CN117622094A - Output torque control method, device, equipment and storage medium - Google Patents
Output torque control method, device, equipment and storage medium Download PDFInfo
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- CN117622094A CN117622094A CN202311638829.XA CN202311638829A CN117622094A CN 117622094 A CN117622094 A CN 117622094A CN 202311638829 A CN202311638829 A CN 202311638829A CN 117622094 A CN117622094 A CN 117622094A
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/12—Controlling the power contribution of each of the prime movers to meet required power demand using control strategies taking into account route information
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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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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Abstract
The application discloses a control method, a device, equipment and a storage medium for output torque, and belongs to the technical field of vehicle control. The method comprises the following steps: when a bus enters an energy-saving driving mode, acquiring first driving working condition data of the bus, wherein the first driving working condition data of the bus comprises first environment condition data and first vehicle state data of a complete journey of the bus; dividing the travel of the bus based on the first environmental condition data to obtain a reference number of driving sections; determining global working condition data of the bus in unit time length based on the first vehicle state data; and determining parameters of the engine output torque and the motor output torque corresponding to each driving section based on global working condition data of the bus in unit time length. And determining parameters of the engine output torque and the motor output torque corresponding to each driving section through the first vehicle state data of each driving section, so that the output torque of the bus is controlled, and the fuel consumption of the bus is reduced while the power of the bus is ensured.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle control, in particular to a control method, a device, equipment and a storage medium for output torque.
Background
The hybrid bus is driven by the engine and the motor together, and under the same torque requirement, the torques output by the engine and the motor are different, and the consumed energy is also different. Wherein the greater the engine output torque, the greater the amount of fuel required; the greater the motor output torque, the less fuel is required. But the motor output torque cannot be infinitely increased because the larger the motor output torque is, the larger the required current is, and the excessive current can cause the motor to heat up and even burn the motor. Therefore, it is necessary to control the engine output torque and the motor output torque of the bus.
Disclosure of Invention
The embodiment of the application provides a control method, a device, equipment and a storage medium for output torque, which can be used for controlling the output torque of an engine and the output torque of a motor of a bus. The technical scheme is as follows:
in one aspect, the present application provides a method for controlling output torque, the method including:
when a bus enters an energy-saving driving mode, acquiring first driving condition data of the bus, wherein the first driving condition data of the bus comprises first environment condition data and first vehicle state data of a complete journey of the bus;
Dividing the travel of the bus based on the first environmental condition data to obtain a reference number of driving sections;
determining global working condition data of the bus in unit time length based on the first vehicle state data;
and determining parameters of the engine output torque and the motor output torque corresponding to each driving section based on the global working condition data of the bus in unit time.
In another aspect, there is provided a control apparatus for outputting torque, the apparatus comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first running condition data of a bus when the bus enters an energy-saving driving mode, wherein the first running condition data of the bus comprises first environment condition data and first vehicle state data of a complete journey of the bus;
the dividing module is used for dividing the travel of the bus based on the first environmental condition data to obtain a reference number of driving sections;
the first determining module is used for determining global working condition data of the bus in unit duration based on the first vehicle state data;
and the second determining module is used for determining parameters of the engine output torque and the motor output torque corresponding to each driving section based on the global working condition data of the bus in unit time length.
In another aspect, a computer device is provided, where the computer device includes a processor and a memory, where at least one computer program is stored in the memory, where the at least one computer program is loaded and executed by the processor, so that the computer device implements any one of the above-mentioned output torque control methods.
In another aspect, there is provided a computer readable storage medium having stored therein at least one computer program loaded and executed by a processor to cause a computer to implement any of the above-described output torque control methods.
In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs any one of the above-described output torque control methods.
The technical scheme provided by the application at least brings the following beneficial effects:
According to the method and the device, the travel of the bus is divided into the reference number of driving sections through the first environmental condition data of the bus, discretization processing is carried out on the first vehicle state data of the bus according to the driving sections, the influence of the area between the driving sections on the required torque is avoided, and the driving characteristics of the bus of each driving section are more accurately acquired. And determining global working condition data of the bus in unit time length through the first vehicle state data, so that parameters of the engine output torque and the motor output torque corresponding to each driving section are determined, the parameters of the engine output torque and the motor output torque of the bus are controlled more accurately, the output torque of the bus is controlled, and the fuel consumption of the bus is reduced while the power of the bus is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of an implementation environment provided by embodiments of the present application;
FIG. 2 is a flow chart of a method for controlling output torque provided by an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a driving segment division according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a control device for outputting torque according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a server according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a control apparatus for outputting torque according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
An embodiment of the present application provides a method for controlling output torque, please refer to fig. 1, which illustrates a schematic diagram of an implementation environment of the method provided in the embodiment of the present application. The implementation environment may include: a bus 11 and a vehicle control system 12, wherein the vehicle control system 12 is located on the bus 11.
Alternatively, when the bus 11 enters the energy saving driving mode, the vehicle control system 12 acquires first running condition data of the bus 11, the first running condition data of the bus 11 including first environmental condition data and first vehicle state data of one complete trip of the bus 11. The vehicle control system 12 divides the travel of the bus 11 according to the first environmental condition data to obtain a reference number of driving sections, and determines global working condition data of the bus 11 in a unit time length according to the first vehicle state data, so as to determine parameters of the engine output torque and the motor output torque corresponding to each driving section.
The vehicle control system 12 may store first environmental condition data of the bus 11, and is configured to divide the journey of the bus 11 into a reference number of driving segments. The vehicle control system 12 may further store first vehicle state data of the bus 11, for determining global operating condition data of the bus 11 in a unit duration, so as to determine parameters of the engine output torque and the motor output torque corresponding to each driving segment. Alternatively, the bus 11 establishes a communication connection with the vehicle control system 12 via a wired or wireless network.
Based on the implementation environment shown in fig. 1, the embodiment of the present application provides a control method of output torque, as shown in fig. 2, and the method is applied to a vehicle control system, for example, and the method includes steps 201 to 204.
In step 201, when the bus enters the energy-saving driving mode, first driving condition data of the bus is acquired, wherein the first driving condition data of the bus includes first environmental condition data and first vehicle state data of a complete journey of the bus.
In one possible implementation, the energy-saving driving mode is a mode of controlling fuel consumption while ensuring power of the bus. Exemplary ways to determine whether a bus enters an energy efficient driving mode include, but are not limited to: the vehicle control system determines whether the bus enters the energy-saving driving mode based on whether information that the driver confirms to switch the energy-saving driving mode is received. For example, after the driver manually operates the bus to switch to the energy saving driving mode, the vehicle control system receives information that the driver confirms the switch to the energy saving driving mode.
In one possible implementation, the driver manually operates the bus to switch to the energy saving driving mode, including but not limited to: the driver presses an energy-saving driving button installed on the bus, and based on the driver pressing the energy-saving driving button, the button sends out information that the driver confirms to switch the energy-saving driving mode, and the vehicle control system receives the information that the driver confirms to switch the energy-saving driving mode.
For example, if the vehicle control system receives the information that the driver confirms to switch the energy-saving driving mode, the bus enters the energy-saving driving mode; and if the vehicle control system does not receive the information of confirming the switching of the energy-saving driving mode by the driver, the bus does not enter the energy-saving driving mode.
Optionally, when determining that the bus enters the energy-saving driving mode, acquiring first driving condition data of the bus includes: and acquiring first environmental condition data and first vehicle state data of a complete bus journey, wherein the complete bus journey is the whole bus journey from a starting station to a terminal station. Illustratively, the first environmental condition data includes at least one of a road surface width, a road surface flatness, a location of a bus stop, or a location of a traffic light of a road traversed by the bus; the first vehicle State data includes at least one Of SOC (State Of Charge), mileage, travel speed, or travel acceleration Of the bus.
In one possible implementation, obtaining first environmental condition data of a bus includes: at least one of the width of the road surface, the flatness of the road surface, the position of the bus stop or the position of the traffic light on which the bus passes is obtained. Next, an example is given of the manner of acquiring the first environmental condition data.
(1) Obtaining road surface width
In one possible implementation, the manner in which the road surface width is obtained includes, but is not limited to: the distance from the bus to the guardrails on two sides of the road is obtained through radar ranging, and the sum of the distance from the bus to the guardrails on two sides and the width of the bus is used as the road surface width of the road where the bus is located, wherein the radar is installed on the left side and the right side of the bus.
Illustratively, obtaining a distance from a bus to two side guardrails by radar ranging includes: ultrasonic waves are transmitted to and received from both sides of the bus by means of a radar mounted on the bus, and the ultrasonic wave distance is obtained by multiplying the ultrasonic wave speed by the time difference between the ultrasonic wave transmission and ultrasonic wave reception.
(2) Obtaining the road surface flatness
Illustratively, road surface flatness may be obtained by a laser gauge, comprising: the method comprises the steps of scanning a road surface where a bus is located through a laser measuring instrument, and removing abnormal data from scanned data to obtain the flatness of the road surface, wherein the laser measuring instrument is arranged at the bottom of the bus.
In one possible implementation manner, the performing abnormal data elimination processing on the scanned data to obtain the evenness of the pavement includes: and excluding data smaller than the first reference threshold value or larger than the second reference threshold value from the scanned data, and taking the mode in the rest data as the evenness of the pavement.
The first reference threshold and the second reference threshold are not limited, and the first reference threshold and the second reference threshold can be set based on experience or adjusted according to actual conditions on the basis of ensuring that the first reference threshold is smaller than the second reference threshold.
(3) Acquiring the position of a bus stop
In one possible implementation, the location of the bus stop is obtained, including but not limited to: and identifying bus stops at two sides of the bus through the first video identification device, and acquiring the positions of the bus stops through the positioning system based on the identification of the bus stops. The first video identification device is arranged on the right side of the bus, and the positioning system is arranged at any position on the bus.
Illustratively, identifying a bus stop on the right side of the bus by a first video identification device includes: and processing the image data of the bus stop, namely cutting, zooming, rotating, adjusting brightness or enhancing contrast of the image data of the bus stop to obtain the processed image of the bus stop, and training the processed image of the bus stop through a first deep learning model to obtain the recognition model of the bus stop. The embodiment of the application does not limit the first deep learning model, and may be a convolutional neural network, for example.
Optionally, after determining the recognition model of the bus stop, shooting an image on the right side of the bus through the video recognition device, and for each frame of image on the right side of the bus, performing target detection by using the recognition model of the bus stop to recognize the bus stop on the right side of the bus.
(4) Acquiring the position of a traffic light
In one possible implementation, the location of the traffic light is obtained, including but not limited to: and identifying the traffic signal lamp through the second video identification device, and acquiring the position of the traffic signal lamp through the positioning system based on the identification of the traffic signal lamp. Wherein the second video recognition device is installed at the front side of the bus.
Illustratively, identifying, by the second video recognition device, a traffic signal on the front side of the bus, comprising: and processing the image data of the signal lamp, namely cutting, scaling, rotating, adjusting brightness or enhancing contrast of the image data of the signal lamp to obtain the processed image of the signal lamp, and training the processed image of the signal lamp through a second deep learning model to obtain the identification model of the signal lamp. The second deep learning model is not limited in this embodiment, and may be, for example, a convolutional neural network.
Optionally, after determining the recognition model of the signal lamp, shooting an image of the front side of the bus through the video recognition device, and for each frame of image of the front side of the bus, performing target detection by using the recognition model of the signal lamp to recognize the traffic signal lamp of the front side of the bus.
In one possible implementation, obtaining first vehicle state data of a bus includes: at least one of a speed, acceleration, SOC, or mileage of the bus is obtained.
Next, an example will be given of the manner in which the first vehicle state data is acquired.
(1) Acquiring travel speed
For example, the travel speed of a bus may be measured by a speed sensor, wherein the speed sensor is mounted on the bus. In one possible implementation, obtaining the travel speed includes: the vehicle control system obtains the running speed of the bus through a speed sensor arranged on the bus.
(2) Acquiring acceleration of travel
For example, the acceleration of a bus may be acquired by an accelerometer, wherein the accelerometer is mounted on the bus. In one possible implementation, acquiring acceleration includes: the vehicle control system obtains the acceleration of the bus through an accelerometer arranged on the bus.
(3) Acquiring SOC
For example, the SOC may be obtained by a current integration method including: and obtaining a current value of the power battery, integrating the current value to obtain a charge or discharge amount of the battery, and dividing the charge or discharge amount of the battery by the rated capacity of the battery to obtain the SOC. In one possible embodiment, the current value of the power cell is determined by a current tap of a multimeter, wherein the multimeter is mounted on a bus.
(4) Obtaining driving mileage
The vehicle control system obtains the driving mileage of the bus at the initial station under the complete working condition at one time and the current driving mileage of the bus from the central control system of the bus, and takes the difference value between the current driving mileage of the bus and the driving mileage at the initial station as the driving mileage.
In step 202, the travel of the bus is divided based on the first environmental condition data to obtain a reference number of drive segments.
In one possible implementation, dividing a journey of a bus based on first environmental condition data includes: and dividing the travel of the bus based on at least one of the position of the bus stop or the position of the traffic light where the bus passes, and obtaining the reference number of driving sections.
Illustratively, dividing the travel of the bus based on at least one of the location of the bus stop or the location of the traffic light traversed by the bus in the first environmental condition data comprises: based on the fact that bus stops exist in a road where a bus passes, the bus stops are used as demarcation points for dividing different driving sections; and on the basis that the traffic signal lamps are arranged in the road where the bus passes, the traffic signal lamps are used as demarcation points for dividing different driving sections. When a bus stop and a traffic signal lamp simultaneously appear in a road where a bus passes, the bus stop and the traffic signal lamp are used as demarcation points for dividing different driving sections.
The reference number is not limited in the embodiment of the application, and is illustratively determined according to the number of bus stops and traffic lights passed by the bus.
The bus is frequently started and stopped when passing through the bus stop and the traffic signal lamp, and the starting and stopping have influence on the torque demand of the bus, so that the travel of the bus is divided into a reference number of driving sections through the position of the bus stop or the position of the traffic signal lamp, and each driving section corresponds to different parameters of the engine output torque and the motor output torque, and the control of the parameters of the engine output torque and the motor output torque of the bus can be ensured to be more accurate.
In step 203, global operating condition data for the bus for a unit duration is determined based on the first vehicle state data.
In one possible implementation, determining global operating condition data of the bus for a unit duration based on the first vehicle state data includes: determining an average speed, a highest speed, an average acceleration and an average SOC of the bus when the bus is running based on the running speed, the running acceleration and the SOC; determining global bus condition data based on at least one of average SOC, mileage, average speed, highest speed, or average acceleration; and determining global working condition data of the bus in unit time length based on the global working condition data of the bus.
Optionally, the vehicle control system discretizes the running speed, the running acceleration, the SOC and the running distance of the bus acquired in different driving sections, namely, the running speed, the running acceleration, the SOC and the running distance of the bus are divided into the categories corresponding to the different driving sections. For example, a schematic diagram of discretizing the travel speed of a bus is shown in fig. 3, the travel distance of the bus is divided into 5 driving sections, and the travel speed of the bus in each driving section is shown as a curve in the figure, wherein the abscissa is the time of the bus in S (seconds); the ordinate is the travel speed of the bus, which is in km/h (kilometers per hour).
Illustratively, after the discretization process is completed, determining an average speed, a highest speed, an average acceleration, and an average SOC when the bus is running based on the running speed, the running acceleration, and the SOC, includes: dividing the running speed of the bus acquired by a certain driving section by the number of times of acquiring the running speed, and taking the obtained first calculation result as the average speed of the bus in the driving section during running. And comparing the running speeds of buses acquired by a certain driving section, and taking the highest speed in the running speeds as the highest speed when the buses of the driving section run.
The second calculation result is obtained by dividing the acceleration of the bus acquired during the acceleration of a certain driving section by the acquisition times of the acceleration during the acceleration of the driving section, and is taken as the average acceleration of the bus in the driving section; and dividing the acceleration of the bus acquired during the deceleration of a certain driving section by the acquisition times of the acceleration during the deceleration of the driving section, and taking the obtained third calculation result as the average acceleration of the bus in the deceleration of the driving section. The SOC of the bus collected by a certain driving section is divided by the collection times of the SOC of the driving section, and the obtained fourth calculation result is taken as the average SOC of the bus of the driving section.
Optionally, determining the bus global operating condition data based on at least one of the average SOC, the range, the average speed, the highest speed, or the average acceleration includes: and taking at least one of the calculated average SOC, the driving mileage, the average speed, the highest speed or the average acceleration corresponding to each driving section as global working condition data corresponding to each driving section, namely the global working condition data corresponding to each driving section comprises at least one of the average SOC, the driving mileage, the average speed, the highest speed or the average acceleration of each driving section.
In one possible implementation manner, after determining global working condition data corresponding to each driving section, determining global working condition data of the bus in unit time length based on the global working condition data of the bus, including: acquiring departure shifts of buses; and determining global working condition data of the bus in unit time based on the departure shift of the bus and the global working condition data of the bus.
Illustratively, obtaining a departure shift of a bus includes: the vehicle control system determines a departure shift of the bus based on the shift number of the bus, wherein the departure shift of the bus comprises the number of times of daily travel of the bus and the travel days of the bus in unit duration. Optionally, after determining the departure shift of the bus, determining global working condition data of the bus in unit time based on the departure shift of the bus and global working condition data of the bus, including: the global working condition data are sequentially connected based on departure shifts of a certain day, so that global working condition data of the whole day of the certain day are obtained; and determining global working condition data of the bus in the unit time based on the travel days of the bus in the unit time and global working condition data of the bus in the whole day.
The embodiment of the application does not limit the unit duration, and can be set based on experience and can be adjusted according to actual conditions.
The global working condition data of each driving section are determined by discretizing the driving speed, the driving acceleration, the SOC and the driving distance of the bus acquired by different driving sections, so that the parameters which can reflect the driving working condition characteristics of each driving section are extracted, and the accuracy of the global working condition data corresponding to each driving section is ensured. And determining global working condition data of the bus in unit time based on departure shifts of the bus, further reflecting driving characteristics of the bus corresponding to each driving section, and facilitating reasonable distribution of output torque of the bus based on the global working condition data of the bus in unit time.
In step 204, parameters of the engine output torque and the motor output torque corresponding to each driving segment are determined based on global condition data of the bus in a unit time period.
In one possible implementation manner, determining parameters of the engine output torque and the motor output torque corresponding to each driving section based on global working condition data of the bus in a unit time length includes: and determining the rotating speed and the load of the engine and the rotating speed and the load of the motor based on the global working condition data of the bus in unit time length. Determining parameters of output torque corresponding to the rotating speed and the load of the engine according to the quasi-static characteristic MAP (MAP) corresponding to the engine; and determining parameters of the rotation speed and the output torque corresponding to the load of the motor according to the quasi-static characteristic MAP corresponding to the motor.
Illustratively, the quasi-static characteristics MAP corresponding to the engine contain parameters of different rotational speeds of the engine and different output torques corresponding to different loads of the engine; the quasi-static characteristics MAP corresponding to the motor comprise parameters of different rotational speeds of the motor and different output torques corresponding to the loads of the motor.
The method for determining the speed and the load of the engine and the speed and the load of the motor based on the global working condition data of the bus in unit time length is not limited, and the speed and the load of the engine and the speed and the load of the motor corresponding to the global working condition data of the bus in unit time length are set based on experience.
In one possible implementation manner, after determining parameters of the engine output torque and the motor output torque corresponding to each driving section based on global working condition data of the bus in a unit time length, the method further includes: acquiring second driving condition data of the bus, wherein the second driving condition data of the bus comprises second environmental condition data when the bus is driven; and based on the matching of the first environmental condition data and the second environmental condition data of the driving section, taking the parameters of the engine output torque and the motor output torque corresponding to the driving section as the parameters of the engine output torque and the motor output torque corresponding to the second driving working condition.
The rotation speed and the load of the engine and the rotation speed and the load of the motor are determined through the global working condition data of the bus in unit time length, so that global optimization can be ensured when the rotation speed and the load of the engine and the rotation speed and the load of the motor are determined, and therefore the fuel consumption of the bus is ensured to be optimized, and the fuel economy is improved.
Illustratively, the second driving condition data of the bus includes second environmental condition data when the bus is driving, and the obtaining the second driving condition data of the bus includes: acquiring at least one of road surface width, road surface flatness, bus stop position or traffic signal lamp position of the bus under the second driving working condition; comparing the road surface width, the road surface flatness, the position of the bus stop and the position of the traffic signal lamp of the bus under the second driving working condition with the road surface width, the road surface flatness, the position of the bus stop and the position of the traffic signal lamp of each driving section of the bus under the first driving working condition; and based on the matching of the road surface width, the road surface flatness, the position of the bus stop and the position of the traffic signal lamp of the bus under the second driving working condition and the road surface width, the road surface flatness, the position of the bus stop and the position of the traffic signal lamp of each driving section of the bus under the first driving working condition, taking the parameters of the engine output torque and the motor output torque corresponding to the driving sections as the parameters of the engine output torque and the motor output torque corresponding to the second driving working condition.
And comparing the second environmental condition data of the bus with the first environmental condition data of each driving section under the first driving working condition, and taking the parameters of the engine output torque and the motor output torque corresponding to the driving section matched with the environmental condition data as the parameters of the engine output torque and the motor output torque corresponding to the second driving working condition, so that the engine output torque and the motor output torque which are most suitable for the second driving working condition are determined, and the fuel consumption of the bus is reduced while the power of the bus is ensured.
According to the embodiment of the application, the travel of the bus is divided into the reference number of driving sections through the first environmental condition data of the bus, the first vehicle state data of the bus is discretized according to the driving sections, the influence of the area between the driving sections on the required torque is avoided, and the driving characteristics of the bus of each driving section are more accurately acquired. And determining global working condition data of the bus in unit time length through the first vehicle state data, so that parameters of the engine output torque and the motor output torque corresponding to each driving section are determined, the parameters of the engine output torque and the motor output torque of the bus are controlled more accurately, the output torque of the bus is controlled, and the fuel consumption of the bus is reduced while the power of the bus is ensured.
Referring to fig. 4, an embodiment of the present application provides a control device for outputting torque, including:
the acquiring module 401 is configured to acquire first driving condition data of the bus when the bus enters the energy-saving driving mode, where the first driving condition data of the bus includes first environmental condition data and first vehicle state data of a complete journey of the bus;
the dividing module 402 is configured to divide a travel of the bus based on the first environmental condition data, to obtain a reference number of driving segments;
a first determining module 403, configured to determine global working condition data of the bus in a unit duration based on the first vehicle state data;
and a second determining module 404, configured to determine parameters of the engine output torque and the motor output torque corresponding to each driving segment based on global working condition data of the bus in a unit duration.
In one possible implementation, the first environmental condition data includes at least one of a location of a bus stop or a location of a traffic light where a bus passes; the dividing module 402 is configured to divide a travel of a bus based on at least one of a position of a bus stop or a position of a traffic light where the bus passes, and obtain a reference number of driving segments.
In one possible implementation, the first vehicle state data includes at least one of a remaining power SOC, a driving range, a driving speed, or a driving acceleration; a first determining module 403, configured to determine an average speed, a highest speed, and an average acceleration when the bus is running based on the running speed and the running acceleration; determining global operating condition data of the bus based on at least one of the SOC, the driving range, the average speed, the highest speed or the average acceleration; and determining global working condition data of the bus in unit time length based on the global working condition data of the bus.
In one possible implementation, the first determining module 403 is configured to obtain a departure shift of the bus; and determining global working condition data of the bus in unit time based on the departure shift of the bus and the global working condition data of the bus.
In a possible implementation manner, the second determining module 404 is further configured to obtain second driving condition data of the bus, where the second driving condition data of the bus includes second environmental condition data when the bus is driving; and under the condition that the first environmental condition data of the driving section is matched with the second environmental condition data, taking the parameters of the engine output torque and the motor output torque corresponding to the driving section as the parameters of the engine output torque and the motor output torque corresponding to the second driving working condition.
The device divides the travel of the bus into the reference number of driving sections according to the first environmental condition data of the bus, discretizes the first vehicle state data of the bus according to the driving sections, avoids the influence of the area between the driving sections on the required torque, and realizes more accurate acquisition of the driving characteristics of the bus of each driving section. And determining global working condition data of the bus in unit time length through the first vehicle state data, so that parameters of the engine output torque and the motor output torque corresponding to each driving section are determined, the parameters of the engine output torque and the motor output torque of the bus are controlled more accurately, the output torque of the bus is controlled, and the fuel consumption of the bus is reduced while the power of the bus is ensured.
It should be noted that, when the apparatus provided in the foregoing embodiment performs the functions thereof, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to perform all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the apparatus and the method embodiments are detailed in the method embodiments and are not repeated herein.
Fig. 5 is a schematic structural diagram of a server provided in the embodiment of the present application, where the server may have a relatively large difference due to different configurations or performances, and may include one or more processors 901 and one or more memories 902, where the one or more memories 902 store at least one computer program, and the at least one computer program is loaded and executed by the one or more processors 901, so that the server implements the method for controlling output torque provided by each method embodiment described above. Of course, the server may also have a wired or wireless network interface, a keyboard, an input/output interface, and other components for implementing the functions of the device, which are not described herein.
Fig. 6 is a schematic structural diagram of a control apparatus for outputting torque according to an embodiment of the present application. The device may be a terminal, for example: vehicle-mounted system, smart phone, tablet, player, notebook or desktop. Terminals may also be referred to by other names as user equipment, portable terminals, laptop terminals, desktop terminals, etc.
Generally, the terminal includes: a processor 1501 and a memory 1502.
The processor 1501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1501 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1501 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1501 may be integrated with a GPU (Graphics Processing Unit, image processor) for taking care of rendering and rendering of content to be displayed by the display screen. In some embodiments, the processor 1501 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Memory 1502 may include one or more computer-readable storage media, which may be non-transitory. Memory 1502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1502 is configured to store at least one instruction for execution by processor 1501 to cause the terminal to implement a method of controlling output torque provided by a method embodiment in the present application.
In some embodiments, the terminal may further optionally include: a peripheral interface 1503 and at least one peripheral device. The processor 1501, memory 1502 and peripheral interface 1503 may be connected by a bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface 1503 via a bus, signal lines, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1504, a display 1505, a camera assembly 1506, audio circuitry 1507, and a power supply 1508.
A peripheral interface 1503 may be used to connect I/O (Input/Output) related at least one peripheral device to the processor 1501 and the memory 1502. In some embodiments, processor 1501, memory 1502, and peripheral interface 1503 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 1501, the memory 1502, and the peripheral interface 1503 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.
The Radio Frequency circuit 1504 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1504 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 1504 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1504 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 1504 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 1504 may also include NFC (Near Field Communication, short range wireless communication) related circuits, which are not limited in this application.
Display 1505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When display screen 1505 is a touch display screen, display screen 1505 also has the ability to collect touch signals at or above the surface of display screen 1505. The touch signal may be input to the processor 1501 as a control signal for processing. At this point, display 1505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1505 may be one, disposed on the front panel of the terminal; in other embodiments, the display 1505 may be at least two, respectively disposed on different surfaces of the terminal or in a folded design; in other embodiments, the display 1505 may be a flexible display disposed on a curved surface or a folded surface of the terminal. Even more, the display 1505 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display screen 1505 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.
The camera assembly 1506 is used to capture images or video. Optionally, the camera assembly 1506 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1506 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.
The audio circuitry 1507 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and the environment, converting the sound waves into electric signals, inputting the electric signals to the processor 1501 for processing, or inputting the electric signals to the radio frequency circuit 1504 for voice communication. For the purpose of stereo acquisition or noise reduction, a plurality of microphones can be respectively arranged at different parts of the terminal. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 1507 may also include a headphone jack.
The power supply 1508 is used to power the various components in the terminal. The power source 1508 may be alternating current, direct current, disposable battery, or rechargeable battery. When the power source 1508 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the terminal further includes one or more sensors 1509. The one or more sensors 1509 include, but are not limited to: an acceleration sensor 1510, a gyro sensor 1511, a pressure sensor 1512, an optical sensor 1513, and a proximity sensor 1514.
The acceleration sensor 1510 may detect the magnitudes of accelerations on three coordinate axes of a coordinate system established with a terminal. For example, the acceleration sensor 1510 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 1501 may control the display screen 1505 to display the user interface in either a landscape view or a portrait view based on the gravitational acceleration signal collected by the acceleration sensor 1510. The acceleration sensor 1510 may also be used for acquisition of motion data of a game or user.
The gyro sensor 1511 may detect a body direction and a rotation angle of the terminal, and the gyro sensor 1511 may collect a 3D motion of the user to the terminal in cooperation with the acceleration sensor 1510. The processor 1501, based on the data collected by the gyro sensor 1511, may implement the following functions: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.
The pressure sensor 1512 may be disposed on a side frame of the terminal and/or below the display 1505. When the pressure sensor 1512 is disposed on a side frame of the terminal, a grip signal of the terminal by the user may be detected, and the processor 1501 performs a left-right hand recognition or a quick operation according to the grip signal collected by the pressure sensor 1512. When the pressure sensor 1512 is disposed at the lower layer of the display screen 1505, the processor 1501 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 1505. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.
The optical sensor 1513 is used to collect the ambient light intensity. In one embodiment, processor 1501 may control the display brightness of display screen 1505 based on the intensity of ambient light collected by optical sensor 1513. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1505 is turned up; when the ambient light intensity is low, the display luminance of the display screen 1505 is turned down. In another embodiment, the processor 1501 may also dynamically adjust the shooting parameters of the camera assembly 1506 based on the ambient light intensity collected by the optical sensor 1513.
A proximity sensor 1514, also referred to as a distance sensor, is typically provided on the front panel of the terminal. The proximity sensor 1514 is used to collect the distance between the user and the front face of the terminal. In one embodiment, when the proximity sensor 1514 detects a gradual decrease in the distance between the user and the front face of the terminal, the processor 1501 controls the display 1505 to switch from the on-screen state to the off-screen state; when the proximity sensor 1514 detects that the distance between the user and the front face of the terminal gradually increases, the processor 1501 controls the display screen 1505 to switch from the off-screen state to the on-screen state.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.
In an exemplary embodiment, a computer device is also provided, the computer device comprising a processor and a memory, the memory having at least one computer program stored therein. The at least one computer program is loaded and executed by one or more processors to cause the computer arrangement to implement any of the methods of controlling output torque described above.
In an exemplary embodiment, there is also provided a computer-readable storage medium having stored therein at least one computer program loaded and executed by a processor of a computer apparatus to cause the computer to implement any one of the output torque control methods described above.
In one possible implementation, the computer readable storage medium may be a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), a compact disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs any one of the output torque control methods described above.
It should be noted that, information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals referred to in this application are all authorized by the user or are fully authorized by the parties, and the collection, use, and processing of relevant data is required to comply with relevant laws and regulations and standards of relevant countries and regions. For example, reference herein to both the first environmental condition data and the first vehicle condition data are obtained with sufficient authorization.
It should be understood that references herein to "a plurality" are to two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
It should be noted that the terms "first," "second," and the like in the description and in the claims of this application (if any) are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The foregoing description of the exemplary embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to any modification, equivalents, or improvements made within the principles of the present application.
Claims (10)
1. A method of controlling output torque, the method comprising:
when a bus enters an energy-saving driving mode, acquiring first driving condition data of the bus, wherein the first driving condition data of the bus comprises first environment condition data and first vehicle state data of a complete journey of the bus;
dividing the travel of the bus based on the first environmental condition data to obtain a reference number of driving sections;
determining global working condition data of the bus in unit time length based on the first vehicle state data;
and determining parameters of the engine output torque and the motor output torque corresponding to each driving section based on the global working condition data of the bus in unit time.
2. The method of claim 1, wherein the first environmental condition data comprises at least one of a location of a bus stop or a location of a traffic light traversed by the bus; dividing the travel of the bus based on the first environmental condition data to obtain a reference number of driving sections, including:
and dividing the travel of the bus based on at least one of the position of the bus stop or the position of the traffic light where the bus passes, and obtaining the reference number of driving sections.
3. The method of claim 1, wherein the first vehicle state data includes at least one of a remaining charge SOC, a driving range, a driving speed, or a driving acceleration; the determining global working condition data of the bus in unit duration based on the first vehicle state data includes:
determining an average speed, a highest speed and an average acceleration of the bus when running based on the running speed and the running acceleration;
determining global operating condition data of the bus based on at least one of the SOC, the driving range, the average speed, the highest speed, or the average acceleration;
and determining global working condition data of the bus in unit time length based on the global working condition data of the bus.
4. The method of claim 3, wherein the determining global operating condition data for the bus for a unit duration based on the global operating condition data for the bus comprises:
acquiring a departure shift of the bus;
and determining global working condition data of the bus in unit time based on the departure shift of the bus and the global working condition data of the bus.
5. The method of claim 1, wherein after determining the parameters of the engine output torque and the motor output torque corresponding to each driving segment based on the global condition data of the bus in a unit time period, further comprises:
acquiring second driving condition data of the bus, wherein the second driving condition data of the bus comprises second environmental condition data when the bus is driven;
and under the condition that the first environmental condition data of the driving section is matched with the second environmental condition data, taking parameters of the engine output torque and the motor output torque corresponding to the driving section as parameters of the engine output torque and the motor output torque corresponding to the second driving working condition.
6. An output torque control device, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first running condition data of a bus when the bus enters an energy-saving driving mode, wherein the first running condition data of the bus comprises first environment condition data and first vehicle state data of a complete journey of the bus;
the dividing module is used for dividing the travel of the bus based on the first environmental condition data to obtain a reference number of driving sections;
The first determining module is used for determining global working condition data of the bus in unit duration based on the first vehicle state data;
and the second determining module is used for determining parameters of the engine output torque and the motor output torque corresponding to each driving section based on the global working condition data of the bus in unit time length.
7. The apparatus of claim 6, wherein the first environmental condition data comprises at least one of a location of a bus stop or a location of a traffic light traversed by the bus; the dividing module is used for dividing the travel of the bus based on at least one of the position of the bus stop or the position of the traffic signal lamp where the bus passes through, and obtaining the reference number of driving sections.
8. The apparatus of claim 6, wherein the first vehicle state data comprises at least one of a remaining charge SOC, a range, a speed of travel, or an acceleration of travel; the first determining module is used for determining the average speed, the highest speed and the average acceleration of the bus when the bus runs based on the running speed and the running acceleration; determining global operating condition data of the bus based on at least one of the SOC, the driving range, the average speed, the highest speed, or the average acceleration; and determining global working condition data of the bus in unit time length based on the global working condition data of the bus.
9. A computer device, characterized in that it comprises a processor and a memory, in which at least one computer program is stored, which is loaded and executed by the processor, so that the computer device implements the method of controlling the output torque according to any one of claims 1 to 5.
10. A computer-readable storage medium, in which at least one computer program is stored, which is loaded and executed by a processor, to cause a computer to implement the method of controlling output torque according to any one of claims 1 to 5.
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| CN202311638829.XA CN117622094A (en) | 2023-11-28 | 2023-11-28 | Output torque control method, device, equipment and storage medium |
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| CN202311638829.XA CN117622094A (en) | 2023-11-28 | 2023-11-28 | Output torque control method, device, equipment and storage medium |
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| CN117622094A true CN117622094A (en) | 2024-03-01 |
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