CN117565690A - Whole vehicle torque control method and device, computer equipment and readable storage medium - Google Patents
Whole vehicle torque control method and device, computer equipment and readable storage medium Download PDFInfo
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- CN117565690A CN117565690A CN202311279841.6A CN202311279841A CN117565690A CN 117565690 A CN117565690 A CN 117565690A CN 202311279841 A CN202311279841 A CN 202311279841A CN 117565690 A CN117565690 A CN 117565690A
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- 238000004590 computer program Methods 0.000 description 7
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Classifications
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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
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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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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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 embodiment of the invention provides a whole vehicle torque control method, a whole vehicle torque control device, computer equipment and a readable storage medium, and belongs to the technical field of vehicle control. The whole vehicle torque control method comprises the following steps: under the condition that the vehicle is in a sudden acceleration working condition, recording the current running time, and determining the sudden acceleration whole vehicle torque based on whole vehicle information and a preset speed change rate-first basic torque corresponding relation as a target whole vehicle torque, wherein the whole vehicle information comprises the motor speed and the whole vehicle torque requirement determined based on the accelerator pedal opening of the vehicle. And under the condition that the current running time meets the first preset time, determining and outputting the anti-impact whole vehicle torque as the target whole vehicle torque based on the whole vehicle information, the preset rotating speed-buffer torque factor corresponding relation and the preset torque demand-second basic torque corresponding relation. And taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the current running time meets the second preset time. Effectively improves the driving comfort.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a whole vehicle torque control method, a whole vehicle torque control device, computer equipment and a readable storage medium.
Background
With the development of science and technology, the requirements of people on the drivability of vehicles are increasing. The drivability of the vehicle is mainly reflected in the drivability, comfortableness, dynamic property, smoothness and other driving experiences of the vehicle felt by a driver and passengers, and good driving experiences can bring good driving experience to the driver. In the technical field, taking an electric sanitation vehicle as an example, good drivability is that the whole vehicle driving torque requirement is timely for the acceleration response of an accelerator pedal of a driver, the acceleration impact cannot be too large, the accelerator is retracted for the vehicle to decelerate, or the brake is timely for the vehicle to step on, and the deceleration is not too large.
For the processing of the vehicle driving torque considering drivability, a general method is: the method has the advantages that the positive increasing and negative decreasing change rate limits of different acceleration and deceleration whole vehicle driving torque demands are calculated through factors such as an accelerator pedal, a brake pedal and a motor rotating speed, different change rate outputs are selected in an arbitration mode according to different working conditions, the change rate torque filtering is carried out on the whole vehicle driving torque demands to realize smooth processing of the whole vehicle torque, bad driving feeling caused by abrupt acceleration or abrupt deceleration torque abrupt change is avoided, and driving comfort is improved. The filtering processing method of the whole vehicle torque change rate can realize the smooth processing of the driving torque naturally in effect, but for the instant acceleration and deceleration driving requirement, the rate wave constant is required to be calibrated, and the determination of the rate wave constant is difficult to objectively control. When the filter constant is too small, torque smoothness cannot be achieved, and larger acceleration and deceleration impact still exists; if the filter constant is too large, the torque response will be delayed, and the accelerator pedal may be depressed. How to improve the acceleration power response of the whole vehicle and reduce the acceleration impact caused by overlarge acceleration at the same time, and to improve the drivability of the whole vehicle becomes a problem to be solved at present.
Disclosure of Invention
In view of the foregoing shortcomings in the prior art, an object of an embodiment of the present invention is to provide a method, an apparatus, a computer device, and a readable storage medium for controlling torque of a whole vehicle.
In order to achieve the above object, a first aspect of the present invention provides a method for controlling torque of a whole vehicle, including:
recording the current running time under the condition that the vehicle is in a rapid acceleration working condition;
determining a sudden acceleration whole vehicle torque as a target whole vehicle torque based on whole vehicle information and a preset rotational speed change rate-first basic torque corresponding relation, wherein the whole vehicle information comprises a motor rotational speed and a whole vehicle torque demand determined based on an accelerator pedal opening of a vehicle;
under the condition that the current running time meets the first preset time, determining and outputting anti-impact whole vehicle torque as target whole vehicle torque based on whole vehicle information, a preset rotating speed-buffer torque factor corresponding relation and a preset torque demand-second basic torque corresponding relation;
and taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the current running time meets the second preset time.
In the embodiment of the invention, determining the sudden acceleration whole vehicle torque based on the whole vehicle information and the preset rotation speed change rate-first basic torque corresponding relation comprises the following steps:
determining a rotation speed change rate based on the change of the rotation speed of the motor in a preset time range;
determining a first base torque based on the rotational speed change rate and a rotational speed change rate-first base torque correspondence;
and taking the sum of the product of the first base torque and the rotating speed change rate and the whole vehicle torque demand as the sudden acceleration whole vehicle torque.
In the embodiment of the invention, determining the first base torque based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence relation comprises the following steps:
determining an initial first base torque based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence;
and limiting the initial first basic torque based on a preset compensation limiting threshold value to obtain the first basic torque.
In the embodiment of the invention, the anti-impact whole vehicle torque is determined and output based on the whole vehicle information, the preset corresponding relation between the rotating speed and the buffer torque factor and the preset corresponding relation between the torque demand and the second basic torque, and the method comprises the following steps:
determining a buffer torque factor according to the corresponding relation between the motor rotating speed and the rotating speed-buffer torque factor;
determining a second basic torque according to the whole vehicle torque demand and the torque demand-second basic torque corresponding relation;
and taking the sum of the product of the buffer torque factor and the second basic torque and the whole vehicle torque demand as the anti-impact whole vehicle torque.
In the embodiment of the invention, the whole vehicle torque control method further comprises the following steps:
and under the condition that the vehicle is not in the rapid acceleration working condition, taking the whole vehicle torque requirement as the target whole vehicle torque.
In the embodiment of the invention, the whole vehicle torque control method further comprises the following steps:
and determining a first preset time based on the whole vehicle torque demand and a preset torque demand-preset time corresponding relation.
In the embodiment of the invention, the whole vehicle torque control method further comprises the following steps:
acquiring the opening degree of an accelerator pedal and the change rate of the accelerator of the vehicle;
and under the condition that the opening of the accelerator pedal is in a preset accelerator opening range and the accelerator change rate is larger than a preset change rate threshold value, determining that the vehicle is in a sudden acceleration working condition.
The second aspect of the present invention provides a whole vehicle torque control device, comprising:
the working condition determining module is used for recording the current running time under the condition that the vehicle is in a sudden acceleration working condition;
the rapid acceleration torque determining module is used for determining rapid acceleration whole vehicle torque based on whole vehicle information and a preset rotational speed change rate-first basic torque corresponding relation, and taking the rapid acceleration whole vehicle torque as target whole vehicle torque, wherein the whole vehicle information comprises a motor rotational speed and a whole vehicle torque demand determined based on the opening degree of an accelerator pedal of a vehicle;
the anti-impact torque determining module is used for determining and outputting anti-impact whole vehicle torque as target whole vehicle torque based on whole vehicle information, a preset rotating speed-buffer torque factor corresponding relation and a preset torque demand-second basic torque corresponding relation under the condition that the current running time meets the first preset time;
and the torque determining module is used for taking the whole vehicle torque requirement as the target whole vehicle torque under the condition that the current running time meets the second preset time.
A third aspect of the present invention provides a computer device comprising: the vehicle torque control system comprises a memory, a processor and a program stored in the memory and capable of running on the processor, wherein the program is configured to realize the steps of the vehicle torque control method according to the embodiment.
A fourth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the steps of the vehicle torque control method according to the above-described embodiment.
According to the technical scheme, under the condition that the vehicle is in a sudden acceleration working condition, the current running time is recorded, the sudden acceleration whole vehicle torque is determined based on whole vehicle information and the preset speed change rate-first basic torque corresponding relation and is used as the target whole vehicle torque, and the whole vehicle information comprises the motor speed and the whole vehicle torque requirement determined based on the accelerator pedal opening of the vehicle. The method realizes the rapid acceleration of the vehicle, can optimize the problems of torque response lag or accelerator pedal stepping and the like caused by overlarge filter constant in the scene of carrying out the change rate torque filtering on the torque demand of the whole vehicle, and improves the response speed of the power acceleration of the whole vehicle. And under the condition that the current running time meets the first preset time, determining and outputting the anti-impact whole vehicle torque as the target whole vehicle torque based on the whole vehicle information, the preset rotating speed-buffer torque factor corresponding relation and the preset torque demand-second basic torque corresponding relation. The acceleration impact under the rapid acceleration working condition is reduced, the problems that the torque is smooth or the acceleration and deceleration impact is large and the like can not be achieved due to the fact that the filtering constant is too small in a scene of carrying out the change rate torque filtering on the whole vehicle torque demand are optimized, and the driving comfort of the whole vehicle is improved. And taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the current running time meets the second preset time. After the vehicle is no longer in a sudden acceleration working condition, the torque demand of the whole vehicle is output, the actual expectations of users are met, and the effectiveness of driving control is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a method for controlling torque of an entire vehicle according to an embodiment of the invention.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Fig. 1 is a flowchart of a method for controlling torque of an entire vehicle according to an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, a method for controlling torque of a whole vehicle is provided, and the method is applied to a processor as an example, and may include the following steps:
step S100, recording the current running time under the condition that the vehicle is in a sudden acceleration working condition;
the instantaneous acceleration and deceleration of the vehicle under the rapid acceleration condition sufficiently tests the drivability of the vehicle, and if the conditions such as excessive and uneven torque and delayed torque response of the whole vehicle occur under the rapid acceleration condition, the driving experience of the vehicle is affected by the abrupt torque change caused by the conditions. In this embodiment, the torque of the whole vehicle under the sudden acceleration condition is effectively controlled, so as to improve the drivability of the vehicle. Specifically, whether the vehicle is in a sudden acceleration working condition is firstly determined, and when the vehicle is in the sudden acceleration working condition, the current running time is recorded. The current running time is a continuously accumulated time value, and represents the running time of the vehicle under the sudden acceleration working condition, and the current running time is accumulated from the moment when the vehicle enters the sudden acceleration working condition. In an embodiment, the current running time may be counted by a timer, which may be a counting mode of continuously accumulating from zero or a counting mode of counting down from a preset time value.
Step S200, determining a sudden acceleration whole vehicle torque as a target whole vehicle torque based on whole vehicle information and a preset rotational speed change rate-first basic torque corresponding relation, wherein the whole vehicle information comprises a motor rotational speed and a whole vehicle torque demand determined based on an accelerator pedal opening of a vehicle;
it should be noted that the vehicle information includes the motor rotation speed and the vehicle torque demand. The vehicle torque demand corresponds to an opening degree of an accelerator pedal of the vehicle, and characterizes a vehicle torque desired by a driver. In one embodiment, the vehicle torque demand may also be a vehicle torque demand subjected to a rate-of-change torque filter, that is, a torque demand obtained by performing a rate-of-change torque filter on a torque demand corresponding to an accelerator opening. The change rate filtering is a mode of limiting the change rate of the whole vehicle driving torque calculated based on the motor rotation speed and the accelerator opening degree through a calibrated filtering constant, and avoiding driving impact caused by overlarge change rate of the whole vehicle driving torque during rapid acceleration or rapid deceleration. The rotational speed change rate-first base torque correspondence has a correspondence between the rotational speed change rate and the first base torque, and the correspondence may be one-to-one, one-to-many, many-to-many, or many-to-one. The correspondence is predetermined based on historical experience or actual application scenario. Under the condition of rapid acceleration of the vehicle, the vehicle can be divided into a plurality of acceleration stages, wherein the vehicle speed needs to be rapidly increased in the early stage of rapid acceleration, and at the moment, certain torque compensation can be performed on the basis of the torque requirement of the whole vehicle to obtain the rapid acceleration whole vehicle torque. Specifically, the sudden acceleration whole vehicle torque is determined based on whole vehicle information and a preset rotational speed change rate-first basic torque corresponding relation. The target vehicle torque is the output vehicle torque and represents the target value of vehicle torque output. And taking the sudden acceleration whole vehicle torque as a target whole vehicle torque at the initial stage of sudden acceleration.
Step S300, determining and outputting anti-impact whole vehicle torque as target whole vehicle torque based on whole vehicle information, a preset rotating speed-buffer torque factor corresponding relation and a preset torque demand-second basic torque corresponding relation under the condition that the current running time meets the first preset time;
the rotational speed-buffer torque factor corresponding relation has a corresponding relation between the rotational speed and the buffer torque factor, and the torque demand-second base torque corresponding relation has a corresponding relation between the torque demand and the second base torque. The correspondence may be one-to-one, one-to-many, many-to-many, or many-to-one. And the correspondence is predetermined based on historical experience or actual application scenario. Under the condition of sudden acceleration of a vehicle, the vehicle can be divided into a plurality of acceleration stages, the vehicle speed needs to be quickly increased in the initial stage of sudden acceleration, the acceleration needs to be controlled in the middle and later stages of sudden acceleration, the occurrence of excessive acceleration is avoided, acceleration impact is reduced, and the torque compensation for the torque requirement of the whole vehicle needs to be redetermined at the moment so as to obtain the anti-impact whole vehicle torque. Specifically, the anti-impact whole vehicle torque is determined and output based on the whole vehicle information, the preset corresponding relation between the rotating speed and the buffer torque factor and the preset corresponding relation between the torque demand and the second basic torque. And taking the rapid acceleration whole vehicle torque as a target whole vehicle torque in the middle and later stages of rapid acceleration. In this embodiment, the emergency acceleration condition is divided into two phases, the first phase corresponds to the initial stage of emergency acceleration, and the second phase corresponds to the middle and late stages of emergency acceleration. Specifically, the first stage and the second stage are divided by a first preset time, and the fact that the current running time does not reach the first preset time indicates that the vehicle is currently in the first stage, namely the early stage of rapid acceleration; when the current running time reaches the first preset time, the vehicle starts to enter a second stage, namely the middle and late stage of rapid acceleration. Specifically, under the condition that the current running time does not meet the first preset time, taking the rapid acceleration whole vehicle torque as the target whole vehicle torque; and taking the anti-impact whole vehicle torque as the target whole vehicle torque under the condition that the current running time meets the first preset time. It can be appreciated that in an embodiment, more stages of division may be performed for the rapid acceleration condition of the vehicle, and the target vehicle torque may be determined for different stages, so as to improve the accuracy of torque control. The first preset time is determined based on the actual application scene of the vehicle and the historical practical experience, and can be adaptively adjusted.
And step S400, taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the current running time meets the second preset time.
In this embodiment, the second preset time is used as a condition for ending the sudden acceleration working condition, that is, when the current running time meets the second preset time, the current sudden acceleration of the vehicle is determined to be ended, torque compensation is not performed any more, and the determined torque requirement of the whole vehicle is directly used as the target torque of the whole vehicle. The second preset time is determined based on the actual application scene of the vehicle and the historical practical experience, and can be adaptively adjusted. It can be understood that the setting of the first preset time and the second preset time may be continuous time, where the second preset time includes the first preset time, that is, when the vehicle enters the rapid acceleration working condition, the vehicle starts to enter the initial stage of rapid acceleration, the current running time starts to accumulate, after the first preset time is accumulated, the vehicle enters the middle and later stages of rapid acceleration until the current running time meets the second preset time, and the rapid acceleration is determined to end. In one embodiment, the first preset time and the second preset time are controlled by a timer, the time of the timer is preset, then the counter is counted down, the counter corresponding to the first preset time is started to count down at the moment of entering the rapid acceleration working condition, and the counter corresponding to the second preset time is started to count down at the moment of finishing the counting of the timer corresponding to the first preset time, so that the division of different stages of the rapid acceleration working condition is realized.
In one embodiment, after determining the target vehicle torque, by combining the vehicle based on other vehicle component conditions, such as: the motor control system comprises a power battery, a driving motor, a high-low voltage accessory of the whole vehicle, a fault response of the whole vehicle and the like, torque limitation of the whole vehicle is carried out, the driving torque demand of the whole vehicle is calculated, and the driving torque demand is sent to a motor controller MCU (Microcontroller Unit, micro control unit) through a CAN (controller area network) bus, so that the MCU driving motor carries out PID torque closed-loop control, and the actual rotating speed and the actual torque of the motor are fed back in real time.
According to the scheme, under the condition that the vehicle is in the rapid acceleration working condition, the current running time is recorded, the rapid acceleration whole vehicle torque is determined based on whole vehicle information and the preset speed change rate-first basic torque corresponding relation and is used as the target whole vehicle torque, and the whole vehicle information comprises the motor speed and the whole vehicle torque requirement determined based on the accelerator pedal opening of the vehicle. The method realizes the rapid acceleration of the vehicle, can optimize the problems of torque response lag or accelerator pedal stepping and the like caused by overlarge filter constant in the scene of carrying out the change rate torque filtering on the torque demand of the whole vehicle, and improves the response speed of the power acceleration of the whole vehicle. And under the condition that the current running time meets the first preset time, determining and outputting the anti-impact whole vehicle torque as the target whole vehicle torque based on the whole vehicle information, the preset rotating speed-buffer torque factor corresponding relation and the preset torque demand-second basic torque corresponding relation. The acceleration impact under the rapid acceleration working condition is reduced, the problems that the torque is smooth or the acceleration and deceleration impact is large and the like can not be achieved due to the fact that the filtering constant is too small in a scene of carrying out the change rate torque filtering on the whole vehicle torque demand are optimized, and the driving comfort of the whole vehicle is improved. And taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the current running time meets the second preset time. After the vehicle is no longer in a sudden acceleration working condition, the torque demand of the whole vehicle is output, the actual expectations of users are met, and the effectiveness of driving control is improved.
In one embodiment, determining the rapid acceleration vehicle torque based on the vehicle information and a preset rotational speed change rate-first base torque correspondence includes:
determining a rotation speed change rate based on the change of the rotation speed of the motor in a preset time range;
determining a first base torque based on the rotational speed change rate and a rotational speed change rate-first base torque correspondence;
and taking the sum of the product of the first base torque and the rotating speed change rate and the whole vehicle torque demand as the sudden acceleration whole vehicle torque.
In this embodiment, it should be noted that, a certain torque compensation is performed on the whole vehicle torque demand to obtain the sudden acceleration whole vehicle torque as the target whole vehicle torque output at the early stage of sudden acceleration, where the value of the certain torque compensation is equal to the product of the first base torque and the rotation speed change rate. The rotation speed change rate refers to a change rate of the rotation speed of the motor within a preset time range, for example, the preset time range includes two periods, and the rotation speed change rate is a difference between the rotation speed of the motor in the current period and the rotation speed of the motor in the previous period. The corresponding relation between the rotating speed change rate and the first basic torque comprises the rotating speed change rate and the first basic torque, and the corresponding relation is preset based on historical experience or actual application scenes.
It will be appreciated that in the early stages of rapid acceleration, acceleration is required, and when the rotational speed change rate is positive, it is necessary to increase torque on the basis of the torque demand of the whole vehicle as torque compensation, and in order to avoid excessive acceleration, the larger the rotational speed change rate, the smaller the torque compensation. If the rotation speed change rate is a negative value, it means that the vehicle is not accelerated but is decelerating, such as climbing, and the corresponding first basic torque is a negative value at the moment, and then the positive torque compensation can be obtained after multiplication with the rotation speed change rate. Therefore, in this embodiment, the preset rules for the correspondence relationship include: when the rotation speed change rate is positive, the rotation speed is indicated to be increased, the corresponding first basic torque is positive, and in order to avoid excessive acceleration, the absolute value of the first basic torque is smaller as the rotation speed change rate is larger; when the rotation speed change rate is negative, the rotation speed is reduced, the corresponding first basic torque is negative, and the absolute value of the first basic torque is larger as the absolute value of the rotation speed change rate is larger. After determining the rotational speed change rate, the first base torque may be determined based on the rotational speed change rate-first base torque correspondence. And multiplying the rotation speed change rate by the determined first basic torque, and then adding the whole vehicle torque demand to obtain the rapid acceleration whole vehicle torque.
In the embodiment, the first basic torque is determined based on the change rate of the motor rotation speed, so that the torque of the whole vehicle is determined to be rapidly accelerated, torque compensation is provided for the vehicle at the primary stage of rapid acceleration, rapid acceleration is realized, and the required response speed is improved.
In one embodiment, determining the first base torque based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence includes:
determining an initial first base torque based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence;
and limiting the initial first basic torque based on a preset compensation limiting threshold value to obtain the first basic torque.
In order to avoid excessive acceleration compensation or insufficient torque compensation, in this embodiment, the first base torque of the preset compensation limit threshold is used for limiting and protecting. The compensation limit threshold can be adaptively adjusted based on the actual application scenario. The compensation limit threshold includes a maximum limit threshold and a minimum limit threshold, limiting the first base torque between the minimum limit threshold and the maximum threshold. Specifically, an initial first base torque is determined based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence, and the initial first base torque is taken as the first base torque when the initial first base torque is equal to or greater than a minimum limit threshold and equal to or less than a maximum threshold; in the case where the initial first base torque is smaller than the minimum limit threshold, taking the minimum limit threshold as the first base torque; in the case where the initial first base torque is greater than the maximum limit threshold, the maximum limit threshold is taken as the first base torque.
In this embodiment, the excessive acceleration compensation is avoided through the preset compensation limit threshold, the limitation protection is performed, and the driving safety under the sudden acceleration working condition is improved.
In one embodiment, determining and outputting the anti-impact vehicle torque based on the vehicle information, the preset rotational speed-buffer torque factor correspondence, and the preset torque demand-second base torque correspondence includes:
determining a buffer torque factor according to the corresponding relation between the motor rotating speed and the rotating speed-buffer torque factor;
determining a second basic torque according to the whole vehicle torque demand and the torque demand-second basic torque corresponding relation;
and taking the sum of the product of the buffer torque factor and the second basic torque and the whole vehicle torque demand as the anti-impact whole vehicle torque.
After the motor rotation speed is obtained, a corresponding buffer torque factor is found based on the motor rotation speed, and after the whole vehicle torque demand is obtained, a corresponding second basic torque is found based on the whole vehicle torque demand. Multiplying the buffer torque factor by the second basic torque, wherein the value range of the buffer torque factor is between 0 and 1, and adding the product of the buffer torque factor and the second basic torque to the whole vehicle torque demand to obtain the anti-impact whole vehicle torque. In this embodiment, the second base torque is a negative value, and in the torque demand-second base torque correspondence, the absolute value of the second base torque corresponding to the larger the value of the entire vehicle torque demand is, the larger; the smaller the value of the vehicle torque demand, the smaller the absolute value of the corresponding second base torque.
In this embodiment, the impact-preventing whole vehicle torque is determined through the buffer torque factor and the second base torque, so that the whole vehicle torque is reduced, the power impact is slowed down, and the smoothness of the vehicle driving is improved.
In one embodiment, the whole vehicle torque control method further includes:
and under the condition that the vehicle is not in the rapid acceleration working condition, taking the whole vehicle torque requirement as the target whole vehicle torque.
In this embodiment, the vehicle torque demand is set as the target vehicle torque when the vehicle is not in the rapid acceleration condition. The actual demands of users are met by directly outputting the torque demands of the whole vehicle, and the effectiveness of driving control is improved.
In one embodiment, the whole vehicle torque control method further includes:
and determining a first preset time based on the whole vehicle torque demand and a preset torque demand-preset time corresponding relation.
In this embodiment, it should be noted that, the torque demand-preset time correspondence includes a whole vehicle torque demand and a preset time, and there is a preset correspondence between the two, where the correspondence is predetermined based on historical experience or an actual application scenario. In this embodiment, in the corresponding relationship between the whole vehicle torque demand and the preset time, the preset time corresponding to the larger the whole vehicle torque demand is, the shorter the whole vehicle torque demand is; the smaller the torque demand of the whole vehicle, the longer the corresponding preset time. After the torque demand of the whole vehicle is determined, the preset time corresponding to the torque demand of the whole vehicle can be found based on the torque demand-preset time correspondence, and the found preset time is used as the first preset time.
In this embodiment, the first preset time is determined based on the preset torque demand-preset time correspondence, and the time of taking the rapid acceleration whole vehicle torque as the target whole vehicle torque under different whole vehicle torque demands is fully considered, so that the accuracy of determining the target whole vehicle torque is effectively improved, and the drivability of the vehicle is further improved.
In one embodiment, the whole vehicle torque control method further includes:
acquiring the opening degree of an accelerator pedal and the change rate of the accelerator of the vehicle;
and under the condition that the opening of the accelerator pedal is in a preset accelerator opening range and the accelerator change rate is larger than a preset change rate threshold value, determining that the vehicle is in a sudden acceleration working condition.
In this embodiment, it should be noted that, whether the vehicle is currently in the rapid acceleration condition is determined by the opening of the accelerator pedal and the change rate of the accelerator, and specifically, when the opening of the accelerator pedal is in the preset accelerator opening range and the change rate of the accelerator is greater than the preset change rate threshold, the vehicle is determined to be in the rapid acceleration condition. The preset acceleration opening range and the preset change rate threshold value can be determined based on an actual application scene. The preset acceleration opening range includes a value range from a minimum opening threshold to a maximum opening threshold, for example, the minimum opening threshold is 10%, and the maximum opening threshold is 80%, and the preset acceleration opening range is: 10% -80%. The preset rate of change threshold is used to limit the throttle rate of change, for example, 100%/s.
In the embodiment, whether the vehicle is in the sudden acceleration working condition currently or not is determined through the opening degree of the accelerator pedal and the change rate of the accelerator, and the accuracy of judging the sudden acceleration working condition is improved.
The embodiment of the invention provides a whole vehicle torque control device, which comprises:
the working condition determining module is used for recording the current running time under the condition that the vehicle is in a sudden acceleration working condition;
the rapid acceleration torque determining module is used for determining rapid acceleration whole vehicle torque based on whole vehicle information and a preset rotational speed change rate-first basic torque corresponding relation, and taking the rapid acceleration whole vehicle torque as target whole vehicle torque, wherein the whole vehicle information comprises a motor rotational speed and a whole vehicle torque demand determined based on the opening degree of an accelerator pedal of a vehicle;
the anti-impact torque determining module is used for determining and outputting anti-impact whole vehicle torque as target whole vehicle torque based on whole vehicle information, a preset rotating speed-buffer torque factor corresponding relation and a preset torque demand-second basic torque corresponding relation under the condition that the current running time meets the first preset time;
and the torque determining module is used for taking the whole vehicle torque requirement as the target whole vehicle torque under the condition that the current running time meets the second preset time.
The whole vehicle torque control device comprises a processor and a memory, wherein the working condition determining module, the sudden acceleration torque determining module, the anti-impact torque determining module, the torque determining module and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the whole vehicle torque under the sudden acceleration working condition is adjusted by adjusting the kernel parameters so as to improve the drivability of the whole vehicle.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the invention provides a computer device, which comprises: the system includes a memory, a processor, and a program stored on the memory and executable on the processor, the program configured to implement the steps of the vehicle torque control method as described in the above embodiments.
The embodiment of the invention provides a machine-readable storage medium, wherein instructions are stored on the machine-readable storage medium, and when the instructions are executed by a processor, the instructions enable the processor to execute the whole vehicle torque control method according to the embodiment.
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, disk storage, CD-ROM, 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.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. The whole vehicle torque control method is characterized by comprising the following steps of:
recording the current running time under the condition that the vehicle is in a rapid acceleration working condition;
determining a sudden acceleration whole vehicle torque as a target whole vehicle torque based on whole vehicle information and a preset rotational speed change rate-first base torque correspondence, wherein the whole vehicle information comprises a motor rotational speed and a whole vehicle torque demand determined based on an accelerator pedal opening of the vehicle;
determining and outputting an anti-impact whole vehicle torque as a target whole vehicle torque based on the whole vehicle information, a preset rotating speed-buffer torque factor corresponding relation and a preset torque demand-second basic torque corresponding relation under the condition that the current running time meets a first preset time;
and taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the current running time meets a second preset time.
2. The vehicle torque control method according to claim 1, characterized in that the determining the rapid acceleration vehicle torque based on the vehicle information and the preset rotational speed change rate-first base torque correspondence relation includes:
determining a rotation speed change rate based on the change of the rotation speed of the motor in a preset time range;
determining a first base torque based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence;
and taking the sum of the product of the first basic torque and the rotating speed change rate and the whole vehicle torque requirement as the sudden acceleration whole vehicle torque.
3. The vehicle torque control method according to claim 2, characterized in that the determining the first base torque based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence relation includes:
determining an initial first base torque based on the rotational speed change rate and the rotational speed change rate-first base torque correspondence;
and limiting the initial first basic torque based on a preset compensation limiting threshold value to obtain a first basic torque.
4. The vehicle torque control method according to claim 1, wherein the determining and outputting the anti-impact vehicle torque based on the vehicle information, the preset rotational speed-buffered torque factor correspondence, and the preset torque demand-second base torque correspondence includes:
determining a buffer torque factor according to the corresponding relation between the motor rotating speed and the rotating speed-buffer torque factor;
determining a second basic torque according to the whole vehicle torque demand and the torque demand-second basic torque corresponding relation;
and taking the sum of the product of the buffer torque factor and the second basic torque and the whole vehicle torque demand as the anti-impact whole vehicle torque.
5. The vehicle torque control method according to claim 1, characterized in that the vehicle torque control method further comprises:
and taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the vehicle is not in a sudden acceleration working condition.
6. The vehicle torque control method according to claim 1, characterized in that the vehicle torque control method further comprises:
and determining the first preset time based on the corresponding relation between the whole vehicle torque demand and the preset torque demand-preset time.
7. The vehicle torque control method according to claim 1, characterized in that the vehicle torque control method further comprises:
acquiring the opening degree of an accelerator pedal and the change rate of the accelerator of the vehicle;
and under the condition that the opening of the accelerator pedal is in a preset accelerator opening range and the accelerator change rate is larger than a preset change rate threshold value, determining that the vehicle is in a sudden acceleration working condition.
8. The utility model provides a whole car torque control device which characterized in that includes:
the working condition determining module is used for recording the current running time under the condition that the vehicle is in a sudden acceleration working condition;
the system comprises a sudden acceleration torque determining module, a sudden acceleration torque determining module and a speed control module, wherein the sudden acceleration torque determining module is used for determining sudden acceleration whole vehicle torque based on whole vehicle information and a preset rotational speed change rate-first basic torque corresponding relation, and the sudden acceleration whole vehicle torque is used as a target whole vehicle torque, and the whole vehicle information comprises a motor rotational speed and a whole vehicle torque demand determined based on the opening degree of an accelerator pedal of a vehicle;
the anti-impact torque determining module is used for determining and outputting anti-impact whole vehicle torque as target whole vehicle torque based on whole vehicle information, a preset rotating speed-buffer torque factor corresponding relation and a preset torque demand-second basic torque corresponding relation under the condition that the current running time meets the first preset time;
and the torque determining module is used for taking the whole vehicle torque requirement as a target whole vehicle torque under the condition that the current running time meets the second preset time.
9. A computer device, the computer device comprising: a memory, a processor, and a program stored on the memory and executable on the processor, the program being configured to implement the steps of the motor control method according to any one of claims 1 to 7.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the steps of the motor control method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311279841.6A CN117565690A (en) | 2023-09-28 | 2023-09-28 | Whole vehicle torque control method and device, computer equipment and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311279841.6A CN117565690A (en) | 2023-09-28 | 2023-09-28 | Whole vehicle torque control method and device, computer equipment and readable storage medium |
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| CN117565690A true CN117565690A (en) | 2024-02-20 |
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| CN202311279841.6A Pending CN117565690A (en) | 2023-09-28 | 2023-09-28 | Whole vehicle torque control method and device, computer equipment and readable storage medium |
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| Country | Link |
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| CN (1) | CN117565690A (en) |
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- 2023-09-28 CN CN202311279841.6A patent/CN117565690A/en active Pending
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