application, the sliding torque limiting the vehicle speed is taken as the speed-limiting base torque, and when the speed-limiting speed is greatly regulated, the speed-limiting base torque does not suddenly and severely fluctuate, so that the speed-limiting torque can not suddenly change. In addition, in a scene where the accelerator pedal is deeply stepped on, the speed limit torque limiting function is activated, and the speed limit is continuously and greatly adjusted, since the function remains activated, a small speed limit torque is always regarded as the output torque, and torque shock in this scene is prevented.
Embodiment two:
for better understanding, the embodiment of the present application provides a more specific speed-limiting torque control method, as shown in fig. 3, which may include the following steps:
s301: after the speed-limiting torque limiting function is turned on, it is determined whether the vehicle is in a state of greatly adjusting the speed-limiting speed, if so, the process goes to S302, if not, the process goes to S303.
S302: the speed limit torque limiting function is maintained in an on state.
S303: and acquiring a first speed difference between the current first running speed and the current first speed limit of the automobile, and judging whether the speed limit torque limiting function is kept in an on state according to the first speed difference.
S304: and obtaining a second speed difference between the current second running speed and a second limiting speed of the automobile.
S305: and determining the sliding resistance corresponding to the second limiting speed according to the corresponding relation between the preset limiting speed and the preset sliding resistance.
S306: and determining corresponding sliding torque according to the sliding resistance, and taking the sliding torque as the speed limiting basic torque.
S307: and PI control adjustment is carried out according to the second vehicle speed difference to obtain the speed-limiting adjustment torque.
S308: and adding the speed limiting basic torque and the speed limiting adjusting torque to obtain a sum torque.
S309: and obtaining the current actual output torque of the automobile.
S310: determining the speed limit torque of the automobile at each target time point in the target time period according to the sum torque and the actual output torque; the target time period is a time period of a preset time period from the current time.
In the embodiment of the application, the speed of the speed-limiting torque in the target time period is changed from high to low.
S311: for each target time point, the smaller value of the speed limit torque corresponding to the target time point and the driving demand torque corresponding to the target time point is taken as the target output torque of the automobile at the target time point.
S312: and controlling the automobile to output torque at each target time point according to the corresponding target output torque.
It should be noted that, for simplicity of description, some of the descriptions in the above embodiments are not repeated in this embodiment.
It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described above may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, and the order of execution of the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with at least a part of the sub-steps or stages of other steps or other steps.
Embodiment III:
based on the same inventive concept, an embodiment of the present application provides a speed-limiting torque control device, which is applied to an automobile, please refer to fig. 4, and the device includes:
the judging module 401 is configured to judge whether the vehicle is in a state of greatly adjusting the speed limit after the speed limit torque limiting function is started;
a first control module 402, configured to keep the speed-limiting torque limiting function in an on state when the determination result of the determination module is yes;
and the second control module 403 is configured to obtain a first vehicle speed difference between the current first vehicle speed and the current first limited vehicle speed of the vehicle when the determination result of the determination module is no, and determine whether to keep the speed-limiting torque limiting function in an on state according to the first vehicle speed difference.
It should be noted that, for simplicity of description, some of the descriptions in the above embodiments are not repeated in this embodiment.
Embodiment four:
the present embodiment provides a vehicle-mounted terminal, please refer to fig. 5, the vehicle-mounted terminal includes a processor 501 and a memory 502, the memory 502 stores a computer program, the processor 501 and the memory 502 implement communication through a communication bus, and the processor 501 executes the computer program to implement each step of the method in the above embodiment, which is not described herein.
It will be appreciated that the configuration shown in fig. 5 is merely illustrative and that the vehicle terminal may also include more or fewer components than shown in fig. 5.
The processor 501 may be an integrated circuit chip having signal processing capabilities. The processor 501 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. Which may implement or perform the various methods, steps, and logical blocks disclosed in embodiments of the application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 502 may include, but is not limited to, random Access Memory (RAM), read Only Memory (ROM), programmable Read Only Memory (PROM), erasable read only memory (EPROM), electrically erasable read only memory (EEPROM), and the like.
The present embodiment also provides a computer readable storage medium, such as a floppy disk, an optical disk, a hard disk, a flash memory, a usb disk, an SD card, an MMC card, etc., in which one or more programs for implementing the above steps are stored, and the one or more programs may be executed by the one or more processors 501 to implement the steps of the method in the above embodiment, which is not described herein again.
It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex. The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the application, which is defined by the claims, but rather by the claims. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the application, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the application may be practiced.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A speed-limiting torque control method for use with an automobile, the method comprising:
after the speed-limiting torque limiting function is started, judging whether the automobile is in a state of greatly regulating the speed-limiting speed;
if yes, keeping the speed-limiting torque limiting function in an on state;
if not, a first speed difference between the current first running speed and the current first limiting speed of the automobile is obtained, and whether the speed limiting torque limiting function is kept in an on state is judged according to the first speed difference.
2. The speed-limiting torque control method according to claim 1, wherein the determining whether the vehicle is in a state of greatly adjusting a speed limit of the vehicle includes:
judging whether a vehicle speed limit amplitude adjusting button is in a long-press state, if so, judging that the vehicle is in a state of greatly adjusting the vehicle speed limit, otherwise, judging that the vehicle is not in a state of greatly adjusting the vehicle speed limit;
or alternatively, the first and second heat exchangers may be,
judging whether the variation range of the vehicle speed limit in unit time is larger than a preset range threshold value, if so, judging that the vehicle is in a state of greatly regulating the vehicle speed limit, otherwise, judging that the vehicle is not in a state of greatly regulating the vehicle speed limit.
3. The speed-limiting torque control method according to claim 1 or 2, characterized in that the method includes:
when the speed limiting torque limiting function is in an on state, acquiring a current second speed limiting speed of the automobile;
determining a speed limit basic torque according to the second speed limit;
acquiring a second vehicle speed difference between a current second running vehicle speed of the automobile and the second limiting vehicle speed;
determining a speed limit adjustment torque according to the second vehicle speed difference;
determining a speed limiting limit torque according to the speed limiting base torque and the speed limiting adjustment torque;
determining target output torque of the automobile according to the speed limiting torque and the driving demand torque corresponding to the automobile;
and controlling the automobile to output torque according to the target output torque.
4. A speed limit torque control method in accordance with claim 3, wherein said determining a speed limit base torque in accordance with said current vehicle speed limit comprises:
determining the sliding resistance corresponding to the second limiting speed according to the corresponding relation between the preset limiting speed and the preset sliding resistance, determining the corresponding sliding torque according to the sliding resistance, and taking the sliding torque as the speed limiting basic torque;
or alternatively, the first and second heat exchangers may be,
and determining the speed limiting basic torque corresponding to the second speed limiting according to the corresponding relation between the preset speed limiting speed and the preset speed limiting basic torque.
5. A speed limit torque control method as set forth in claim 3, wherein said determining a speed limit torque based on said speed limit base torque and said speed limit adjustment torque includes:
adding the speed limiting basic torque and the speed limiting adjusting torque to obtain sum torque;
acquiring the current actual output torque of the automobile;
determining the speed limit limiting torque of the automobile at each target time point in a target time period according to the sum torque and the actual output torque; the target time period is a time period which is from the current moment to a preset time period.
6. The speed-limiting torque control method according to claim 5, wherein the speed of change of the speed-limiting torque in the target period of time is changed from fast to slow.
7. The speed-limiting torque control method according to claim 5, wherein said determining a target output torque of the vehicle based on the speed-limiting torque and the corresponding driving demand torque of the vehicle comprises:
for each of the target time points, a smaller value of the speed limit torque corresponding to the target time point and the drive demand torque corresponding to the target time point is taken as a target output torque of the vehicle at the target time point.
8. A speed-limiting torque control device for use in an automobile, said device comprising:
the judging module is used for judging whether the automobile is in a state of greatly regulating the speed limit after the speed limit torque limiting function is started;
the first control module is used for keeping the speed-limiting torque limiting function in an on state when the judging result of the judging module is yes;
and the second control module is used for acquiring a first speed difference between the current first running speed and the current first speed limit of the automobile when the judging result of the judging module is no, and judging whether the speed limit torque limiting function is kept in an on state according to the first speed difference.
9. A vehicle terminal comprising a processor and a memory, the memory having stored therein a computer program, the processor executing the computer program to implement the method of any of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by at least one processor, implements the method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310963442.5A CN117002465A (en) | 2023-08-02 | 2023-08-02 | Speed-limiting torque control method, device, terminal and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310963442.5A CN117002465A (en) | 2023-08-02 | 2023-08-02 | Speed-limiting torque control method, device, terminal and storage medium |
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| Publication Number | Publication Date |
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| CN117002465A true CN117002465A (en) | 2023-11-07 |
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| CN202310963442.5A Pending CN117002465A (en) | 2023-08-02 | 2023-08-02 | Speed-limiting torque control method, device, terminal and storage medium |
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| Country | Link |
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| CN (1) | CN117002465A (en) |
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- 2023-08-02 CN CN202310963442.5A patent/CN117002465A/en active Pending
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