CN117235978A - Torque filtering method and device - Google Patents
Torque filtering method and device Download PDFInfo
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- CN117235978A CN117235978A CN202311031648.0A CN202311031648A CN117235978A CN 117235978 A CN117235978 A CN 117235978A CN 202311031648 A CN202311031648 A CN 202311031648A CN 117235978 A CN117235978 A CN 117235978A
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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
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Abstract
The application provides a torque filtering method and a device, and relates to the technical field of vehicles, wherein the method comprises the following steps: based on the first simulation torque, performing simulation processing by using a vehicle model to obtain a first simulation speed; determining a first slope corresponding to the first simulation torque based on the first simulation speed; processing the first simulation torque based on the first slope to obtain a second simulation torque; based on the second simulation torque, performing simulation processing by using the vehicle model to obtain a second simulation speed; under the condition that the difference between the second simulation speed and the first simulation speed does not meet the preset condition, updating the first slope based on the difference and updating the first simulation torque by utilizing the second simulation torque, and returning to execute the step of processing the first simulation torque based on the first slope to obtain the second simulation torque until a target slope corresponding to the first simulation torque is obtained; and determining the target torque based on the target slope and the first simulation torque corresponding to the target slope.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a torque filtering method and device.
Background
With the development of technology, the utilization rate of automobiles is higher and higher, and the automobiles become one of the vehicles used daily by people, and the vehicles are also developed towards the intelligent direction of automatic driving.
When the vehicle runs, if the torque of the engine suddenly changes, the vehicle can shake and feel jerky, the service life of the engine is influenced, and the running safety of the vehicle is reduced. Thus, how to improve the smoothness of the engine torque transition is of great importance.
Disclosure of Invention
The application provides a torque filtering method and a torque filtering device.
According to a first aspect of the present application, there is provided a torque filtering method comprising: based on the first simulation torque, performing simulation processing by using a vehicle model to obtain a first simulation speed; determining a first slope corresponding to the first simulation torque based on the first simulation speed; processing the first simulation torque based on the first slope to obtain a second simulation torque; based on the second simulation torque, performing simulation processing by using the vehicle model to obtain a second simulation speed; updating the first slope based on the difference and updating the first simulation torque by using the second simulation torque under the condition that the difference between the second simulation speed and the first simulation speed does not meet the preset condition, and returning to execute the step of processing the first simulation torque based on the first slope to obtain a second simulation torque until a target slope corresponding to the first simulation torque is obtained; and determining a target torque based on the target slope and the first simulation torque corresponding to the target slope.
In some embodiments, the determining, based on the first simulation speed, a first slope corresponding to the first simulation torque includes: determining a first target point based on the first simulation speed; and determining a first slope based on a first simulation torque corresponding to the first target point.
In some embodiments, the determining a first target point based on the first simulation speed includes: processing the first simulation speed to obtain a plurality of corresponding accelerations; and determining a first simulation speed corresponding to the maximum acceleration in the accelerations as a first target point.
In some embodiments, the determining a first slope based on the first simulation torque corresponding to the first target point includes: determining a torque type at the first target point based on a first simulation torque at a previous time and a first simulation torque at a subsequent time at the first target point; determining a first slope based on a first simulation torque corresponding to the first target point when the torque at the first target point is a non-zero crossing torque; in the case where the torque at the first target point is zero crossing torque, a first slope is determined based on the electric brake torque.
In some embodiments, the determining, based on the first simulation torque corresponding to the first target point, a first slope when the torque at the first target point is a non-zero crossing torque includes: determining a speed type at the first target point based on a first simulation speed at a previous moment and a first simulation speed at a later moment at the first target point; determining a first slope based on a first simulation torque corresponding to the first target point and an opening degree of an accelerator pedal under the condition that the speed type at the first target point is an acceleration type; and under the condition that the speed type at the first target point is a deceleration type, determining a first slope based on a first simulation torque corresponding to the first target point and the opening degree of a brake pedal.
In some embodiments, the updating the first slope based on the difference comprises: determining a second slope corresponding to a second target point based on the difference; updating the first slope with the second slope.
In some embodiments, the determining the target torque based on the target slope and the first simulation torque corresponding to the target slope includes: acquiring a test torque of a vehicle for performing a real vehicle test and a first simulation torque corresponding to the target slope; determining a calibration slope based on a difference between the test torque and a first simulation torque corresponding to the target slope; and processing the first simulation torque corresponding to the target slope based on the calibration slope to determine the target torque.
According to a second aspect of the present application, there is provided a torque filtering device comprising: the first processing module is used for carrying out simulation processing by utilizing the vehicle model based on the first simulation torque to obtain a first simulation speed; the first determining module is used for determining a first slope corresponding to the first simulation torque based on the first simulation speed; the second processing module is used for processing the first simulation torque based on the first slope to obtain a second simulation torque; the third processing module is used for performing simulation processing by using the vehicle model based on the second simulation torque so as to obtain a second simulation speed; a fourth processing module, configured to update the first slope and update the first simulation torque with the second simulation torque based on the difference when the difference between the second simulation speed and the first simulation speed does not satisfy a preset condition, and return to perform a step of processing the first simulation torque based on the first slope to obtain a second simulation torque until a target slope corresponding to the first simulation torque is obtained; and the second determining module is used for determining the target torque based on the target slope and the first simulation torque corresponding to the target slope.
In some embodiments, the first determining module includes: a first determining unit configured to determine a first target point based on the first simulation speed; and the second determining unit is used for determining a first slope based on the first simulation torque corresponding to the first target point.
In some embodiments, the first determining unit is specifically configured to: processing the first simulation speed to obtain a plurality of corresponding accelerations; and determining a first simulation speed corresponding to the maximum acceleration in the accelerations as a first target point.
In some embodiments, the second determining unit includes: a first determining subunit, configured to determine a torque type at the first target point based on a first simulation torque at a previous time and a first simulation torque at a subsequent time at the first target point; a second determining subunit, configured to determine, when the torque at the first target point is a non-zero crossing torque, a first slope based on a first simulation torque corresponding to the first target point; and a third determination subunit configured to determine a first slope based on the electric brake torque in a case where the torque at the first target point is zero-crossing torque.
In some embodiments, the second determining subunit is specifically configured to: determining a speed type at the first target point based on a first simulation speed at a previous moment and a first simulation speed at a later moment at the first target point; determining a first slope based on a first simulation torque corresponding to the first target point and an opening degree of an accelerator pedal under the condition that the speed type at the first target point is an acceleration type; and under the condition that the speed type at the first target point is a deceleration type, determining a first slope based on a first simulation torque corresponding to the first target point and the opening degree of a brake pedal.
In some embodiments, the fourth processing module is specifically configured to: determining a second slope corresponding to a second target point based on the difference; updating the first slope with the second slope.
In some embodiments, the second determining module is specifically configured to: acquiring a test torque of a vehicle for performing a real vehicle test and a first simulation torque corresponding to the target slope; determining a calibration slope based on a difference between the test torque and a first simulation torque corresponding to the target slope; and processing the first simulation torque corresponding to the target slope based on the calibration slope to determine the target torque.
According to a third aspect of the present application, there is provided an electronic device comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements any of the torque filtering methods described above.
According to a fourth aspect of the present application there is provided a computer readable storage medium having stored thereon computer program instructions which when executed by a processor implement any of the torque filtering methods described above.
In summary, the torque filtering method and the device provided by the application have at least the following beneficial effects: the first simulation speed can be obtained by performing simulation processing by using a vehicle model based on the first simulation torque, then a first slope corresponding to the first simulation torque can be determined based on the first simulation speed, then the first simulation torque is processed based on the first slope to obtain a second simulation torque, then the second simulation torque can be obtained by performing simulation processing by using the vehicle model based on the second simulation torque, and when the difference between the first simulation speed and the second simulation speed does not meet the preset condition, the first slope is updated and the first simulation torque is updated by using the second simulation torque based on the difference, and the first simulation torque is processed based on the first slope to obtain the second simulation torque, until the target slope corresponding to the first simulation torque is obtained, and then the target torque is determined based on the target slope and the first simulation torque corresponding to the target slope. Therefore, in the process of filtering the vehicle torque, the first simulation speed and the first slope in the conventional simulation processing are fully considered, the determined target slope is more reliable through repeated iteration updating operation for a plurality of times, when the target slope is used for torque filtering, the stability of torque transition can be effectively improved, further, in the process of vehicle driving, the target torque and the target slope are used for filtering, and larger vibration and jerk caused by torque mutation can be effectively reduced, so that the safety of vehicle driving is improved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the application and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a torque filtering method according to an embodiment of the present application;
FIG. 2 is a flow chart of a torque filtering method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a torque filtering process according to an embodiment of the present application;
FIG. 4 is a block diagram of a torque filtering device according to an embodiment of the present application;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
To further clarify the above and other features and advantages of the present application, a further description of the application will be rendered by reference to the appended drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not limiting, as to those skilled in the art.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the specific details need not be employed to practice the present application. In other instances, well-known steps or operations have not been described in detail in order to avoid obscuring the application.
The torque filtering method provided by the embodiment of the application can be executed by the torque filtering device provided by the embodiment of the application, and the device can be configured in electronic equipment.
Referring to fig. 1, the present application provides a torque filtering method, which includes:
and step 101, performing simulation processing by using a vehicle model based on the first simulation torque to obtain a first simulation speed.
The vehicle model may be any model in vehicle simulation software, may be a certain component in a vehicle, such as a motor model, an accelerator pedal model, a decelerator pedal model, or the like, or may be a whole vehicle model including a motor, or the like, which is not limited in the present application.
In addition, the first simulation torque may be a simulation torque obtained after performing simulation processing by using a vehicle model based on initial data; or the simulation torque obtained after the simulation processing is performed by using the vehicle model based on the default data, or the historical torque of the same type of vehicle can be used as the first simulation torque, etc., which is not performed by the application.
It is understood that the first simulation torque may be used as input data, and after the first simulation torque is input into the vehicle model, the corresponding first simulation speed may be obtained after simulation processing of the vehicle model.
Step 102, determining a first slope corresponding to the first simulation torque based on the first simulation speed.
It can be understood that the first simulation speed obtained by performing simulation processing on the first simulation torque by using the vehicle model may have abrupt change of speed and excessive change of speed, and generally when the first simulation speed is excessively changed, the corresponding first simulation torque may also be abrupt, so that the vehicle may shake and vibrate due to the excessive change of torque, thereby affecting the normal running of the vehicle. Therefore, in the embodiment of the application, the first slope corresponding to the first simulation torque can be determined by processing the first simulation speed.
Alternatively, the first target point may be determined based on the first simulation speed, and the first slope may be determined based on a first simulation torque corresponding to the first target point.
The number of the first target points may be one or may be plural.
For example, a point with an excessive speed change may be determined as a first target point, and then a first slope may be determined based on a first simulation torque corresponding to the first target point. Alternatively, a point at which the acceleration is greatly changed may be determined as the first target point, and then the first slope may be determined based on the first simulation torque corresponding to the first target point.
Step 103, processing the first simulation torque based on the first slope to obtain a second simulation torque.
The first simulation torque may be filtered using a first slope, that is, the first simulation torque may be corrected using the first slope to obtain a processed second simulation torque. Because the first slope is determined when the first simulation speed is changed greatly and the first simulation torque is changed greatly, the second simulation torque after relatively smooth transition can be obtained after the first slope is used for processing the first simulation torque.
And 104, performing simulation processing by using the vehicle model based on the second simulation torque to obtain a second simulation speed.
It will be appreciated that after the second simulation torque is obtained, the second simulation torque may be input as input data to the vehicle model, and then the corresponding second simulation speed may be obtained through simulation processing of the vehicle model.
Step 105, updating the first slope based on the difference and updating the first simulation torque by using the second simulation torque when the difference between the first simulation speed and the second simulation speed does not meet the preset condition, and returning to execute the step of processing the first simulation torque based on the first slope to obtain the second simulation torque until the target slope corresponding to the first simulation torque is obtained.
The preset condition may be a preset condition, for example, a difference between the second simulation speed and the first simulation speed is greater than a certain threshold, or a difference between the second simulation speed and the first simulation speed is less than a certain threshold, which is not limited in the present application.
It will be appreciated that after the second simulation speed is obtained, the second simulation speed may be compared with the first simulation speed to determine whether the difference between the second simulation speed and the first simulation speed satisfies the preset condition.
When determining the difference between the second simulation speed and the first simulation speed, any desirable method may be adopted, for example, the difference corresponding to each moment may be determined by comparing the second simulation speed and the first simulation speed at the same moment, and under the condition that the difference corresponding to any moment does not meet the preset condition, the difference between the second simulation speed and the first simulation speed may be considered to not meet the preset condition. Or, the second simulation speed and the first simulation speed may be matched according to the overall variation trend, so as to determine whether the difference between the second simulation speed and the first simulation speed meets the preset condition, which is not limited in the present application.
In addition, when the first slope is updated based on the difference between the second simulation speed and the first simulation speed, the first slope may be adjusted accordingly based on the difference. For example, the first slope may be set smaller when the difference is larger, the first slope may be set larger when the difference is smaller, and the like, which is not limited in the present application.
In addition, when the second simulation torque is used to update the first simulation torque, the second simulation torque may be directly used as the updated first simulation torque, or the second simulation torque may be scaled according to a proportion to be used as the updated first simulation torque, which is not limited in the present application.
It will be appreciated that after updating the first slope based on the difference between the second simulation speed and the first simulation speed and updating the first simulation torque with the second simulation torque, the updated first slope may be used to process the updated first simulation torque to obtain a corresponding updated second simulation torque, then based on the updated second simulation torque, a simulation process is performed with the vehicle model to obtain the second simulation speed, then the difference between the second simulation speed and the first simulation speed is determined again, and in the case that the difference between the two does not satisfy the preset condition, the current first slope and the current first simulation torque are updated again, and then the above operation process is repeated. That is, the step of processing the first simulation torque based on the first slope is performed back to obtain the second simulation torque until the difference between the second simulation speed and the first simulation speed satisfies the preset condition, at which time the current first slope may be determined as the target slope.
The above examples are merely illustrative, and are not intended to limit the manner in which the target slope is determined in the embodiments of the present application.
Therefore, in the embodiment of the application, in the process of determining the target slope corresponding to the first simulation torque, the first simulation speed and the first slope in the conventional simulation processing are fully considered through multiple simulation processing, so that the determined target slope is more reliable through repeated iteration operation for multiple times, and further, the condition is provided for the subsequent determination of the target torque. Meanwhile, only the updating of the first slope and the first simulation torque is involved in the process, and the involved variables are fewer, so that the influence of unnecessary factors on torque filtering is reduced as much as possible, and the reliability of the torque filtering processing is ensured as much as possible.
And 106, determining the target torque based on the target slope and the first simulation torque corresponding to the target slope.
It can be understood that in the process of determining the target slope, the first simulation torque is updated and processed for multiple times, so that the jump of the first simulation torque corresponding to the target slope is relatively less and relatively smoother, and the first simulation torque corresponding to the target slope can be determined as the target torque. Alternatively, after the target slope is determined, the target torque may be determined by processing the first simulation torque with respect to the target slope, for example, smoothing, filtering, etc. again.
It can be understood that the target slope and the target torque obtained through the simulation processing in the embodiment of the application can be used as the slope and the torque used when the torque filtering processing is carried out on the vehicle in the actual running process of the vehicle, so that the stability of the torque transition can be effectively improved in the running process of the vehicle, the abrupt change of the torque can be avoided as much as possible, the larger vibration and the jerk during the running process are reduced, the damage to the engine is reduced, the service life of the engine is prolonged as much as possible, and the running safety is also improved.
The above examples are illustrative only, and are not intended to limit the manner in which the target torque is determined in the embodiment of the present application.
According to the embodiment of the application, the first simulation speed can be obtained by performing simulation processing by using a vehicle model based on the first simulation torque, then the first slope corresponding to the first simulation torque can be determined based on the first simulation speed, then the first simulation torque is processed based on the first slope to obtain the second simulation torque, then the second simulation torque can be obtained by performing simulation processing by using the vehicle model based on the second simulation torque, so as to obtain the second simulation speed, under the condition that the difference between the first simulation speed and the second simulation speed does not meet the preset condition, the first slope is updated based on the difference, the first simulation torque is updated by using the second simulation torque, and the first simulation torque is processed based on the first slope to obtain the second simulation torque, until the target slope corresponding to the first simulation torque is obtained, and then the target torque is determined based on the target slope and the first simulation torque corresponding to the target slope. Therefore, in the process of filtering the vehicle torque, the first simulation speed and the first slope in the conventional simulation processing are fully considered, the determined target slope is more reliable through repeated iteration updating operation for a plurality of times, when the target slope is used for torque filtering, the stability of torque transition can be effectively improved, further, in the process of vehicle driving, the target torque and the target slope are used for filtering, and larger vibration and jerk caused by torque mutation can be effectively reduced, so that the safety of vehicle driving is improved.
As shown in fig. 2, the torque filtering method may include the steps of:
step 201, based on the first simulation torque, performing simulation processing by using the vehicle model to obtain a first simulation speed.
Step 202, processing the first simulation speed to obtain a plurality of corresponding accelerations.
The first simulation speeds at all times can be processed to obtain accelerations corresponding to all times respectively. In addition, the first simulation speed at each moment may be processed in any desirable manner to obtain a plurality of corresponding accelerations, which is not limited in the present application.
And 203, determining a first simulation speed corresponding to the maximum acceleration in the plurality of accelerations as a first target point.
The first simulation speed corresponding to the maximum acceleration in the plurality of accelerations can be determined as the first target point for the convenience of calculation.
Or, in the case where at least two maximum accelerations are juxtaposed at the same time among the plurality of accelerations, the first target point may be determined according to the successive times of the respective maximum accelerations. For example, the first simulation speed corresponding to the maximum acceleration at the earliest occurrence time may be determined as the first target point. Alternatively, the first simulation speed corresponding to the maximum acceleration at the earliest occurrence time may be determined as the first target point, and the present application is not limited thereto.
Step 204, determining a torque type at the first target point based on the first simulation torque at the previous time and the first simulation torque at the subsequent time at the first target point.
It will be appreciated that the first simulation torque may be different or may vary at various times during the simulation process using the vehicle model. Thus, in the embodiment of the present application, the torque type at the first target point may be determined based on the first simulation torque at the previous time and the first simulation torque at the subsequent time at the first target point.
The torque type may be various, for example, may be non-zero-crossing torque, or may be zero-crossing torque.
Specifically, in the case that the torque type is a non-zero crossing torque, the first simulation torque may have various situations, for example, the first simulation torque at the previous moment is larger than the first simulation torque at the subsequent moment, and both the first simulation torque and the second simulation torque are positive values; or the first simulation torque at the previous moment is smaller than the first simulation torque at the later moment, and the first simulation torque are positive values; or the first simulation torque at the previous moment is larger than the first simulation torque at the later moment, and the first simulation torque are negative values; alternatively, the first simulated torque at the previous time is smaller than the first simulated torque at the subsequent time, and both are negative values, and so on.
In the case that the torque type is zero crossing torque, the first simulation torque may have various situations, for example, the first simulation torque at the previous moment and the first simulation torque at the subsequent moment may be zero; or the first simulation torque at the previous moment is zero, and the first simulation torque at the later moment is a positive value; or the first simulation torque at the previous moment is zero, and the first simulation torque at the later moment is a negative value; or the first simulation torque at the previous moment is a positive value, and the first simulation torque at the later moment is zero; alternatively, the first simulation torque at the previous time is a negative value, and the first simulation torque at the subsequent time is zero.
The above examples are only illustrative, and are not intended to limit the first simulation torque at the first time and the first simulation torque at the second time in the embodiment of the present application.
In step 205, in the case that the torque at the first target point is a non-zero crossing torque, a first slope is determined based on a first simulation torque corresponding to the first target point.
Alternatively, the speed type at the first target point may be determined based on the first simulated speed at the previous time at the first target point and the first simulated speed at the subsequent time. The first slope is determined based on the first simulation torque corresponding to the first target point and the opening degree of the accelerator pedal when the speed type at the first target point is the acceleration type, and the first slope is determined based on the first simulation torque corresponding to the first target point and the opening degree of the brake pedal when the speed type at the first target point is the deceleration type.
The speed type may be various, for example, acceleration type, deceleration type, etc., which is not limited by the present application.
For example, if the first simulated speed at the time after the first target point is greater than the first simulated speed at the time before the first target point, the speed type at the first target point may be determined to be an acceleration type. If the first simulation speed at the time after the first target point is smaller than the first simulation speed at the time before the first target point, it may be determined that the speed type at the first target point is a deceleration type, and the application is not limited thereto.
The accelerator pedal may be an accelerator pedal, and the decelerator pedal may be a brake pedal, which is not limited in the present application.
Alternatively, the speed type at the first target point may also be determined based on the first simulation speed at the first target point, the first simulation speed at the previous time, and the first simulation speed at the subsequent time.
For example, if the first simulation speed at the first target point is 30km/h, the first simulation speed at the former time is 38km/h, and the first simulation speed at the latter time is 27km/h, then the speed type at the first target point may be determined to be a deceleration type. If the first simulation speed at the first target point is 30km/h, the first simulation speed at the former moment is 20km/h, and the first simulation speed at the latter moment is 35km/h, the speed type at the first target point can be determined to be an acceleration type.
It should be noted that the above examples are only illustrative, and are not intended to be limiting as to the manner in which the speed type at the first target point is determined or the like in the embodiment of the present application.
It can be understood that, if the speed type at the first target point is the acceleration type, the larger the opening of the accelerator pedal corresponding to the first target point is, the larger the first slope is; the larger the first simulation torque corresponding to the first target point is, the larger the first slope is. Alternatively, the first slope may be determined based on a slope corresponding to the first simulation torque and a slope corresponding to the opening degree of the accelerator pedal. For example, the slope corresponding to the first simulation torque and the slope corresponding to the opening degree of the accelerator pedal may be summed and averaged to obtain a mean slope and determined as the first slope.
Alternatively, the first simulation torque and the priority of the accelerator pedal may be set, for example, the priority of the accelerator pedal may be set higher than the first simulation torque, and then the first slope may be determined based on the priority, the first simulation torque, and the opening degree of the accelerator pedal. Alternatively, the first weight corresponding to the first simulation torque and the corresponding slope may be fused, the second weight corresponding to the opening degree of the accelerator pedal and the corresponding slope may be fused, and then the fused result may be used as the first slope.
The slope corresponding to the first simulation torque, the slope corresponding to the opening degree of the accelerator pedal, the first weight corresponding to the first simulation torque, and the second weight corresponding to the opening degree of the accelerator pedal may be preset, may be changed as required, may also be obtained by querying a data table, or the like, and the present application is not limited to this.
It should be noted that the foregoing examples are merely illustrative, and are not intended to limit the manner in which the first slope is determined in the embodiment of the present application.
Correspondingly, if the speed type at the first target point is a deceleration type, the larger the opening of the brake pedal corresponding to the first target point is, the larger the first slope is; the larger the first simulation torque corresponding to the first target point is, the larger the first slope is.
The first slope may be determined based on a slope and a weight corresponding to the first simulation torque, a slope and a weight corresponding to an opening degree of the brake pedal, and the specific implementation manner of the first slope may refer to the description of determining the first slope in each embodiment of the present application, which is not repeated herein. Therefore, in the embodiment of the application, when the torque at the first target point is the non-zero crossing torque, the first slope can be determined based on the first simulation torque corresponding to the first target point, and then the first slope can be used for carrying out smoothing processing on the first simulation torque, so that the smoothness of the simulation torque is improved.
In step 206, a first slope is determined based on the electric brake torque in the event that the torque at the first target point is zero crossing torque.
The electric brake torque is understood to be the maximum electric brake torque when the accelerator pedal is completely released after the vehicle is running stably at a certain speed. For example, the maximum electric braking torque when the accelerator pedal is completely released after the vehicles of the same type are stably driven at 60km/h can be used as the electric braking torque in the embodiment of the application. The electric brake torque can be used as a limit, a smaller slope is set in a positive area and a negative area of the torque to enable the torque to smoothly cross zero, and the like, and the application is not limited to the limit.
Step 207, based on the first slope, processes the first simulation torque to obtain a second simulation torque.
And step 208, performing simulation processing by using the vehicle model based on the second simulation torque to obtain a second simulation speed.
Step 209, updating the first slope based on the difference and updating the first simulation torque with the second simulation torque when the difference between the second simulation speed and the first simulation speed does not meet the preset condition, and returning to execute the step of processing the first simulation torque based on the first slope to obtain the second simulation torque until the target slope corresponding to the first simulation torque is obtained.
Alternatively, a second slope corresponding to the second target point may be determined based on a difference between the second simulation speed and the first simulation speed, and then the first slope may be updated using the second slope.
After the first simulation speed is processed, a plurality of corresponding accelerations can be obtained, then the first simulation speed corresponding to the maximum acceleration in the plurality of accelerations can be determined as a first target point, and the first simulation speed corresponding to the maximum acceleration in the rest accelerations can be determined as a second target point.
For example, after the first simulation speed is processed, the obtained plurality of accelerations are respectively: 5m/s 2 、4m/s 2 、3m/s 2 Then 5m/s can be used 2 The corresponding first simulation speed is determined as a first target point a, 4m/s is calculated 2 The corresponding first simulation speed is determined as the second target point b, etc., to which the present application is not limited. It will be appreciated that after the second target point is determined, a second corresponding to the second target point may be determined based on a difference between the second simulated speed and the first simulated speed at the second target pointSlope. For example, in the case where the difference is large, the second slope may be set to a small value, in the case where the difference is small, the second slope may be set to a large value, or the like, which is not limited by the present application.
Alternatively, the second slope corresponding to the second target point may also be determined based on the first slope and a difference between the second simulated speed and the first simulated speed at the second target point.
For example, in the case where the difference between the second simulation speed and the first simulation speed at the second target point is large, the first slope may be adjusted proportionally to obtain the second slope, and the application is not limited thereto.
Step 210, determining a target torque based on the target slope and the first simulation torque corresponding to the target slope.
Alternatively, the test torque of the vehicle for the real vehicle test and the first simulation torque corresponding to the target slope may be obtained first, then the calibration slope may be determined based on the difference between the test torque and the first simulation torque corresponding to the target slope, and then the first simulation torque corresponding to the target slope may be processed based on the calibration slope to determine the target torque.
The vehicle model can be utilized to perform multiple simulation processing to determine a first simulation torque corresponding to the target slope, then a real vehicle test can be performed based on a real vehicle corresponding to the vehicle model to obtain a corresponding test torque, and then the test torque can be matched with the first simulation torque corresponding to the target slope to determine the difference between the test torque and the first simulation torque.
In addition, a plurality of types of data charts or the like having different torque differences on the horizontal axis and slopes on the vertical axis may be generated based on the acquired historical running data, historical test data, historical simulation data or the like, which is not limited in the present application.
Optionally, under the condition that the first simulation torque is not zero-crossing torque, the difference between the first simulation torque and the second simulation torque can be determined, for example, the difference corresponding to each moment can be determined, or the target point of torque jump in the test torque can be determined, and then the difference between the test torque corresponding to each target point and the first simulation torque can be determined.
And then, determining a data chart taking the difference between the simulation torque and the test torque as a horizontal axis and taking the slope as a vertical axis in a plurality of data charts which are generated in advance, traversing the data chart based on the difference between the test torque and the first simulation torque to determine a calibration slope corresponding to the difference, and then, processing the first simulation torque corresponding to the target slope based on the calibration slope to obtain the target torque.
Optionally, in the case that the first simulation torque is zero crossing torque, the calibration slope may be determined based on a difference between the test torque and the preset torque.
The preset torque may be any torque, for example, may be zero torque, 1N torque, or some specific value of torque, which is not limited in the present application.
For example, a data chart with a difference between the test torque and the zero torque as a horizontal axis and a slope as a vertical axis may be determined in a plurality of data charts generated in advance, and traversing is performed in the data chart based on the difference between the current test torque and the zero torque to determine a calibration slope corresponding to the difference, and then the first simulation torque corresponding to the target slope may be processed based on the calibration slope to obtain the target torque.
The above examples are illustrative only, and are not intended to limit the manner in which the target torque is determined in the embodiment of the present application.
It should be noted that the torque filtering method provided by the present application may be applied to any type and any style of vehicle, and the torque filtering process provided by the present application is briefly described below with reference to fig. 3.
The vehicle model may be used to perform simulation processing based on the first simulation torque to obtain a first simulation speed, where the first simulation torque and the corresponding first simulation speed may be as shown in fig. 3 (a). Then, a first slope corresponding to the first simulation torque can be determined based on the first simulation speed, the first simulation torque is processed based on the first slope to obtain a second simulation torque, and then, based on the second simulation torque, the vehicle model is utilized to perform simulation processing to obtain a second simulation speed, wherein the second simulation torque and the corresponding second simulation speed can be shown in fig. 3 (b).
When the difference between the second simulation speed and the first simulation speed does not meet the preset condition, the first slope can be updated based on the difference, the first simulation torque can be updated by using the second simulation torque, and the step of processing the first simulation torque based on the first slope is performed back to obtain the second simulation torque until the target slope corresponding to the first simulation torque is obtained. Then, the target torque may be determined based on the target slope and the first simulation torque corresponding to the target slope.
Alternatively, the test torque of the vehicle for the real vehicle test and the first simulation torque corresponding to the target slope may be obtained first, then the calibration slope may be determined based on the difference between the test torque and the first simulation torque corresponding to the target slope, and the first simulation torque corresponding to the target slope may be processed based on the calibration slope, so as to determine the target torque. The target torque obtained by the calibration slope processing and the simulation speed obtained by performing the simulation processing using the target torque may be as shown in fig. 3 (c).
The above examples are merely illustrative, and are not intended to limit the manner in which the torque filtering of the vehicle is performed in the embodiment of the present application.
According to the embodiment of the application, the first simulation speed can be obtained by performing simulation processing by using the vehicle model based on the first simulation torque, and then the first simulation speed can be processed to obtain a plurality of corresponding accelerations. Determining a first simulation speed corresponding to the maximum acceleration in the accelerations as a first target point, determining a torque type at the first target point based on a first simulation torque at a previous moment and a first simulation torque at a later moment at the first target point, determining a first slope based on the first simulation torque corresponding to the first target point when the torque at the first target point is a non-zero crossing torque, determining a first slope based on an electric braking torque when the torque at the first target point is a zero crossing torque, then processing the first simulation torque based on the first slope to obtain a second simulation torque, and performing simulation processing by using a vehicle model based on the second simulation torque to obtain a second simulation speed, updating the first slope based on the difference and updating the first simulation torque based on the second simulation torque when the difference between the second simulation speed and the first simulation speed does not meet a preset condition, and returning to execute the step of processing the first simulation torque based on the first slope to obtain a second simulation torque until the first simulation torque is obtained, and determining a target slope based on the target and the corresponding target slope. Therefore, in the process of filtering the vehicle torque, the first simulation speed and the first slope are fully considered, the determined target slope is more reliable through repeated iteration updating operation for many times, when the target slope is used for torque filtering, the stability of torque transition can be effectively improved, further, the target torque and the target slope are used for filtering in the process of vehicle driving, and larger vibration and jerk caused by torque mutation can be effectively reduced, so that the safety of vehicle driving is improved.
According to the present application, as shown in fig. 4, there is provided a torque filtering apparatus, which includes a first processing module 410, a first determining module 420, a second processing module 430, a third processing module 440, a fourth processing module 450, and a second determining module 460.
The first processing module 410 is configured to perform simulation processing by using the vehicle model based on the first simulation torque to obtain a first simulation speed; the first determining module 420 is configured to determine, based on the first simulation speed, a first slope corresponding to the first simulation torque; the second processing module 430 is configured to process the first simulation torque based on the first slope to obtain a second simulation torque; the third processing module 440 is configured to perform a simulation process using the vehicle model based on the second simulation torque to obtain a second simulation speed; the fourth processing module 450 is configured to update the first slope and update the first simulation torque with the second simulation torque based on the difference when the difference between the second simulation speed and the first simulation speed does not meet the preset condition, and return to perform the step of processing the first simulation torque based on the first slope to obtain a second simulation torque until a target slope corresponding to the first simulation torque is obtained; the second determining module 460 is configured to determine a target torque based on the target slope and a first simulation torque corresponding to the target slope.
In some embodiments, the first determining module 420 includes: the first determining unit is used for determining a first target point based on the first simulation speed; the second determining unit is used for determining a first slope based on a first simulation torque corresponding to the first target point.
In some embodiments, the first determining unit is specifically configured to: processing the first simulation speed to obtain a plurality of corresponding accelerations; and determining a first simulation speed corresponding to the maximum acceleration in the accelerations as a first target point.
In some embodiments, the second determining unit includes: the first determining subunit is used for determining the torque type at the first target point based on the first simulation torque at the previous moment and the first simulation torque at the subsequent moment at the first target point; the second determining subunit is configured to determine, based on a first simulation torque corresponding to the first target point, a first slope when the torque at the first target point is a non-zero crossing torque; the third determination subunit is configured to determine a first slope based on the electric brake torque in a case where the torque at the first target point is a zero crossing torque.
In some embodiments, the second determining subunit is specifically configured to: determining a speed type at the first target point based on a first simulation speed at a previous moment and a first simulation speed at a later moment at the first target point; determining a first slope based on a first simulation torque corresponding to the first target point and an opening degree of an accelerator pedal under the condition that the speed type at the first target point is an acceleration type; and under the condition that the speed type at the first target point is a deceleration type, determining a first slope based on a first simulation torque corresponding to the first target point and the opening degree of a brake pedal.
In some embodiments, the fourth processing module 450 is specifically configured to: determining a second slope corresponding to a second target point based on the difference; updating the first slope with the second slope.
In some embodiments, the second determining module 460 is specifically configured to: acquiring a test torque of a vehicle for performing a real vehicle test and a first simulation torque corresponding to the target slope; determining a calibration slope based on a difference between the test torque and a first simulation torque corresponding to the target slope; and processing the first simulation torque corresponding to the target slope based on the calibration slope to determine the target torque.
The torque filtering device provided by the application can be used for carrying out simulation processing by utilizing a vehicle model based on the first simulation torque to obtain a first simulation speed, then determining a first slope corresponding to the first simulation torque based on the first simulation speed, then processing the first simulation torque based on the first slope to obtain a second simulation torque, then carrying out simulation processing by utilizing the vehicle model based on the second simulation torque to obtain a second simulation speed, updating the first slope based on the difference and updating the first simulation torque by utilizing the second simulation torque under the condition that the difference between the first simulation speed and the second simulation speed does not meet the preset condition, and returning to execute the steps of processing the first simulation torque based on the first slope to obtain a second simulation torque until a target slope corresponding to the first simulation torque is obtained, and then determining the target torque based on the target slope and the first simulation torque corresponding to the target slope. Therefore, in the process of filtering the vehicle torque, the first simulation speed and the first slope in the conventional simulation processing are fully considered, the determined target slope is more reliable through repeated iteration updating operation for a plurality of times, when the target slope is used for torque filtering, the stability of torque transition can be effectively improved, further, in the process of vehicle driving, the target torque and the target slope are used for filtering, and larger vibration and jerk caused by torque mutation can be effectively reduced, so that the safety of vehicle driving is improved.
It is to be understood that the specific features, operations and details described herein before with respect to the method of the application may also be similarly applied to the apparatus and system of the application, or vice versa. In addition, each step of the method of the present application described above may be performed by a corresponding component or unit of the apparatus or system of the present application.
It is to be understood that the various modules/units of the apparatus of the application may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. Each module/unit may be embedded in a processor of the electronic device in hardware or firmware or may be independent of the processor, or may be stored in a memory of the electronic device in software for the processor to call to perform the operations of each module/unit. Each module/unit may be implemented as a separate component or module, or two or more modules/units may be implemented as a single component or module.
As shown in fig. 5, the present application provides an electronic device 500 comprising a processor 501 and a memory 502 storing computer program instructions. Wherein the processor 501, when executing the computer program instructions, implements the steps of the torque filtering method described above. The electronic device 500 may be broadly a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities.
In one embodiment, the electronic device 500 may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the electronic device 500 may be used to provide the necessary computing, processing, and/or control capabilities. The memory of the electronic device 500 may include non-volatile storage media and internal memory. The non-volatile storage medium may store an operating system, computer programs, and the like. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the electronic device 500 may be used to connect and communicate with external devices via a network. Which when executed by a processor performs the steps of the method of the application.
The application provides a computer readable storage medium, on which computer program instructions are stored, which when executed by a processor implement the torque filtering method described above.
Those skilled in the art will appreciate that the method steps of the present application may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as the electronic device 500 or the processor, which when executed causes the steps of the present application to be performed. Any reference herein to memory, storage, or other medium may include non-volatile or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the description provided that such combinations are not inconsistent.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (10)
1. A torque filtering method, comprising:
based on the first simulation torque, performing simulation processing by using a vehicle model to obtain a first simulation speed;
determining a first slope corresponding to the first simulation torque based on the first simulation speed;
processing the first simulation torque based on the first slope to obtain a second simulation torque;
Based on the second simulation torque, performing simulation processing by using the vehicle model to obtain a second simulation speed;
updating the first slope based on the difference and updating the first simulation torque by using the second simulation torque under the condition that the difference between the second simulation speed and the first simulation speed does not meet the preset condition, and returning to execute the step of processing the first simulation torque based on the first slope to obtain a second simulation torque until a target slope corresponding to the first simulation torque is obtained;
and determining a target torque based on the target slope and the first simulation torque corresponding to the target slope.
2. The torque filtering method of claim 1, wherein the determining a first slope corresponding to the first simulated torque based on the first simulated speed comprises:
determining a first target point based on the first simulation speed;
and determining a first slope based on a first simulation torque corresponding to the first target point.
3. The torque filtering method of claim 2, wherein the determining a first target point based on the first simulation speed comprises:
Processing the first simulation speed to obtain a plurality of corresponding accelerations;
and determining a first simulation speed corresponding to the maximum acceleration in the accelerations as a first target point.
4. The torque filtering method according to claim 2, wherein the determining a first slope based on the first simulation torque corresponding to the first target point includes:
determining a torque type at the first target point based on a first simulation torque at a previous time and a first simulation torque at a subsequent time at the first target point;
determining a first slope based on a first simulation torque corresponding to the first target point when the torque at the first target point is a non-zero crossing torque;
in the case where the torque at the first target point is zero crossing torque, a first slope is determined based on the electric brake torque.
5. The torque filtering method according to claim 4, wherein, in the case where the torque at the first target point is a non-zero crossing torque, determining a first slope based on a first simulation torque corresponding to the first target point includes:
determining a speed type at the first target point based on a first simulation speed at a previous moment and a first simulation speed at a later moment at the first target point;
Determining a first slope based on a first simulation torque corresponding to the first target point and an opening degree of an accelerator pedal under the condition that the speed type at the first target point is an acceleration type;
and under the condition that the speed type at the first target point is a deceleration type, determining a first slope based on a first simulation torque corresponding to the first target point and the opening degree of a brake pedal.
6. The torque filtering method of claim 1, wherein updating the first slope based on the difference comprises:
determining a second slope corresponding to a second target point based on the difference;
updating the first slope with the second slope.
7. The torque filtering method according to claim 1, wherein the determining the target torque based on the target slope and the first simulation torque corresponding to the target slope includes:
acquiring a test torque of a vehicle for performing a real vehicle test and a first simulation torque corresponding to the target slope;
determining a calibration slope based on a difference between the test torque and a first simulation torque corresponding to the target slope;
and processing the first simulation torque corresponding to the target slope based on the calibration slope to determine the target torque.
8. A torque filtering device, comprising:
the first processing module is used for carrying out simulation processing by utilizing the vehicle model based on the first simulation torque to obtain a first simulation speed;
the first determining module is used for determining a first slope corresponding to the first simulation torque based on the first simulation speed;
the second processing module is used for processing the first simulation torque based on the first slope to obtain a second simulation torque;
the third processing module is used for performing simulation processing by using the vehicle model based on the second simulation torque so as to obtain a second simulation speed;
a fourth processing module, configured to update the first slope and update the first simulation torque with the second simulation torque based on the difference when the difference between the second simulation speed and the first simulation speed does not satisfy a preset condition, and return to perform a step of processing the first simulation torque based on the first slope to obtain a second simulation torque until a target slope corresponding to the first simulation torque is obtained;
and the second determining module is used for determining the target torque based on the target slope and the first simulation torque corresponding to the target slope.
9. An electronic device, wherein the electrons comprise: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements the torque filtering method of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions, which when executed by a processor, implement the torque filtering method according to any of claims 1-7.
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