CN117416341B - Torque distribution method, device, system and storage medium - Google Patents
Torque distribution method, device, system and storage medium Download PDFInfo
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- CN117416341B CN117416341B CN202311734271.5A CN202311734271A CN117416341B CN 117416341 B CN117416341 B CN 117416341B CN 202311734271 A CN202311734271 A CN 202311734271A CN 117416341 B CN117416341 B CN 117416341B
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- 238000003860 storage Methods 0.000 title claims abstract description 12
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- 230000001133 acceleration Effects 0.000 claims description 15
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- 230000005484 gravity Effects 0.000 claims description 8
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application discloses a torque distribution method, a device, a system and a storage medium, wherein the method comprises the following steps: when the vehicle runs, acquiring preset parameters of the vehicle, including at least the front wheel steering angle; calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle; when the vehicle meets the triggering condition of torque correction, determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle; and combining according to the correction torque and the initial torque value of each motor to obtain the final driving torque of each motor. By adopting the scheme provided by the application, the torque distribution of each motor can be reasonably determined, and the stability of the whole vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a torque distribution method, device, system, and storage medium.
Background
Lateral stability refers to the ability of an automobile to resist external lateral disturbances and to maintain straight travel, which has a major impact on the stability and safety of the automobile. In particular, in the steering of vehicles, in order to ensure a smooth form of the vehicle, the steering of the vehicle is assisted by a power steering system in the prior art. Among them, electro-hydraulic power steering is a commonly used power steering system. The existing electronic differential algorithm in the electronic hydraulic power-assisted steering mostly relies on the yaw rate of the vehicle to carry out steering differential adjustment torque distribution, but the yaw rate of the vehicle cannot be accurately calculated, so that deviation exists in the calculation result of the steering power-assisted torque, the torque distribution of each motor cannot be reasonably determined, and the stability of the whole vehicle is further affected.
Therefore, how to provide a torque distribution method to reasonably determine the torque distribution of each motor, so as to improve the stability of the whole vehicle, is a technical problem to be solved urgently.
Disclosure of Invention
The application provides a torque distribution method, a device, a system and a storage medium, which are used for reasonably determining the torque distribution of each motor so as to improve the stability of the whole vehicle.
The application provides a torque distribution method, comprising the following steps:
when the vehicle runs, acquiring preset parameters of the vehicle, including at least the front wheel steering angle;
calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle;
when the vehicle meets the triggering condition of torque correction, determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle;
and combining according to the correction torque and the initial torque value of each motor to obtain the final driving torque of each motor.
The beneficial effects of this application lie in: when the vehicle runs, acquiring preset parameters of the vehicle, including at least the front wheel steering angle; calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle; when the vehicle meets the triggering condition of torque correction, determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle; and combining according to the correction torque and the initial torque value of each motor to obtain the final driving torque of each motor. Because the yaw rate of the vehicle does not need to be calculated, deviation of calculation of the steering assistance torque caused by inaccurate calculation of the yaw rate is avoided, and further, torque distribution of each motor can be reasonably determined, and the stability of the whole vehicle is improved.
In one embodiment, calculating the torque distribution ratio according to the vehicle preset parameter includes:
acquiring at least one of the following preset parameters of the vehicle:
front wheel corner, front and rear axle wheelbase, center of mass to rear axle distance, center of mass height, wheelbase, gravitational acceleration, and longitudinal vehicle speed;
substituting the acquired vehicle preset parameters into the following first preset formula to calculate a torque distribution ratio:
;
wherein,for torque distribution ratio, +.>Is the front wheel corner>For the axle distance of the front axle and the rear axle, +.>For the centroid to rear axle distance +.>Is centroid height->For the track, ->Acceleration of gravity, ++>Is the longitudinal vehicle speed.
In one embodiment, the vehicle total demand torque is calculated according to the following:
acquiring the longitudinal speed of the vehicle and the opening degree of an accelerator pedal;
and inquiring a preset relation table according to the longitudinal speed of the vehicle and the opening degree of the accelerator pedal to determine the total required torque of the vehicle, wherein the preset relation table comprises the corresponding relation among the longitudinal speed, the opening degree of the accelerator pedal and the total required torque of the vehicle.
In one embodiment, determining a corrected torque for each motor based on the torque split ratio and a total vehicle demand torque includes:
substituting the torque distribution ratio and the total required torque of the vehicle into the following second preset formula to determine the correction torque of each motor:
;
wherein,to correct torque +.>For torque distribution ratio, +.>Is the total required torque.
In one embodiment, the final driving torque of each motor is obtained by combining the correction torque and the initial torque value of each motor, including:
if the initial torque of each motor is 0, no correction torque is distributed;
if the first target side initial torque minus the correction torque is not less than 0 and the second target side initial torque plus the correction torque is not greater than the motor limit, then the calculation is performed according to the following formula:
;
;
wherein,for the first target-side initial torque, +.>For the second target-side initial torque, +.>For the total torque required of the vehicle>To correct the torque.
In one embodiment, the method further comprises:
and if the first target side initial torque minus the correction torque is smaller than 0 or the second target side initial torque plus the correction torque is larger than the motor limit value, taking the minimum value of the first target side motor correctable value and the second target side motor correctable value.
In one embodiment, before determining the corrected torque for each motor based on the torque distribution ratio and the total vehicle demand torque, the method further comprises:
judging whether the absolute value of the steering wheel angle of the vehicle exceeds a steering angle threshold value and continuously increases;
and when the absolute value of the steering wheel angle of the vehicle exceeds the angle threshold value and continuously increases, determining that the vehicle meets the triggering condition of torque correction.
The present application also provides a torque distribution device comprising:
the acquisition module is used for acquiring preset parameters of the vehicle including at least the front wheel steering angle when the vehicle runs;
the calculation module is used for calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle;
the first determining module is used for determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle when the vehicle meets the triggering condition of torque correction;
and the combination module is used for combining the correction torque with the initial torque value of each motor to obtain the final driving torque of each motor.
In one embodiment, the computing module includes:
the first acquisition submodule is used for acquiring at least one of the following preset parameters of the vehicle:
front wheel corner, front and rear axle wheelbase, center of mass to rear axle distance, center of mass height, wheelbase, gravitational acceleration, and longitudinal vehicle speed;
the calculating sub-module is used for substituting the acquired vehicle preset parameters into the following first preset formula to calculate the torque distribution ratio:
;
wherein,for torque distribution ratio, +.>Is the front wheel corner>For the axle distance of the front axle and the rear axle, +.>For the centroid to rear axle distance +.>Is centroid height->For the track, ->Acceleration of gravity, ++>Is the longitudinal vehicle speed.
In one embodiment, the computing module includes:
the second acquisition submodule is used for acquiring the longitudinal speed of the vehicle and the opening degree of an accelerator pedal;
and the inquiring sub-module is used for inquiring a preset relation table according to the longitudinal speed of the vehicle and the opening degree of the accelerator pedal so as to determine the total required torque of the vehicle, wherein the preset relation table comprises the corresponding relation among the longitudinal speed, the opening degree of the accelerator pedal and the total required torque of the vehicle.
In one embodiment, the determining module is further configured to:
substituting the torque distribution ratio and the total required torque of the vehicle into the following second preset formula to determine the correction torque of each motor:
;
wherein,to correct torque +.>For torque distribution ratio, +.>Is the total required torque.
In one embodiment, the combination module comprises:
the first distribution sub-module is used for not distributing correction torque if the initial torque of each motor is 0;
the second allocation submodule is used for calculating according to the following formula if the initial torque of the first target side minus the correction torque is not less than 0 and the initial torque of the second target side plus the correction torque is not greater than the motor limit value:
;
;
wherein,for the first target-side initial torque, +.>For the second target-side initial torque, +.>For the total torque required of the vehicle>To correct the torque.
In one embodiment, the combination module further comprises:
and the third distribution sub-module is used for taking the minimum value of the correctable value of the first target side motor and the correctable value of the second target side motor if the initial torque of the first target side minus the corrected torque is smaller than 0 or the initial torque of the second target side plus the corrected torque is larger than the motor limit value.
In one embodiment, the apparatus further comprises:
the judging module is used for judging whether the absolute value of the steering wheel angle of the vehicle exceeds a steering angle threshold value and continuously increases;
and the second determining module is used for determining that the vehicle meets the triggering condition of torque correction when the absolute value of the steering wheel angle of the vehicle exceeds the angle threshold value and continuously increases.
The present application also provides a torque distribution system comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to implement the torque distribution method described in any of the embodiments above.
The present application also provides a computer readable storage medium, which when executed by a processor corresponding to a torque distribution system, enables the torque distribution system to implement the torque distribution method described in any of the above embodiments.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the present application is described in further detail below through the accompanying drawings and examples.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings:
FIG. 1 is a flow chart of a torque distribution method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a torque distribution device according to an embodiment of the present disclosure;
FIG. 3 is a schematic hardware configuration of a torque distribution system according to an embodiment of the present application.
Detailed Description
The preferred embodiments of the present application will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present application only and are not intended to limit the present application.
FIG. 1 is a flowchart of a torque distribution method according to an embodiment of the present application, as shown in FIG. 1, the method may be implemented as steps S101-S104:
in step S101, when the vehicle is running, vehicle preset parameters including at least the front wheel steering angle are acquired;
in step S102, calculating a torque distribution ratio and a total required torque of the vehicle according to the vehicle preset parameters;
in step S103, when the vehicle meets the triggering condition of torque correction, determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle;
in step S104, the final driving torque of each motor is obtained by combining the correction torque and the initial torque value of each motor.
In the application, when the vehicle runs, acquiring preset parameters of the vehicle, including at least the front wheel steering angle; taking the distributed driving electric heavy truck as an example, a differential mechanism is not arranged in the distributed driving electric heavy truck, and when steering torque is distributed, a torque distribution strategy needs to be provided without the differential mechanism to ensure the stability of the vehicle under the steering working condition.
The distributed driving electric heavy truck comprises a front axle, a middle axle and a rear axle, wherein the front axle is a steering axle, the middle axle and the rear axle are driving axles, the middle axle is provided with double motors for driving tires, each motor drives one tire respectively, and the rear axle is of a single motor structure for driving two wheels.
The preset parameters of the vehicle can comprise front wheel rotation angle, front axle and rear axle distance, center of mass to rear axle distance, center of mass height, wheel tread, gravity acceleration, longitudinal vehicle speed, accelerator pedal opening and the like, wherein the front axle and rear axle distance, center of mass to rear axle distance, center of mass height, wheel tread, gravity acceleration and the like can be obtained in advance through design parameters of the vehicle; parameters such as front wheel rotation angle, longitudinal vehicle speed, accelerator pedal opening and the like can be obtained in real time through a vehicle control system.
And calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle. Specifically, the obtained preset parameters of the vehicle may be substituted into the following first preset formula to calculate the torque distribution ratio:
;
wherein,for torque distribution ratio, +.>Is the front wheel corner>For the axle distance of the front axle and the rear axle, +.>For the centroid to rear axle distance +.>Is centroid height->For the track, ->Acceleration of gravity, ++>Is the longitudinal vehicle speed.
And meanwhile, inquiring a preset relation table according to the longitudinal speed of the vehicle and the opening degree of the accelerator pedal to determine the total required torque of the vehicle, wherein the preset relation table comprises the corresponding relation among the longitudinal speed, the opening degree of the accelerator pedal and the total required torque of the vehicle.
In order to determine whether torque correction is required, a triggering condition of torque correction is set, specifically, whether the absolute value of the steering wheel angle of the vehicle exceeds a steering angle threshold value and continuously increases is judged, and when the absolute value of the steering wheel angle of the vehicle exceeds the steering angle threshold value and continuously increases, the triggering condition that the vehicle meets the torque correction is determined. For example, a steering wheel angle may be providedThe absolute value of (2) is greater than a preset threshold +.>And 5 continuous sampling periods are not less than the last sampling value, the judgment can be carried out by the following formula:
；
wherein,is steering wheel angle>The subscript k represents the sampling instant of the current employed cycle for the steering angle threshold of the steering wheel angle. The triggering condition of electronic differential compensation can be accurately judged through the conditions, and driving safety is effectively improved.
When the vehicle meets the triggering condition of torque correction, the correction torque of each motor is determined according to the torque distribution ratio and the total required torque of the vehicle. When the vehicle is a distributed driving electric heavy truck, the middle axle of the vehicle is usually of a double-motor structure, each wheel is provided with one motor independently, and the rear axle is of a single-motor structure to drive two wheels, so that when the vehicle is a distributed driving electric heavy truck, each motor can be of a middle-axle double-motor.
Specifically, the torque distribution ratio and the total required torque of the vehicle are substituted into the following second preset formula to determine the correction torque of each motor:
;
wherein,to correct torque +.>For torque distribution ratio, +.>Is the total required torque.
And combining according to the correction torque and the initial torque value of each motor to obtain the final driving torque of each motor. The initial torque value of each motor is the torque distribution of the vehicle in a straight running state, the first torque distribution is performed at the moment, and under the steering working condition, the correction torque is combined on the basis of the initial torque value to perform secondary combination. Specifically, when the initial torque of each motor is 0, no correction torque is distributed; for example, in the case of a distributed drive electric heavy truck, the rear axle is a centralized drive structure, the center axle is a distributed drive structure and has a motor disengaging device, and when the vehicle is driven at a high speed and is disengaged, there is a possibility that the initial torque is 0, and at this time, the correction torque is not distributed. When the first target side initial torque minus the correction torque is not less than 0 and the second target side initial torque plus the correction torque is not greater than the motor limit, the calculation is performed according to the following formula:
;
;
wherein,for the first target-side initial torque, +.>For the second target-side initial torque, +.>For the total torque required of the vehicle>To correct the torque.
And when the first target side initial torque minus the correction torque is smaller than 0 or the second target side initial torque plus the correction torque is larger than the motor limit value, taking the minimum value of the first target side motor correctable value and the second target side motor correctable value.
Taking left steering as an example, the first target side is the left side and the second target side is the right side. Through the formula, the left side torque is reduced and the right side torque is improved by carrying out secondary correction on the initial driving torque. The internal and external torque difference can be formed in the steering process of the running vehicle, so that the wheel speed difference of the internal and external wheels is brought, the tire can be in a pure rolling state, and the abrasion of the tire is greatly reduced. And because the torque distribution is more accurate, the efficiency of the driving motor can be improved, and the service life of the driving motor can be prolonged. In addition, compared with the prior art, the whole vehicle transmission efficiency is greatly improved.
The beneficial effects of this application lie in: when the vehicle runs, acquiring preset parameters of the vehicle, including at least the front wheel steering angle; calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle; when the vehicle meets the triggering condition of torque correction, determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle; and combining according to the correction torque and the initial torque value of each motor to obtain the final driving torque of each motor. Because the yaw rate of the vehicle does not need to be calculated, deviation of calculation of the steering assistance torque caused by inaccurate calculation of the yaw rate is avoided, and further, torque distribution of each motor can be reasonably determined, and the stability of the whole vehicle is improved.
In one embodiment, the calculation of the torque distribution ratio according to the vehicle preset parameters in the step S102 may be implemented as the following steps A1-A2:
in step A1, at least one of the following vehicle preset parameters is acquired:
front wheel corner, front and rear axle wheelbase, center of mass to rear axle distance, center of mass height, wheelbase, gravitational acceleration, and longitudinal vehicle speed;
in step A2, the obtained vehicle preset parameters are substituted into the following first preset formula to calculate the torque distribution ratio:
;
wherein,for torque distribution ratio, +.>Is the front wheel corner>For the axle distance of the front axle and the rear axle, +.>For the centroid to rear axle distance +.>Is centroid height->For the track, ->Acceleration of gravity, ++>Is the longitudinal vehicle speed.
In one embodiment, the calculation method of the total required torque of the vehicle in the step S102 may be further implemented as the following steps B1-B2:
in step B1, a longitudinal speed of the vehicle and an accelerator pedal opening are acquired;
in step B2, a preset relation table is queried according to the longitudinal speed of the vehicle and the opening degree of the accelerator pedal to determine the total required torque of the vehicle, wherein the preset relation table comprises the corresponding relation of the longitudinal speed, the opening degree of the accelerator pedal and the total required torque of the vehicle.
In one embodiment, the step S103 may be implemented as the following steps:
substituting the torque distribution ratio and the total required torque of the vehicle into the following second preset formula to determine the correction torque of each motor:
;
wherein,to correct torque +.>For torque distribution ratio, +.>Is the total required torque.
In one embodiment, the step S104 may be implemented as the following steps C1-C2:
in the step C1, if the initial torque of each motor is 0, no correction torque is distributed;
in step C2, if the first target side initial torque minus the correction torque is not less than 0 and the second target side initial torque plus the correction torque is not greater than the motor limit, the calculation is performed according to the following formula:
;
;
wherein,for the first target-side initial torque, +.>For the second target-side initial torque, +.>For the total torque required of the vehicle>To correct the torque.
In one embodiment, the step S104 may be implemented as the following step C3:
in step C3, if the first target side initial torque minus the correction torque is less than 0 or the second target side initial torque plus the correction torque is greater than the motor limit, the minimum value of the first target side motor correctable value and the second target side motor correctable value is taken.
In one embodiment, the method may be further implemented as the following steps D1-D2, prior to step S104 described above:
in step D1, determining whether the absolute value of the steering wheel angle of the vehicle exceeds a steering angle threshold and continues to increase;
in step D2, it is determined that the vehicle satisfies a triggering condition for torque correction when the absolute value of the steering wheel angle of the vehicle exceeds the angle threshold and continues to increase.
In this embodiment, a steering angle threshold is preset, and when the absolute value of the steering angle of the steering wheel of the vehicle exceeds the steering angle threshold, it is determined whether the steering angle of the steering wheel is continuously increased at a plurality of consecutive times, where continuously increasing means not decreasing.
For example, a steering wheel angle may be providedThe absolute value of (2) is greater than a preset threshold +.>And 5 continuous sampling periods are not less than the last sampling value, the judgment can be carried out by the following formula:
；
wherein,is steering wheel angle>The subscript k represents the sampling instant of the current employed cycle for the steering angle threshold of the steering wheel angle.
By adopting the scheme, the triggering condition of electronic differential compensation can be accurately judged, and the driving safety is effectively improved.
FIG. 2 is a schematic structural diagram of a torque distribution device according to an embodiment of the present application, as shown in FIG. 2, the device includes:
an acquisition module 201, configured to acquire preset parameters of the vehicle including at least a front wheel steering angle when the vehicle is running;
a calculation module 202 for calculating a torque distribution ratio and a total required torque of the vehicle according to the vehicle preset parameters;
a first determining module 203, configured to determine, when the vehicle meets a triggering condition for torque correction, a correction torque of each motor according to the torque distribution ratio and a total required torque of the vehicle;
and the combination module 204 is used for combining the correction torque and the initial torque value of each motor to obtain the final driving torque of each motor.
In one embodiment, the computing module includes:
the first acquisition submodule is used for acquiring at least one of the following preset parameters of the vehicle:
front wheel corner, front and rear axle wheelbase, center of mass to rear axle distance, center of mass height, wheelbase, gravitational acceleration, and longitudinal vehicle speed;
the calculating sub-module is used for substituting the acquired vehicle preset parameters into the following first preset formula to calculate the torque distribution ratio:
;
wherein,for torque distribution ratio, +.>Is the front wheel corner>For the axle distance of the front axle and the rear axle, +.>For the centroid to rear axle distance +.>Is centroid height->For the track, ->Acceleration of gravity, ++>Is the longitudinal vehicle speed.
In one embodiment, the computing module includes:
the second acquisition submodule is used for acquiring the longitudinal speed of the vehicle and the opening degree of an accelerator pedal;
and the inquiring sub-module is used for inquiring a preset relation table according to the longitudinal speed of the vehicle and the opening degree of the accelerator pedal so as to determine the total required torque of the vehicle, wherein the preset relation table comprises the corresponding relation among the longitudinal speed, the opening degree of the accelerator pedal and the total required torque of the vehicle.
In one embodiment, the determining module is further configured to:
substituting the torque distribution ratio and the total required torque of the vehicle into the following second preset formula to determine the correction torque of each motor:
;
wherein,to correct torque +.>For torque distribution ratio, +.>Is the total required torque.
In one embodiment, the combination module comprises:
the first distribution sub-module is used for not distributing correction torque if the initial torque of each motor is 0;
the second allocation submodule is used for calculating according to the following formula if the initial torque of the first target side minus the correction torque is not less than 0 and the initial torque of the second target side plus the correction torque is not greater than the motor limit value:
;
;
wherein,for the first target-side initial torque, +.>For the second target-side initial torque, +.>For the total torque required of the vehicle>To correct the torque.
In one embodiment, the combination module further comprises:
and the third distribution sub-module is used for taking the minimum value of the correctable value of the first target side motor and the correctable value of the second target side motor if the initial torque of the first target side minus the corrected torque is smaller than 0 or the initial torque of the second target side plus the corrected torque is larger than the motor limit value.
In one embodiment, the apparatus further comprises:
the judging module is used for judging whether the absolute value of the steering wheel angle of the vehicle exceeds a steering angle threshold value and continuously increases;
and the second determining module is used for determining that the vehicle meets the triggering condition of torque correction when the absolute value of the steering wheel angle of the vehicle exceeds the angle threshold value and continuously increases.
FIG. 3 is a schematic hardware configuration of a torque distribution system according to an embodiment of the present application, as shown in FIG. 3, including:
at least one processor 320; the method comprises the steps of,
a memory 304 communicatively coupled to the at least one processor 320; wherein,
the memory 304 stores instructions executable by the at least one processor 320 for implementing the torque distribution method described in any of the embodiments above.
Referring to fig. 3, the torque distribution system 300 may include one or more of the following components: a processing component 302, a memory 304, a power supply component 306, a multimedia component 308, an audio component 310, an input/output (I/O) interface 312, a sensor component 314, and a communication component 316.
The processing assembly 302 generally controls the overall operation of the torque distribution system 300. The processing component 302 may include one or more processors 320 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 302 can include one or more modules that facilitate interactions between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate interaction between the multimedia component 308 and the processing component 302.
The memory 304 is configured to store various types of data to support the operation of the torque distribution system 300. Examples of such data include instructions, such as text, pictures, video, etc., for any application or method operating on the torque distribution system 300. The memory 304 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power supply assembly 306 provides power to the various components of the torque distribution system 300. The power components 306 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the torque distribution system 300.
The multimedia component 308 includes a screen between the torque distribution system 300 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation. In some embodiments, the multimedia component 308 can also include a front-facing camera and/or a rear-facing camera. When the torque distribution system 300 is in an operational mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 310 is configured to output and/or input audio signals. For example, the audio component 310 includes a Microphone (MIC) configured to receive external audio signals when the torque distribution system 300 is in an operational mode, such as an alarm mode, a recording mode, a voice recognition mode, and a voice output mode. The received audio signals may be further stored in the memory 304 or transmitted via the communication component 316. In some embodiments, audio component 310 further comprises a speaker for outputting audio signals.
The I/O interface 312 provides an interface between the processing component 302 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 314 includes one or more sensors for providing status assessment of various aspects of the torque distribution system 300. For example, the sensor assembly 314 may include a sound sensor. In addition, the sensor assembly 314 may detect the on/off status of the torque distribution system 300, the relative positioning of the components, such as the display and keypad of the torque distribution system 300, the sensor assembly 314 may also detect the operational status of the torque distribution system 300 or one of the components of the torque distribution system 300, such as the operational status of the air distribution plate, the structural status, the operational status of the discharge flight, etc., the orientation or acceleration/deceleration of the torque distribution system 300, and the temperature change of the torque distribution system 300. The sensor assembly 314 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, a material bulk thickness sensor, or a temperature sensor.
The communication component 316 is configured to enable the torque distribution system 300 to provide communication capabilities in a wired or wireless manner with other devices and cloud platforms. The torque distribution system 300 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 316 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the torque distribution system 300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the torque distribution method described in any of the above embodiments.
The present application also provides a computer readable storage medium, which when executed by a processor corresponding to a torque distribution system, enables the torque distribution system to implement the torque distribution method described in any of the above embodiments.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (8)
1. A torque distribution method, comprising:
when the vehicle runs, acquiring preset parameters of the vehicle, including at least the front wheel steering angle;
calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle;
when the vehicle meets the triggering condition of torque correction, determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle;
combining according to the correction torque and the initial torque value of each motor to obtain the final driving torque of each motor;
the calculating the torque distribution ratio according to the vehicle preset parameters comprises the following steps:
acquiring at least one of the following preset parameters of the vehicle:
front wheel corner, front and rear axle wheelbase, center of mass to rear axle distance, center of mass height, wheelbase, gravitational acceleration, and longitudinal vehicle speed;
substituting the acquired vehicle preset parameters into the following first preset formula to calculate a torque distribution ratio:
;
wherein,for torque distribution ratio, +.>Is the front wheel corner>For the axle distance of the front axle and the rear axle, +.>For the centroid to rear axle distance +.>Is centroid height->For the track, ->Acceleration of gravity, ++>Is the longitudinal vehicle speed;
the method for determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle comprises the following steps:
substituting the torque distribution ratio and the total required torque of the vehicle into the following second preset formula to determine the correction torque of each motor:
;
wherein,to correct torque +.>For torque distribution ratio, +.>Is the total required torque.
2. The method of claim 1, wherein the total vehicle demand torque is calculated according to:
acquiring the longitudinal speed of the vehicle and the opening degree of an accelerator pedal;
and inquiring a preset relation table according to the longitudinal speed of the vehicle and the opening degree of the accelerator pedal to determine the total required torque of the vehicle, wherein the preset relation table comprises the corresponding relation among the longitudinal speed, the opening degree of the accelerator pedal and the total required torque of the vehicle.
3. The method of claim 1, wherein said combining based on the correction torque and the initial torque value for each motor to obtain the final drive torque for each motor comprises:
if the initial torque of each motor is 0, no correction torque is distributed;
if the first target side initial torque minus the correction torque is not less than 0 and the second target side initial torque plus the correction torque is not greater than the motor limit, then the calculation is performed according to the following formula:
;
;
wherein,for the first target-side initial torque, +.>For the second target-side initial torque, +.>For the total required torque of the vehicle,to correct the torque.
4. A method as claimed in claim 3, wherein the method further comprises:
and if the first target side initial torque minus the correction torque is smaller than 0 or the second target side initial torque plus the correction torque is larger than the motor limit value, taking the minimum value of the first target side motor correctable value and the second target side motor correctable value.
5. The method of claim 1, wherein prior to determining the corrected torque for each electric machine based on the torque split ratio and the total vehicle demand torque, the method further comprises:
judging whether the absolute value of the steering wheel angle of the vehicle exceeds a steering angle threshold value and continuously increases;
and when the absolute value of the steering wheel angle of the vehicle exceeds the angle threshold value and continuously increases, determining that the vehicle meets the triggering condition of torque correction.
6. A torque distribution device for performing the torque distribution method according to any one of claims 1 to 5, comprising:
the acquisition module is used for acquiring preset parameters of the vehicle including at least the front wheel steering angle when the vehicle runs;
the calculation module is used for calculating a torque distribution ratio and a total required torque of the vehicle according to the preset parameters of the vehicle;
the first determining module is used for determining the correction torque of each motor according to the torque distribution ratio and the total required torque of the vehicle when the vehicle meets the triggering condition of torque correction;
and the combination module is used for combining the correction torque with the initial torque value of each motor to obtain the final driving torque of each motor.
7. A torque distribution system, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to implement the torque distribution method of any of claims 1-5.
8. A computer readable storage medium, characterized in that instructions in the storage medium, when executed by a corresponding processor of a torque distribution system, enable the torque distribution system to implement the torque distribution method of any of claims 1-5.
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| GB2562281B (en) * | 2017-05-11 | 2022-06-22 | Arrival Ltd | Method and apparatus for controlling a vehicle |
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| JP2007230440A (en) * | 2006-03-02 | 2007-09-13 | Nissan Motor Co Ltd | Travel control apparatus for vehicle |
| DE102008033774A1 (en) * | 2008-07-18 | 2010-01-21 | Linde Material Handling Gmbh | Work machine i.e. industrial truck such as fork-lift truck, has drive torque reducing unit comprising stop valves which are switched into lines of hydromotors provided or operated as return lines |
| KR20120048279A (en) * | 2010-11-05 | 2012-05-15 | 현대자동차주식회사 | Method for compensating pulling of vehicle using divided correction torque |
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