CN118386861A - Vehicle and driving motor control method, device, controller and storage medium thereof - Google Patents
Vehicle and driving motor control method, device, controller and storage medium thereof Download PDFInfo
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- CN118386861A CN118386861A CN202311128828.0A CN202311128828A CN118386861A CN 118386861 A CN118386861 A CN 118386861A CN 202311128828 A CN202311128828 A CN 202311128828A CN 118386861 A CN118386861 A CN 118386861A
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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
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Abstract
The invention relates to the technical field of new energy vehicles, in particular to a vehicle and a driving motor control method, a device, a controller and a storage medium thereof. The method comprises the steps of monitoring gear shifting operation of a corresponding gear shifting lever when a vehicle shifts gears, and determining a corresponding target pretightening force according to a target gear corresponding to the gear shifting operation when the gear shifting operation meets preset gear shifting conditions; the driving motor of the vehicle is controlled to output corresponding driving torque according to the target pre-tightening force, the gear shifting intention of a driver is recognized in advance, the torque reversing and the torque target value of the driving motor are adjusted in advance by utilizing the target pre-tightening force, so that the synchronization process of simulating the pre-hanging synchronizing ring of the synchronizer is realized, and the mechanical impact on the matching surface of the motor output torque gear due to insufficient quick release braking and braking force under the condition of ramp, in-situ or low vehicle speed gear shifting is reduced.
Description
Technical Field
The invention relates to the technical field of new energy vehicles, in particular to a vehicle and a driving motor control method, a device, a controller and a storage medium thereof.
Background
When the new energy automobile and the hybrid electric automobile shift at the original place or lower speed, the torque of the motor is controlled to change, namely, the core electronic control unit (Vehicle control unit, VCU) receives a gear signal of the electronic shifter and then sends target torque, and then the motor controller controls the torque output of the driving motor.
However, when a driver shifts in situ or at a lower vehicle speed, the problem that the whole vehicle is blocked or knocked in abnormal sound in the shifting process can be caused due to the fact that the matching surface between gears matched with corresponding gear hardware between the motor output end and the speed reducer end is changed, and particularly, the problem is obvious when the vehicle shifts on a slope due to the fact that the gravity center of the vehicle is offset.
Therefore, how to control the torque of the driving motor during gear shifting, so as to improve the driving experience of the driver is a problem to be solved urgently.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a vehicle, a driving motor control method, a driving motor control device, a driving motor controller, and a storage medium thereof, so as to solve the problem of how to control the torque of the driving motor during gear shifting, thereby improving the driving experience of a driver.
In a first aspect, an embodiment of the present invention provides a driving motor control method of a vehicle, including:
monitoring the gear shifting operation of a corresponding gear shifting lever when a vehicle shifts, and determining a corresponding target pretightening force according to a target gear corresponding to the gear shifting operation when the gear shifting operation meets a preset gear shifting condition;
And controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force.
In a second aspect, an embodiment of the present invention provides a driving motor control device for a vehicle, including:
The pre-tightening force acquisition module is used for monitoring the gear shifting operation of a corresponding gear shifting lever when a vehicle shifts gears, and determining a corresponding target pre-tightening force according to a target gear corresponding to the gear shifting operation when the gear shifting operation meets a preset gear shifting condition;
And the driving torque control module is used for controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force.
In a third aspect, an embodiment of the present invention provides a driving motor controller, the driving motor controller including a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor implementing the driving motor control method according to the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the driving motor control method according to the first aspect.
In a fifth aspect, an embodiment of the present invention provides a vehicle including the drive motor control apparatus as described in the second aspect.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
The method comprises the steps of monitoring the gear shifting operation of a corresponding gear shifting lever when a vehicle shifts, and determining a corresponding target pretightening force according to a target gear corresponding to the gear shifting operation when the gear shifting operation meets a preset gear shifting condition; and controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force, and adjusting the torque reversing and the torque target value of the driving motor in advance by identifying the gear shifting intention of a driver in advance by utilizing the target pretightening force so as to realize the synchronization process of simulating the pretightening of the synchronizer ring, and reduce the mechanical impact on the matching surface of the torque gear output by the motor due to insufficient quick release braking and braking force under the condition of ramp, in-situ or low vehicle speed gear shifting.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, 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 flow chart of a driving motor control method of a vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a gear position according to a first embodiment of the present invention;
FIG. 3 is a schematic illustration of wheel end torque at a shift according to a first embodiment of the present invention;
Fig. 4 is a schematic diagram of a vehicle control flow after gear shifting according to the first embodiment of the present invention;
Fig. 5 is a block diagram of a driving motor control device for a vehicle according to a second embodiment of the present invention;
Fig. 6 is a schematic structural diagram of a driving motor controller according to a third embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the invention. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
It should be understood that the sequence numbers of the steps in the following embodiments do not mean the order of execution, and the execution order of the processes should be determined by the functions and the internal logic, and should not be construed as limiting the implementation process of the embodiments of the present invention.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Referring to fig. 1, a flow chart of a driving motor control method for a vehicle according to an embodiment of the invention is shown in fig. 1, where the driving motor control method may include the following steps:
Step S101, monitoring gear shifting operation of a corresponding gear shifting lever when a vehicle shifts, and when the gear shifting operation meets preset gear shifting conditions, confirming corresponding target pretightening force according to a target gear corresponding to the gear shifting operation.
The shift operation refers to a process of shifting the shift lever from the initial gear to the target gear. The target gear is the gear to which switching is desired. The pretightening force is the moment for attaching the motor gear and the reducer gear and is used for reducing the impact of the transmission gear.
According to the method, the gear shifting operation of the corresponding gear shifting lever during gear shifting of the vehicle is monitored in real time, whether the gear shifting operation meets preset gear shifting conditions is detected, when the gear shifting operation meets the preset gear shifting conditions, the target gear corresponding to the gear shifting operation is confirmed, so that corresponding target pretightening force is confirmed according to the target gear corresponding to the gear shifting operation, corresponding target pretightening force is obtained for different gear shifting operations, and control of the vehicle under different working conditions can be achieved.
Optionally, if the shift operation includes a shift angle or a duration under a preset shift angle, the shift operation satisfies a preset shift condition, including:
And when the gear shifting angle meets the gear shifting angle of the target gear or the duration under the preset gear shifting angle meets the preset first time threshold, determining that the gear shifting operation meets the preset gear shifting condition.
The shift angle is the angular position of the shift lever during the shift. The shift angle of the target gear refers to an angle of a preset gear position in the process of switching the initial gear to the target gear in a shift stroke, and is used for identifying the shift intention of a driver in advance. The duration at the preset shift angle refers to the total duration of the shift lever at the preset shift angle. Correspondingly, the preset first time length threshold value is a time length standard meeting the gear shifting condition, so in the invention, whether the gear shifting angle is equal to the gear shifting angle of the target gear is detected, if so, the target gear which the driver wants to switch can be confirmed, so that the gear shifting operation is confirmed to meet the preset gear shifting condition, or if the time length of the gear shifting lever under the preset gear shifting angle is equal to the preset first time length threshold value, the corresponding gear shifting operation is also indicated to meet the preset gear shifting condition.
In an implementation manner, referring to fig. 2, a schematic diagram of a gear position is shown in the first embodiment of the present invention, as shown in fig. 2, an N/D transition gear is preset between N gear and D gear, an N/R transition gear is preset between N gear and R gear, and for a gear shifting process from P gear to D gear, when a gear shifting angle of a gear shifting lever reaches the position of the N/D transition gear and a duration is 0.1S, it is confirmed that a gear shifting operation from P gear to D gear accords with a gear shifting condition; aiming at the gear shifting operation of switching the P gear to the R gear, when the gear shifting angle of the gear shifting lever reaches the position of the N/R transition gear and the duration time is 0.1S, confirming that the gear shifting operation of switching the P gear to the R gear accords with the gear shifting condition; aiming at the gear shifting process of switching the R gear to the D gear, when the gear shifting angle of the gear shifting lever reaches the position of the N/D transition gear and the duration time is 0.1S, confirming that the gear shifting operation of switching the R gear to the D gear accords with the gear shifting condition; aiming at the gear shifting process of switching the D gear to the R gear, when the gear shifting angle of the gear shifting lever reaches the position of the N/R transition gear and the duration time is 0.1S, confirming that the gear shifting operation of switching the D gear to the R gear accords with the gear shifting condition; for a shift process of shifting a steady state position of a vehicle to N gear, when the duration of the shift lever in the position of the N/D transition gear (or the position of the N/R transition gear) exceeds 3S, confirming that the shift operation of shifting the steady state position to N gear meets a shift condition, wherein the steady state position can comprise P gear, N gear and R gear.
Optionally, the generating the corresponding target pretightening force according to the target gear corresponding to the gear shifting operation includes:
detecting whether the initial gear of the gear shifting operation is a parking gear;
If the initial gear of the gear shifting operation is detected to be the parking gear, generating a first pretightening force according to the target gear of the parking gear switching in the gear shifting operation, and determining that the first pretightening force is the corresponding target pretightening force.
In the present invention, the initial gear refers to the current gear in which the shift lever is located. The parking gear is a P gear, so when the gear shifting operation meets the preset gear shifting condition, an initial gear of the gear shifting operation is detected, if the initial gear is detected to be the parking gear, a corresponding first pretightening force is generated according to a target gear switched by the parking gear in the gear shifting operation, and the first pretightening force is confirmed to be the target pretightening force required in the process of switching the parking gear to the target gear and is used for controlling gear shifting driving of the vehicle.
In an embodiment, assuming that the target gear is the D gear, for a gear shifting process from the P gear to the D gear, when the gear shifting operation meets a preset gear shifting condition, according to the target gear D gear, a first pretightening force of 1-10Nm may be generated as the target pretightening force, so as to control gear shifting driving of the vehicle from the P gear to the D gear.
In another embodiment, assuming that the target gear is the R gear, for a gear shifting process from the P gear to the R gear, when the gear shifting operation meets a preset gear shifting condition, according to the target gear R gear, a first pretightening force of 1-10Nm may be generated as the target pretightening force, so as to control gear shifting driving of the vehicle from the P gear to the R gear.
Optionally, the generating the corresponding target pretightening force according to the target gear corresponding to the gear shifting operation includes:
Detecting whether the gear shifting operation is changed from a forward gear to a reverse gear, unloading the torque of the driving motor if the gear shifting operation is detected to be changed from the forward gear to the reverse gear, generating a second pretightening force according to the reverse gear, and confirming that the second pretightening force is a corresponding target pretightening force; or alternatively
And detecting whether the gear shifting operation is changed from the reverse gear to the forward gear, unloading the torque of the driving motor if the gear shifting operation is detected to be changed from the reverse gear to the forward gear, generating a third pretightening force according to the forward gear, and confirming that the third pretightening force is a corresponding target pretightening force.
In the present invention, the reverse gear means R gear, the forward gear means D gear, and when a shift operation satisfies a preset shift condition, it is detected whether the shift operation is a forward gear shift to reverse gear, and if it is detected that the shift operation is a forward gear shift to reverse gear, it is indicated that the shift operation is to adjust the forward running state of the vehicle to the reverse (reverse) running state, and therefore, it is necessary to unload the torque of the driving motor in which the vehicle is in the forward gear. And after the torque of the driving motor is unloaded, generating a corresponding second pretightening force according to the reverse gear, and confirming the second pretightening force as a reverse target pretightening force required by the process of switching the forward gear to the reverse gear, wherein the reverse target pretightening force is used for finishing the torque reversing of the driving motor in advance.
Or, when the shift operation satisfies a preset shift condition, it is detected whether the shift operation is a reverse shift to a forward shift, and if it is detected that the shift operation is a reverse shift to a forward shift, it is indicated that the shift operation is to adjust a reverse (reverse) running state of the vehicle to a forward running state, and therefore, it is necessary to unload the torque of the drive motor in which the vehicle is in the reverse shift. And after the torque of the driving motor is unloaded, generating a corresponding third pretightening force according to the forward gear, and confirming the third pretightening force as a reverse target pretightening force required by the process of switching the reverse gear into the forward gear, wherein the reverse target pretightening force is used for finishing the torque reversing of the driving motor in advance.
In an embodiment, as shown in fig. 3, a schematic diagram of wheel end torque during gear shifting is shown, a circle on the left side in fig. 3 refers to wheel end torque corresponding to an N/R transition gear, a circle on the right side refers to wheel end torque corresponding to an N/D transition gear, and in the process of shifting from D gear to R gear in low-speed driving assuming that an initial gear is D gear and a target gear is R gear, when a corresponding gear shifting operation meets a preset gear shifting condition, positive torque of a driving motor under D gear is first unloaded, and after the positive torque is unloaded, a second pretightening force corresponding to 1-10Nm can be generated as a reverse target pretightening force according to the target gear R gear for completing torque reversing of the driving motor in advance.
Similarly, assuming that the initial gear is the R gear and the target gear is the D gear, in the process of shifting from the R gear to the D gear in low-speed driving, when the corresponding shifting operation meets the preset shifting condition, firstly unloading the negative torque of the driving motor under the R gear, and after the negative torque is unloaded, generating a third pretightening force corresponding to 1-10Nm as a reverse target pretightening force according to the D gear for completing the torque reversing of the driving motor in advance.
Optionally, the generating the corresponding target pretightening force according to the target gear corresponding to the gear shifting operation includes:
Detecting whether a target gear corresponding to the gear shifting operation is a neutral gear or not;
If the target gear corresponding to the gear shifting operation is detected to be a neutral gear, generating a fourth pretightening force according to the neutral gear, and determining that the fourth pretightening force is the corresponding target pretightening force.
According to the invention, the neutral gear refers to N gear, and when the target gear of the gear shifting operation is detected to be the neutral gear under the condition that the gear shifting operation meets the preset gear shifting condition, the corresponding fourth pretightening force is generated according to the neutral gear to serve as the target pretightening force for controlling the driving motor of the vehicle.
Step S102, controlling a driving motor of the vehicle to output corresponding driving torque according to the target pretightening force.
The driving torque refers to the torque output by the driving motor, and when the driving motor rotates, the torque applied by the driving motor can generate mechanical rotation. Therefore, in the invention, the driving motor of the vehicle is controlled to output the driving torque with the same magnitude as the target pretightening force according to the target pretightening force, so that the impact, the bump and the knocking abnormal sound of the whole vehicle caused in the direct torque unloading reversing and reloading process can be effectively improved, and the driving experience of working conditions such as ramp gear shifting, reversing and warehousing, level ground gear shifting and the like can be effectively improved.
Optionally, the controlling the driving motor of the vehicle to output the corresponding driving torque according to the target pretightening force includes:
and controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force until the gear level is switched to the target gear.
According to the invention, when the gear shifting angle of the gear shifting lever meets the gear shifting angle of the gear shifting lever to the target gear or the duration of the preset gear shifting angle is met, the gear to which the gear shifting lever is finally switched, namely the target gear can be identified in advance, so that when the target gear is identified, the driving motor of the vehicle is controlled to output corresponding driving torque according to the target pretightening force until the gear shifting lever is switched to the target gear.
Optionally, when the target gear of the gear shifting operation is detected to be neutral, the controlling the driving motor of the vehicle to output the corresponding driving torque according to the target pretightening force includes:
And acquiring the driving duration of the driving torque, and unloading the torque of the driving motor when the driving duration meets a preset threshold of the driving duration.
In the invention, when the target gear is determined to be neutral, the driving duration of the driving torque output by the driving motor of the vehicle is detected under the neutral according to the target pretightening force, the driving duration is compared with the preset driving duration threshold, and when the driving duration is equal to the preset driving duration threshold, the torque of the driving motor is unloaded, so that when the driving duration is equal to the preset driving duration threshold, the target gear is neutral, and no torque is loaded during neutral.
According to the embodiment of the invention, through monitoring the gear shifting operation of the corresponding gear shifting lever when the vehicle shifts, when the gear shifting operation meets the preset gear shifting condition, the corresponding target pretightening force is generated according to the target gear corresponding to the gear shifting operation; and controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force until the gear level is switched to the target gear, and adjusting the torque reversing and the torque target value of the driving motor in advance by utilizing the target pretightening force by identifying the gear shifting intention of a driver in advance so as to realize the synchronization process of simulating the pretightening synchronous ring of the synchronizer and reduce the mechanical impact of the matching surface of the torque gear output by the motor due to insufficient quick release braking and braking force under the condition of ramp, in-situ or low vehicle speed gear shifting.
Referring to fig. 4, a schematic diagram of a vehicle control flow after gear shifting according to a first embodiment of the present invention is shown in fig. 4, and after the gear shift lever is shifted to the target gear, the vehicle control flow includes:
Step S401, when the time length of the shift lever switched to the target gear meets a preset second time length threshold value, acquiring a state parameter and a control parameter of the vehicle;
And step S402, obtaining a target output torque of a driving motor of the vehicle according to the state parameter and the control parameter, and controlling the vehicle by using the target output torque.
For step S401 and step S402, in the present invention, the state parameter includes a vehicle speed, and the control parameter includes an accelerator opening degree and a brake depth. The preset second duration threshold is not limited, and optionally, the second duration threshold is set to 0.5S. Therefore, after the gear level is shifted to the target gear level, the time length of the gear level in the target gear level is detected, and when the time length reaches a preset second time length threshold value, the driving motor of the vehicle is required to be controlled to output torque so as to maintain the normal working condition after gear shifting. Specifically, the state parameters and the control parameters of the vehicle are obtained, the target output torque of the driving motor of the vehicle is obtained by using the state parameters and the control parameters, and the vehicle is controlled by using the target output torque, so that the torque transition loading time of the motor torque zero crossing moment in the gear shifting process is reduced, and meanwhile, the subjective problem of smoothness caused by a hardware structure is avoided.
In one embodiment, for a gear shifting operation in which an initial gear is a P gear, a target output torque required for starting the vehicle is calculated according to an accelerator opening and a brake depth, so that a driving motor of the vehicle is controlled to complete driving motor synchronization when a time period for shifting a gear shift lever to a target gear is 0.5S.
Aiming at the gear shifting operation of shifting a forward gear into a reverse gear or shifting a reverse gear into a forward gear, a driving motor of the vehicle is controlled to directly output corresponding target output torque according to an accelerator characteristic curve according to the vehicle speed, the accelerator opening and the braking depth, and the engagement of a motor gear matching surface is completed in a transitional mode.
When the vehicle is not shifted, the smooth transition can be realized by reducing the zero crossing time of the torque when the vehicle is accelerating or decelerating during running.
Fig. 5 shows a block diagram of a driving motor control apparatus for a vehicle according to a second embodiment of the present invention, which corresponds to the driving motor control method of the above embodiment, and only the portions related to the embodiment of the present invention are shown for convenience of explanation. Referring to fig. 5, the driving motor control apparatus includes:
The pretightening force obtaining module 51 is configured to monitor a shift operation of a corresponding shift lever when a vehicle shifts, and determine a corresponding target pretightening force according to a target gear corresponding to the shift operation when the shift operation meets a preset shift condition;
And the driving torque control module 52 is used for controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force.
Optionally, if the shift operation includes a shift angle or a duration under a preset shift angle, the pretightening force obtaining module 51 includes:
And the gear shifting angle detection unit is used for determining that the gear shifting operation meets the preset gear shifting condition when the gear shifting angle meets the gear shifting angle of the target gear or the duration under the preset gear shifting angle meets the preset first time threshold.
Optionally, the pretension obtaining module 51 includes:
A first detection unit for detecting whether the initial gear of the gear shifting operation is a parking gear;
The first generating unit is used for generating a first pretightening force according to a target gear switched by the parking gear in the gear shifting operation if the initial gear of the gear shifting operation is detected to be the parking gear, and determining that the first pretightening force is the corresponding target pretightening force.
Optionally, the pretension obtaining module 51 includes:
the force confirming unit is used for detecting whether the gear shifting operation is to be switched from a forward gear to a reverse gear, unloading the torque of the driving motor if the gear shifting operation is detected to be switched from the forward gear to the reverse gear, generating a second pretightening force according to the reverse gear, and confirming that the second pretightening force is a corresponding target pretightening force; or alternatively
And the force confirmation two units are used for detecting whether the gear shifting operation is changed from the reverse gear to the forward gear, unloading the torque of the driving motor if the gear shifting operation is detected to be changed from the reverse gear to the forward gear, generating a third pretightening force according to the forward gear, and confirming that the third pretightening force is a corresponding target pretightening force.
Optionally, the pretension obtaining module 51 includes:
the second detection unit is used for detecting whether the target gear corresponding to the gear shifting operation is a neutral gear or not;
And the second generating unit is used for generating a fourth pretightening force according to the neutral gear if the target gear corresponding to the gear shifting operation is detected to be the neutral gear, and determining the fourth pretightening force to be the corresponding target pretightening force.
Optionally, the driving torque control module 52 includes:
and the torque unloading unit is used for acquiring the driving duration of the driving torque, and unloading the torque of the driving motor when the driving duration meets a preset driving duration threshold.
Optionally, the driving torque control module 52 includes:
and the gear detection unit is used for controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force until the gear level is switched to the target gear.
Optionally, the driving torque control module 52 includes:
a parameter obtaining unit, configured to obtain a state parameter and a control parameter of the vehicle when a duration of the shift lever switched to the target gear meets a preset second duration threshold after the shift lever is switched to the target gear;
And the torque output unit is used for acquiring the target output torque of the driving motor of the vehicle according to the state parameter and the control parameter and controlling the vehicle by utilizing the target output torque.
Fig. 6 is a schematic structural diagram of a driving motor controller according to a third embodiment of the present invention. As shown in fig. 6, the driving motor controller of this embodiment includes: at least one processor (only one shown in fig. 6), a memory, and a computer program stored in the memory and executable on the at least one processor, the processor executing the computer program to perform the steps of any of the various drive motor control method embodiments described above.
The drive motor controller may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that fig. 6 is merely an example of a drive motor controller and is not limiting of the drive motor controller, and that the drive motor controller may include more or fewer components than shown, or may combine certain components, or different components, such as may also include a network interface, a display screen, an input device, and the like.
The Processor may be a CPU, but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory includes a readable storage medium, an internal memory, etc., where the internal memory may be a memory of the drive motor controller, the internal memory providing an environment for the execution of an operating system and computer readable instructions in the readable storage medium. The readable storage medium may be a hard disk of the drive motor controller, and in other embodiments may be an external storage device of the drive motor controller, for example, a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. provided on the drive motor controller. Further, the memory may also include both an internal memory unit of the drive motor controller and an external memory device. The memory is used to store an operating system, application programs, boot loader (BootLoader), data, and other programs such as program codes of computer programs, and the like. The memory may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working process of the units and modules in the above device may refer to the corresponding process in the foregoing method embodiment, which is not described herein again. The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above-described embodiment, and may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of the method embodiment described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The present invention may also be implemented as a computer program product for implementing all or part of the steps of the method embodiments described above, when the computer program product is run on a drive motor controller, causing the drive motor controller to execute the steps of the method embodiments described above.
An embodiment four of the present invention provides a vehicle, which includes the driving motor control device of the above embodiment two. The driving motor control device includes: the pre-tightening force acquisition module is used for monitoring the gear shifting operation of a corresponding gear shifting lever when a vehicle shifts gears, and determining a corresponding target pre-tightening force according to a target gear corresponding to the gear shifting operation when the gear shifting operation meets a preset gear shifting condition; and the driving torque control module is used for controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force. Those skilled in the art will appreciate that the vehicle may include other components when embodied.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided herein, it should be understood that the disclosed apparatus/drive motor controller and method may be implemented in other ways. For example, the above-described apparatus/drive motor controller embodiments are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (12)
1. A drive motor control method of a vehicle, characterized by comprising:
monitoring the gear shifting operation of a corresponding gear shifting lever when a vehicle shifts, and determining a corresponding target pretightening force according to a target gear corresponding to the gear shifting operation when the gear shifting operation meets a preset gear shifting condition;
And controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force.
2. The drive motor control method according to claim 1, wherein if the shift operation includes a shift angle or a duration under a preset shift angle, the shift operation satisfies a preset shift condition, comprising:
And when the gear shifting angle meets the gear shifting angle of the target gear or the duration under the preset gear shifting angle meets the preset first time threshold, determining that the gear shifting operation meets the preset gear shifting condition.
3. The drive motor control method according to claim 1 or 2, wherein the determining the corresponding target pretightening force according to the target gear corresponding to the shift operation includes:
detecting whether the initial gear of the gear shifting operation is a parking gear;
If the initial gear of the gear shifting operation is detected to be the parking gear, generating a first pretightening force according to the target gear of the parking gear switching in the gear shifting operation, and determining that the first pretightening force is the corresponding target pretightening force.
4. The drive motor control method according to claim 1 or 2, characterized in that the confirmation of the corresponding target pretightening force according to the target gear corresponding to the shift operation includes:
Detecting whether the gear shifting operation is changed from a forward gear to a reverse gear, unloading the torque of the driving motor if the gear shifting operation is detected to be changed from the forward gear to the reverse gear, generating a second pretightening force according to the reverse gear, and confirming that the second pretightening force is a corresponding target pretightening force; or alternatively
And detecting whether the gear shifting operation is changed from the reverse gear to the forward gear, unloading the torque of the driving motor if the gear shifting operation is detected to be changed from the reverse gear to the forward gear, generating a third pretightening force according to the forward gear, and confirming that the third pretightening force is a corresponding target pretightening force.
5. The drive motor control method according to claim 1 or 2, wherein the determining the corresponding target pretightening force according to the target gear corresponding to the shift operation includes:
Detecting whether a target gear corresponding to the gear shifting operation is a neutral gear or not;
If the target gear corresponding to the gear shifting operation is detected to be a neutral gear, generating a fourth pretightening force according to the neutral gear, and determining that the fourth pretightening force is the corresponding target pretightening force.
6. The drive motor control method according to claim 5, wherein the controlling the drive motor of the vehicle to output the corresponding drive torque according to the target preload force includes:
And acquiring the driving duration of the driving torque, and unloading the torque of the driving motor when the driving duration meets a preset threshold of the driving duration.
7. The drive motor control method according to claim 1, wherein the controlling the drive motor of the vehicle to output the corresponding drive torque according to the target pretension includes:
and controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force until the gear level is switched to the target gear.
8. The drive motor control method according to claim 7, characterized by comprising, after the shift lever is shifted to the target gear position:
acquiring state parameters and control parameters of the vehicle when the time length for switching the shift lever to the target gear meets a preset second time length threshold;
And acquiring a target output torque of a driving motor of the vehicle according to the state parameter and the control parameter, and controlling the vehicle by using the target output torque.
9. A drive motor control apparatus of a vehicle, characterized by comprising:
The pre-tightening force acquisition module is used for monitoring the gear shifting operation of a corresponding gear shifting lever when a vehicle shifts gears, and determining a corresponding target pre-tightening force according to a target gear corresponding to the gear shifting operation when the gear shifting operation meets a preset gear shifting condition;
And the driving torque control module is used for controlling the driving motor of the vehicle to output corresponding driving torque according to the target pretightening force.
10. A drive motor controller comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the drive motor control method according to any one of claims 1 to 8 when executing the computer program.
11. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the drive motor control method according to any one of claims 1 to 8.
12. A vehicle, characterized in that the vehicle includes the drive motor control apparatus according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311128828.0A CN118386861A (en) | 2023-08-31 | 2023-08-31 | Vehicle and driving motor control method, device, controller and storage medium thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311128828.0A CN118386861A (en) | 2023-08-31 | 2023-08-31 | Vehicle and driving motor control method, device, controller and storage medium thereof |
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| Publication Number | Publication Date |
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| CN118386861A true CN118386861A (en) | 2024-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311128828.0A Pending CN118386861A (en) | 2023-08-31 | 2023-08-31 | Vehicle and driving motor control method, device, controller and storage medium thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118386861A (en) |
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2023
- 2023-08-31 CN CN202311128828.0A patent/CN118386861A/en active Pending
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