CN117325664A - Speed ratio correction method, device, storage medium and vehicle - Google Patents

Speed ratio correction method, device, storage medium and vehicle Download PDF

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Publication number
CN117325664A
CN117325664A CN202210719091.9A CN202210719091A CN117325664A CN 117325664 A CN117325664 A CN 117325664A CN 202210719091 A CN202210719091 A CN 202210719091A CN 117325664 A CN117325664 A CN 117325664A
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China
Prior art keywords
speed ratio
vehicle
speed
correction coefficient
ratio correction
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CN202210719091.9A
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Chinese (zh)
Inventor
刘志刚
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Priority to CN202210719091.9A priority Critical patent/CN117325664A/en
Publication of CN117325664A publication Critical patent/CN117325664A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application discloses a speed ratio correction method, a speed ratio correction device, a storage medium and a vehicle, wherein the speed ratio correction method comprises the following steps: obtaining an actual speed of the vehicle based on the running parameters of the vehicle; calculating an actual speed ratio based on the actual vehicle speed and the motor speed of the vehicle; calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction coefficient, wherein the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that a motor controller of the vehicle can adjust the running power of the driving motor according to the corrected speed ratio. According to the method, the running parameters of the vehicle and the motor rotating speed of the driving motor are used as reference bases in the actual speed ratio calculation process, the fact that the actual speed ratio is matched with the actual working condition is ensured to be calculated, the speed ratio correction coefficient is calculated and obtained by utilizing the actual speed ratio and the theoretical speed ratio, the speed ratio correction coefficient is utilized to carry out speed ratio correction on the current gear speed ratio, the corrected speed ratio which is more accurate than the current gear speed ratio is obtained, and the regulation and control precision of the motor controller is improved.

Description

Speed ratio correction method, device, storage medium and vehicle
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a speed ratio correction method and apparatus, a storage medium, and a vehicle.
Background
For electric vehicles, the calculation of motor speed is a necessary condition for a motor controller on the vehicle to regulate the operating power of the drive motor. In the calculation process of the motor rotation speed, the controller calculates the motor rotation speed according to the speed ratio and the wheel speed of the vehicle.
However, the existing speed ratio is usually a theoretical value, and in the running process of the vehicle, deviation often exists between the actual speed ratio and the theoretical speed ratio, so that the larger deviation exists between the motor rotating speed and the actual motor rotating speed based on the calculation of the theoretical speed ratio, thereby affecting the control precision of the motor controller on the running power of the driving motor, and causing the vehicle to run away when serious.
For this reason, how to provide a reliable and accurate speed ratio for a motor controller of a vehicle is a problem to be solved in the art.
Disclosure of Invention
The application provides a speed ratio correction method, a speed ratio correction device, a storage medium and a vehicle, and aims to provide a reliable and accurate speed ratio for a motor controller of the vehicle.
In order to achieve the above object, the present application provides the following technical solutions:
a speed ratio correction method includes:
obtaining an actual speed of a vehicle based on a running parameter of the vehicle;
calculating an actual speed ratio based on the actual vehicle speed and the motor speed of the vehicle;
calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction coefficient; the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
Optionally, the obtaining the actual vehicle speed of the vehicle based on the left wheel speed, the right wheel speed and the wheel radius of the vehicle includes:
acquiring a running parameter of a vehicle in the running process; the driving parameters comprise a left wheel speed, a right wheel speed, a motor rotating speed, a driving gear, a gear shifting frequency of a gear shifting lever and a state of an electronic stabilizing system of the vehicle body;
calculating the average value of the left wheel speed and the right wheel speed to obtain an effective wheel speed under the conditions that the left wheel speed and the right wheel speed are both smaller than a preset wheel speed threshold, the motor rotating speed is larger than a preset rotating speed threshold, the driving gear is a forward gear, the gear shifting frequency of the gear shifting lever is smaller than a preset frequency threshold, and the vehicle body electronic stabilizing system is in a state that the function is not triggered;
and calculating the actual speed of the vehicle based on the effective wheel speed and the wheel radius of the vehicle.
Optionally, the calculating a ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction coefficient includes:
calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a first correction coefficient;
selecting a coefficient with the largest value from the first correction coefficient and the first preset coefficient as a second correction coefficient;
selecting a coefficient with the smallest value from the second correction coefficient and a second preset coefficient as a speed ratio correction coefficient; the value of the first preset coefficient is larger than that of the second preset coefficient.
Optionally, after calculating the ratio between the actual speed ratio and the preset theoretical speed ratio to obtain the speed ratio correction coefficient, the method further includes:
obtaining a target sequence based on the speed ratio correction coefficient; the target sequence is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle can adjust the running power of the driving motor according to the corrected speed ratio.
Optionally, the obtaining the target sequence based on the speed ratio correction coefficient includes:
acquiring a speed ratio correction coefficient of the vehicle in each unit time; the unit time is the time that the vehicle has elapsed during running;
and carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a target sequence of each unit time.
Optionally, the low-pass filtering is performed on the speed ratio correction coefficient obtained in each unit time to obtain a target sequence in each unit time, including:
carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a speed ratio correction coefficient sequence of each unit time; the speed ratio correction coefficient sequence comprises a plurality of target speed ratio correction coefficients, the target speed ratio correction coefficients are ordered according to the sequence from small to large, and the value of the last target speed ratio correction coefficient in the speed ratio correction coefficient sequence is the same as the value of the speed ratio correction coefficient obtained in the unit time; each target speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that a motor controller of the vehicle adjusts the running power of a driving motor according to the corrected speed ratio;
sequentially storing the speed ratio correction coefficient sequences of each unit time into a local cache according to the order of the occurrence time from early to late;
and for each unit time, under the condition that the vehicle is determined to have functional failure in the unit time and the vehicle is electrified again, acquiring a speed ratio correction coefficient sequence of the last unit time from the local cache, and marking the speed ratio correction coefficient sequence of the last unit time as a target sequence of the unit time.
Optionally, the method further comprises:
and under the condition that the vehicle is determined to have no function fault in the unit time, the speed ratio correction coefficient sequence in the unit time is identified as the target sequence in the unit time.
A speed ratio correction device comprising:
a vehicle speed calculation unit for obtaining an actual vehicle speed of a vehicle based on a running parameter of the vehicle;
a speed ratio calculation unit for calculating an actual speed ratio based on the actual vehicle speed and a motor rotation speed of the vehicle;
the ratio calculating unit is used for calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction coefficient; the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
A computer-readable storage medium including a stored program, wherein the program performs the method of correcting the speed ratio.
A vehicle, comprising: a processor, a memory, and a bus; the processor is connected with the memory through the bus;
the memory is used for storing a program, and the processor is used for running the program, wherein the program executes the speed ratio correction method during running.
According to the technical scheme, the actual speed of the vehicle is obtained based on the running parameters of the vehicle. Based on the actual vehicle speed and the motor speed of the vehicle, an actual speed ratio is calculated. Calculating the ratio between the actual speed ratio and the preset theoretical speed ratio to obtain a speed ratio correction coefficient. The speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio. According to the method, the running parameters of the vehicle and the motor rotating speed are used as reference bases in the actual speed ratio calculation process, the fact that the actual speed ratio is matched with the actual working condition is ensured to be calculated, the speed ratio correction coefficient is calculated by utilizing the actual speed ratio and the theoretical speed ratio, the speed ratio correction coefficient is utilized to carry out speed ratio correction on the current gear speed ratio, the correction speed ratio which is more accurate than the current gear speed ratio is obtained, and therefore the regulation and control precision of the motor controller is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1a is a flow chart of a method for correcting a speed ratio according to an embodiment of the present disclosure;
FIG. 1b is a flow chart of a method for correcting a speed ratio according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of another speed ratio correction method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a speed ratio correction device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
As shown in fig. 1a and 1b, a flow chart of a speed ratio correction method according to an embodiment of the present application may be applied to a hydraulic control unit (Hydraulic Control Unit, HCU) of a vehicle, and includes the following steps:
s101: the driving parameters of the vehicle during driving are acquired.
The driving parameters at least comprise a left wheel speed, a right wheel speed, a motor rotating speed, a driving gear, a gear shifting frequency of a gear shifting lever and a state of a vehicle body electronic stability system (Electronic Stability Program, ESP).
It should be noted that, the left wheel speed and the right wheel speed of the vehicle can be acquired in real time by a wheel speed sensor preset on the vehicle. The motor rotation speed of the vehicle can be acquired in real time by a rotation speed sensor preset on the vehicle. The driving range of the vehicle and the shift frequency of the gear selector lever are usually directly readable from an Electronic control unit (Electronic ControlUnit, ECU). Furthermore, the state of the ESP can be read from the ESP.
Specifically, the left wheel speed shown in the present embodiment includes any one of the left wheel speed of the front axle and the left wheel speed of the rear axle, and the right wheel speed shown in the present embodiment includes any one of the right wheel speed of the front axle and the right wheel speed of the rear axle.
S102: and under the conditions that the left wheel speed and the right wheel speed are both smaller than a preset wheel speed threshold, the motor rotating speed is larger than a preset rotating speed threshold, the driving gear is a forward gear, the gear shifting frequency of the gear shifting lever is smaller than a preset frequency threshold, and the ESP is in a state that the function is not triggered, calculating the average value of the left wheel speed and the right wheel speed, and obtaining the effective wheel speed.
When the left wheel speed and the right wheel speed are smaller than the preset wheel speed threshold, the vehicle is in a stable running state, and generally, when special running phenomena such as slipping and excessive bending occur to the vehicle, any one of the left wheel speed and the right wheel speed of the vehicle is not smaller than the preset wheel speed threshold.
When the motor speed is greater than the preset speed threshold, the vehicle is in a medium-high speed running state, and generally, when the vehicle is in a low-speed running state, the motor speed is not greater than the preset speed threshold. Only when the vehicle is in a medium-high speed running state, the accurate speed ratio obtained by the subsequent calculation based on the motor rotation speed can be ensured.
When the driving gear is a forward gear, it represents that the vehicle is in a forward state, and generally, when the vehicle is not in a forward state, the HCU may not need to regulate the operation power of the driving motor.
When the gear shifting frequency of the gear shifting lever is smaller than the preset frequency threshold value, the vehicle is in a stable running state, and generally, when the gear shifting frequency of the gear shifting lever is not smaller than the preset frequency threshold value, the vehicle owner is in impatience control of the vehicle, and the vehicle cannot be in the stable running state.
When the ESP is in a state that the function is not triggered, the vehicle is represented to be in a steady running state, generally, the ESP comprises functions such as a braking force distribution function, a wheel anti-lock function, a traction control function, a dynamic stability control function of the vehicle, and when any one of the functions of the ESP is triggered, the vehicle is represented to be not in a steady running state.
It should be noted that, only when the vehicle is in a state of stationary running, it is ensured that the subsequent calculation based on the left wheel speed and the right wheel speed results in accurate speed ratio.
S103: based on the effective wheel speed and the wheel radius of the vehicle, the actual speed of the vehicle is calculated.
The specific implementation process of calculating the actual speed of the vehicle based on the effective wheel speed and the wheel radius of the vehicle can be shown by the formula (1).
V Vehicle speed ＝W×2π×R Wheel of vehicle ×3600/1000 (1)
In the formula (1), V Vehicle speed Represents the actual vehicle speed, W represents the effective wheel speed, R Wheel of vehicle Representing the wheel radius. Since the unit of the effective wheel speed is rotations per minute (rpm), the unit of the actual vehicle speed is kilometers per hour (kph), and for this purpose, it is necessary to perform unit conversion using 3600/1000 mentioned in formula (1).
S104: based on the actual vehicle speed and the motor rotation speed, an actual speed ratio is calculated.
The specific implementation process of calculating the actual speed ratio based on the actual vehicle speed and the motor rotation speed can be shown in the formula (2).
Ratio Actual practice is that of ＝V Vehicle speed /W Motor with a motor housing (2)
In the formula (2), ratio Actual practice is that of Representing the actual speed ratio, W Motor with a motor housing Representing motor speed.
S105: and calculating the ratio between the actual speed ratio and the preset theoretical speed ratio to obtain a first correction coefficient.
The specific implementation process of calculating the ratio between the actual speed ratio and the preset theoretical speed ratio to obtain the first correction coefficient can be shown in the formula (3).
K＝Ratio Actual practice is that of /Ratio Theory of (3)
In the formula (3), K represents a first correction coefficient, ratio Theory of Representing a preset theoretical speed ratio.
S106: and selecting the coefficient with the largest value from the first correction coefficient and the first preset coefficient as a second speed ratio correction coefficient.
S107: and selecting a coefficient with the smallest value from the second correction coefficient and the second preset coefficient as a speed ratio correction coefficient.
Wherein, the value of the first preset coefficient is larger than that of the second preset coefficient. Further, the unit time is the time that the vehicle has elapsed while traveling.
It should be noted that, in order to avoid unreasonable values of the speed ratio correction coefficients, the first correction coefficient is compared with the first preset coefficient, and the second correction coefficient is compared with the second preset coefficient, so as to ensure that the finally obtained value of the speed ratio correction coefficient is within a reasonable range.
S108: and acquiring a speed ratio correction coefficient of the vehicle in each unit time.
The unit time is the time that the vehicle has elapsed during running.
S109: and carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a speed ratio correction coefficient sequence of each unit time.
The speed ratio correction coefficient sequence comprises a plurality of target speed ratio correction coefficients, the target speed ratio correction coefficients are ordered according to the sequence from small to large, and the value of the last target speed ratio correction coefficient in the speed ratio correction coefficient sequence is the same as the value of the speed ratio correction coefficient obtained in unit time.
In the embodiment of the application, each target speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio. The so-called current gear ratio, in general, the current gear ratio recorded in the motor controller may be set as a theoretical gear ratio.
In the embodiment of the application, the speed ratio correction coefficient is subjected to low-pass filtering to obtain the speed ratio correction coefficient sequence, so that the phenomenon that the change amplitude of the running power of the driving motor is too large (the change amplitude is too large, the running power of the driving motor can be neglected or slow, and the normal running of a vehicle is influenced) is mainly avoided. And sequencing all target speed ratio correction coefficients in the speed ratio correction coefficient sequence obtained based on low-pass filtering according to the sequence from small to large, so that when the running power of the driving motor is regulated and controlled according to the corrected speed ratio (the speed ratio obtained after the speed ratio correction is carried out on the current gear speed ratio based on the target speed ratio correction coefficient), the change amplitude of the running power is ensured to be in a reasonable range, and the normal running of the vehicle is ensured.
The value of the speed ratio correction coefficient obtained in the initial unit time (for example, the first start of the vehicle) may be set by the technician according to the actual situation, and may be set to 1, for example.
S110: and sequentially storing the speed ratio correction coefficient sequences of each unit time into a local cache according to the order of the occurrence time from early to late.
S111: for each unit time, it is determined whether or not the vehicle has a malfunction in the unit time.
If there is a malfunction in the vehicle per unit time, S112 is executed, otherwise S113 is executed.
The fault information of the vehicle can be obtained by accessing the ECU of the vehicle, and if the ECU contains the fault information, the vehicle is represented to have a functional fault.
S112: and acquiring a speed ratio correction coefficient sequence of the last unit time from the local cache, and marking the speed ratio correction coefficient sequence of the last unit time as a target sequence of the unit time.
After S112 is performed, S114 is continued.
Optionally, when the vehicle is powered on again in a unit time, the speed ratio correction coefficient sequence of the last unit time can be obtained from the local cache, and the speed ratio correction coefficient sequence of the last unit time is identified as the target sequence of the unit time.
If the vehicle is powered on again in the unit time, the last speed ratio correction coefficient sequence in the unit time is directly marked as the target sequence in the unit time, so that unnecessary calculation processes can be reduced, and the operation efficiency of the HCU can be improved.
S113: and identifying the speed ratio correction coefficient sequence in unit time as a target sequence in unit time.
After S113 is performed, S114 is continued.
S114: and sequentially sending each target speed ratio correction coefficient in the target sequence to a motor controller of the vehicle according to the sequence from front to back, so that the motor controller carries out speed ratio correction on the current gear speed ratio according to each target speed ratio correction coefficient to obtain a corrected speed ratio.
The motor controller carries out speed ratio correction on the current gear speed ratio according to each target speed ratio correction coefficient to obtain a corrected speed ratio, and concretely calculates the product of the current gear speed ratio and the target speed ratio correction coefficient to obtain the corrected speed ratio. Compared with the current gear speed ratio, the correction speed ratio is more accurate, and the motor controller adjusts the running power of the driving motor according to the correction speed ratio, so that the regulation and control precision of the motor controller is obviously improved.
It should be noted that the scheme shown in this embodiment is applicable not only to HCUs, but also to other controllers in vehicles, such as Micro control units (Micro ControllerUnit, MCU).
In summary, the running parameters of the vehicle and the motor rotation speed are used as reference bases in the actual speed ratio calculation process, the fact that the actual speed ratio is matched with the actual working condition is ensured, the actual speed ratio and the theoretical speed ratio are used for calculation to obtain the speed ratio correction coefficient, the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio, and the correction speed ratio which is more accurate than the current gear speed ratio is obtained, so that the regulation and control precision of the motor controller is improved.
It should be noted that S101 mentioned in the foregoing embodiment is an alternative implementation of the speed ratio correction method described in the present application. In addition, S114 mentioned in the foregoing embodiment is also an alternative implementation of the speed ratio correction method described in the present application. For this reason, the flow mentioned in the above embodiment can be summarized as the method shown in fig. 2.
As shown in fig. 2, a flow chart of another speed ratio correction method provided in the embodiment of the present application includes the following steps:
s201: based on the running parameters of the vehicle, the actual speed of the vehicle is obtained.
S202: based on the actual vehicle speed and the motor speed of the vehicle, an actual speed ratio is calculated.
S203: calculating the ratio between the actual speed ratio and the preset theoretical speed ratio to obtain a speed ratio correction coefficient.
The speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
In summary, the running parameters of the vehicle and the motor rotation speed are used as reference bases in the actual speed ratio calculation process, the fact that the actual speed ratio is matched with the actual working condition is ensured, the actual speed ratio and the theoretical speed ratio are used for calculation to obtain the speed ratio correction coefficient, the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio, and the correction speed ratio which is more accurate than the current gear speed ratio is obtained, so that the regulation and control precision of the motor controller is improved.
Corresponding to the above-mentioned method for correcting the speed ratio provided by the embodiment of the present application, the embodiment of the present application further provides a device for correcting the speed ratio.
As shown in fig. 3, an architecture diagram of a speed ratio correction device according to an embodiment of the present application includes:
a vehicle speed calculation unit 100 for obtaining an actual vehicle speed of the vehicle based on the running parameters of the vehicle.
Alternatively, the vehicle speed calculation unit 100 is specifically configured to: acquiring a running parameter of a vehicle in the running process; the driving parameters comprise a left wheel speed, a right wheel speed, a motor rotating speed, a driving gear, a gear shifting frequency of a gear shifting lever and a state of an electronic stabilizing system of the vehicle body; when the left wheel speed and the right wheel speed are both smaller than a preset wheel speed threshold, the motor rotating speed is larger than the preset rotating speed threshold, the driving gear is a forward gear, the gear shifting frequency of the gear shifting lever is smaller than a preset frequency threshold, and the vehicle body electronic stabilizing system is in a state that the functions are not triggered, calculating the average value of the left wheel speed and the right wheel speed, and obtaining the effective wheel speed; based on the effective wheel speed and the wheel radius of the vehicle, the actual speed of the vehicle is calculated.
The speed ratio calculating unit 200 is used for calculating an actual speed ratio based on the actual vehicle speed and the motor speed of the vehicle.
The ratio calculating unit 300 is configured to calculate a ratio between the actual speed ratio and a preset theoretical speed ratio, and obtain a speed ratio correction coefficient. The speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
Optionally, the ratio calculating unit 300 is specifically configured to: calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a first correction coefficient; selecting a coefficient with the maximum value from the first correction coefficient and the first preset coefficient as a second correction coefficient; selecting a coefficient with the smallest value from the second correction coefficient and the second preset coefficient as a speed ratio correction coefficient; the value of the first preset coefficient is larger than that of the second preset coefficient.
The ratio calculation unit 300 is further configured to: obtaining a target sequence based on the speed ratio correction coefficient; the target sequence is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
The ratio calculating unit 300 specifically functions to: acquiring a speed ratio correction coefficient of the vehicle in each unit time; the unit time is the time that the vehicle has elapsed during running; and carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a target sequence of each unit time.
The ratio calculating unit 300 specifically functions to: carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a speed ratio correction coefficient sequence of each unit time; the speed ratio correction coefficient sequence comprises a plurality of target speed ratio correction coefficients, wherein each target speed ratio correction coefficient is sequenced according to the sequence from small to large, and the value of the last target speed ratio correction coefficient in the speed ratio correction coefficient sequence is the same as the value of the speed ratio correction coefficient obtained in unit time; each target speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that a motor controller of the vehicle adjusts the running power of a driving motor according to the corrected speed ratio; sequentially storing the speed ratio correction coefficient sequence of each unit time into a local cache according to the sequence from the early to the late of the occurrence time; and for each unit time, under the condition that the vehicle has functional faults in the unit time and the vehicle is electrified again, acquiring a speed ratio correction coefficient sequence of the last unit time from the local cache, and marking the speed ratio correction coefficient sequence of the last unit time as a target sequence of the unit time.
The ratio calculating unit 300 specifically functions to: and under the condition that the vehicle is determined to have no functional failure in unit time, the speed ratio correction coefficient sequence in unit time is identified as the target sequence in unit time.
In summary, the running parameters of the vehicle and the motor rotation speed are used as reference bases in the actual speed ratio calculation process, the fact that the actual speed ratio is matched with the actual working condition is ensured, the actual speed ratio and the theoretical speed ratio are used for calculation to obtain the speed ratio correction coefficient, the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio, and the correction speed ratio which is more accurate than the current gear speed ratio is obtained, so that the regulation and control precision of the motor controller is improved.
The application also provides a computer readable storage medium, wherein the computer readable storage medium comprises a stored program, and the program executes the speed ratio correction method provided by the application.
The application also provides a vehicle comprising: a processor, a memory, and a bus. The processor is connected with the memory through a bus, the memory is used for storing a program, and the processor is used for running the program, wherein the correction method of the speed ratio provided by the application is executed when the program runs, and comprises the following steps:
obtaining an actual speed of a vehicle based on a running parameter of the vehicle;
calculating an actual speed ratio based on the actual vehicle speed and the motor speed of the vehicle;
calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction coefficient; the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
Specifically, on the basis of the above embodiment, the obtaining the actual vehicle speed of the vehicle based on the left wheel speed, the right wheel speed and the wheel radius of the vehicle includes:
acquiring a running parameter of a vehicle in the running process; the driving parameters comprise a left wheel speed, a right wheel speed, a motor rotating speed, a driving gear, a gear shifting frequency of a gear shifting lever and a state of an electronic stabilizing system of the vehicle body;
calculating the average value of the left wheel speed and the right wheel speed to obtain an effective wheel speed under the conditions that the left wheel speed and the right wheel speed are both smaller than a preset wheel speed threshold, the motor rotating speed is larger than a preset rotating speed threshold, the driving gear is a forward gear, the gear shifting frequency of the gear shifting lever is smaller than a preset frequency threshold, and the vehicle body electronic stabilizing system is in a state that the function is not triggered;
and calculating the actual speed of the vehicle based on the effective wheel speed and the wheel radius of the vehicle.
Specifically, on the basis of the foregoing embodiment, the calculating the ratio between the actual speed ratio and the preset theoretical speed ratio to obtain the speed ratio correction coefficient includes:
calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a first correction coefficient;
selecting a coefficient with the largest value from the first correction coefficient and the first preset coefficient as a second correction coefficient;
selecting a coefficient with the smallest value from the second correction coefficient and a second preset coefficient as a speed ratio correction coefficient; the value of the first preset coefficient is larger than that of the second preset coefficient.
Specifically, on the basis of the foregoing embodiment, after calculating the ratio between the actual speed ratio and the preset theoretical speed ratio to obtain the speed ratio correction coefficient, the method further includes:
obtaining a target sequence based on the speed ratio correction coefficient; the target sequence is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle can adjust the running power of the driving motor according to the corrected speed ratio.
Specifically, on the basis of the foregoing embodiment, the obtaining the target sequence based on the speed ratio correction coefficient includes:
acquiring a speed ratio correction coefficient of the vehicle in each unit time; the unit time is the time that the vehicle has elapsed during running;
and carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a target sequence of each unit time.
Specifically, on the basis of the foregoing embodiment, the low-pass filtering is performed on the speed ratio correction coefficient obtained in each unit time to obtain the target sequence in each unit time, where the low-pass filtering includes:
carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a speed ratio correction coefficient sequence of each unit time; the speed ratio correction coefficient sequence comprises a plurality of target speed ratio correction coefficients, the target speed ratio correction coefficients are ordered according to the sequence from small to large, and the value of the last target speed ratio correction coefficient in the speed ratio correction coefficient sequence is the same as the value of the speed ratio correction coefficient obtained in the unit time; each target speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that a motor controller of the vehicle adjusts the running power of a driving motor according to the corrected speed ratio;
sequentially storing the speed ratio correction coefficient sequences of each unit time into a local cache according to the order of the occurrence time from early to late;
and for each unit time, under the condition that the vehicle is determined to have functional failure in the unit time and the vehicle is electrified again, acquiring a speed ratio correction coefficient sequence of the last unit time from the local cache, and marking the speed ratio correction coefficient sequence of the last unit time as a target sequence of the unit time.
Specifically, on the basis of the above embodiment, the method further includes:
and under the condition that the vehicle is determined to have no function fault in the unit time, the speed ratio correction coefficient sequence in the unit time is identified as the target sequence in the unit time.
The functions described in the methods of the present application, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computing device readable storage medium. Based on such understanding, a portion of the embodiments of the present application that contributes to the prior art or a portion of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method of correcting a speed ratio, comprising:
obtaining an actual speed of a vehicle based on a running parameter of the vehicle;
calculating an actual speed ratio based on the actual vehicle speed and the motor speed of the vehicle;
calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction coefficient; the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
2. The method of claim 1, wherein the obtaining the actual vehicle speed of the vehicle based on the left wheel speed, the right wheel speed, and the wheel radius of the vehicle comprises:
acquiring a running parameter of a vehicle in the running process; the driving parameters comprise a left wheel speed, a right wheel speed, a motor rotating speed, a driving gear, a gear shifting frequency of a gear shifting lever and a state of an electronic stabilizing system of the vehicle body;
calculating the average value of the left wheel speed and the right wheel speed to obtain an effective wheel speed under the conditions that the left wheel speed and the right wheel speed are both smaller than a preset wheel speed threshold, the motor rotating speed is larger than a preset rotating speed threshold, the driving gear is a forward gear, the gear shifting frequency of the gear shifting lever is smaller than a preset frequency threshold, and the vehicle body electronic stabilizing system is in a state that the function is not triggered;
and calculating the actual speed of the vehicle based on the effective wheel speed and the wheel radius of the vehicle.
3. The method of claim 1, wherein calculating a ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction factor comprises:
calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a first correction coefficient;
selecting a coefficient with the largest value from the first correction coefficient and the first preset coefficient as a second correction coefficient;
selecting a coefficient with the smallest value from the second correction coefficient and a second preset coefficient as a speed ratio correction coefficient; the value of the first preset coefficient is larger than that of the second preset coefficient.
4. The method according to claim 1, wherein the calculating the ratio between the actual speed ratio and a preset theoretical speed ratio, after obtaining a speed ratio correction coefficient, further comprises:
obtaining a target sequence based on the speed ratio correction coefficient; the target sequence is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle can adjust the running power of the driving motor according to the corrected speed ratio.
5. The method of claim 4, wherein the obtaining a target sequence based on the ratio correction factor comprises:
acquiring a speed ratio correction coefficient of the vehicle in each unit time; the unit time is the time that the vehicle has elapsed during running;
and carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a target sequence of each unit time.
6. The method of claim 5, wherein the low-pass filtering the obtained speed ratio correction coefficient in each unit time to obtain the target sequence in each unit time includes:
carrying out low-pass filtering on the speed ratio correction coefficient obtained in each unit time to obtain a speed ratio correction coefficient sequence of each unit time; the speed ratio correction coefficient sequence comprises a plurality of target speed ratio correction coefficients, the target speed ratio correction coefficients are ordered according to the sequence from small to large, and the value of the last target speed ratio correction coefficient in the speed ratio correction coefficient sequence is the same as the value of the speed ratio correction coefficient obtained in the unit time; each target speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that a motor controller of the vehicle adjusts the running power of a driving motor according to the corrected speed ratio;
sequentially storing the speed ratio correction coefficient sequences of each unit time into a local cache according to the order of the occurrence time from early to late;
and for each unit time, under the condition that the vehicle is determined to have functional failure in the unit time and the vehicle is electrified again, acquiring a speed ratio correction coefficient sequence of the last unit time from the local cache, and marking the speed ratio correction coefficient sequence of the last unit time as a target sequence of the unit time.
7. The method as recited in claim 6, further comprising:
and under the condition that the vehicle is determined to have no function fault in the unit time, the speed ratio correction coefficient sequence in the unit time is identified as the target sequence in the unit time.
8. A speed ratio correction device, comprising:
a vehicle speed calculation unit for obtaining an actual vehicle speed of a vehicle based on a running parameter of the vehicle;
a speed ratio calculation unit for calculating an actual speed ratio based on the actual vehicle speed and a motor rotation speed of the vehicle;
the ratio calculating unit is used for calculating the ratio between the actual speed ratio and a preset theoretical speed ratio to obtain a speed ratio correction coefficient; the speed ratio correction coefficient is used for carrying out speed ratio correction on the current gear speed ratio to obtain a corrected speed ratio, so that the motor controller of the vehicle adjusts the running power of the driving motor according to the corrected speed ratio.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program performs the correction method of the speed ratio of any one of claims 1 to 7.
10. A vehicle, characterized by comprising: a processor, a memory, and a bus; the processor is connected with the memory through the bus;
the memory is used for storing a program, and the processor is used for running the program, wherein the program executes the speed ratio correction method according to any one of claims 1 to 7.
CN202210719091.9A 2022-06-23 2022-06-23 Speed ratio correction method, device, storage medium and vehicle Pending CN117325664A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210719091.9A CN117325664A (en) 2022-06-23 2022-06-23 Speed ratio correction method, device, storage medium and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210719091.9A CN117325664A (en) 2022-06-23 2022-06-23 Speed ratio correction method, device, storage medium and vehicle

Publications (1)

Publication Number Publication Date
CN117325664A true CN117325664A (en) 2024-01-02

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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