KR20220001916A - Apparatus and method for controlling torque of vehicle - Google Patents

Abstract

The present invention relates to a vehicle torque control apparatus and a method. The vehicle torque control apparatus according to the present invention comprises: an APS setting unit which defines a variable for adjusting a set ratio according to a degree of inclination and tunes an APS sensitivity based on the set ratio of the variable; and a torque control unit which determines a required torque corresponding to an input APS based on the tuned APS sensitivity and outputs motor torque according to the required torque. The vehicle torque control apparatus reflects inclination condition when determining the required torque to improve vehicle control performance.

Description

Apparatus and method for torque control of a vehicle

The present invention relates to a torque control apparatus and method for a vehicle.

The required torque of the electric vehicle is determined by distributing the value between the maximum motor torque and the Costrigen torque according to the APS value.

However, the torque value distributed according to the conventional APS value is a fixed value and does not reflect the gradient situation. Therefore, since the change of the main driving point according to the gradient of the conventional electric vehicle is not reflected, there is an inconvenience in vehicle control.

In addition, the torque value distributed according to the conventional APS value does not reflect the output limit of the battery or the motor. In this case, as an invalid stroke occurs at an APS above a certain level, the driver's driving satisfaction decreases, and even if the amount of APS Depth is reduced, the vehicle is pushed back and adversely affects drivability.

An object of the present invention is to provide an apparatus and method for controlling a torque of a vehicle so that control performance of a vehicle is improved by reflecting a gradient situation in determining a torque required according to APS.

In addition, another object of the present invention is to tune the APS sensitivity according to the output of the battery/motor and the driving situation, and determine the required torque based on the tuned APS sensitivity to minimize the invalid stroke, thereby improving the control performance of the vehicle and the driving of the driver. An object of the present invention is to provide an apparatus and method for controlling a torque of a vehicle to improve satisfaction.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, an apparatus for controlling a torque of a vehicle according to an embodiment of the present invention defines a variable for adjusting a setting ratio according to a degree of gradient, and APS for tuning APS sensitivity based on the setting ratio of the variable and a setting unit, and a torque control unit that determines a required torque corresponding to the input APS based on the tuned APS sensitivity, and outputs a motor torque according to the requested torque.

In addition, the torque control apparatus for a vehicle according to an embodiment of the present invention further comprises a gradient determining unit for determining a gradient situation of a grade or steel plate, and determining a grade of a grade of the grade or steel plate when determining the gradient.

The variable is, if the degree of gradient is 0%, the set ratio is adjusted to 1, and the set ratio decreases as the degree of gradient at the time of climbing becomes greater than 0% or the degree of gradient at the time of steel sheet becomes smaller than 0% characterized.

The APS setting unit is characterized in that it determines the motor torque for each APS sensitivity by applying the setting ratio of the variable and the proportional ratio for each APS sensitivity to the costregen torque and the maximum motor torque.

The APS setting unit determines the APS 0% sensitivity and the APS 100% sensitivity as the costregen torque and the maximum motor torque, respectively, at the time of climbing, and the setting ratio of the variable to the value between the maximum motor torque and the costregen torque and the APS It is characterized in that the motor torque for each APS sensitivity is determined by applying an increase ratio proportional to each sensitivity.

The APS setting unit determines the APS 0% sensitivity and the APS 100% sensitivity as the costregen torque and the maximum motor torque, respectively, at the time of the steel plate, and the setting ratio of the variable to the value between the maximum motor torque and the costregen torque and the APS It is characterized in that the motor torque for each APS sensitivity is determined by applying a reduction ratio that is inversely proportional to the sensitivity.

The APS setting unit is characterized in that it adjusts the motor torque for each preset APS sensitivity according to a change in driving condition and battery output.

The APS setting unit sets an APS sensitivity with a high input frequency as a reference APS according to a driving situation, and fixes a motor torque up to the reference APS among preset motor torques for each APS sensitivity.

The APS setting unit variably sets the motor torque corresponding to the APS 100% sensitivity according to the battery output change, and applies a proportional ratio for each APS sensitivity to the variably set motor torque of the APS 100% sensitivity to apply the reference APS and APS 100% It is characterized by adjusting the motor torque between the sensitivity.

In addition, the torque control method of a vehicle according to an embodiment of the present invention for achieving the above object includes the steps of defining a variable for adjusting a setting ratio according to the degree of inclination, and APS sensitivity based on the setting ratio of the variable Tuning, and determining a required torque corresponding to the input APS based on the tuned APS sensitivity, and outputting a motor torque according to the requested torque.

According to the present invention, there is an effect of improving the control performance of the vehicle by reflecting the gradient situation in determining the required torque according to the APS.

In addition, according to the present invention, by tuning the APS sensitivity according to the output of the battery/motor and the driving situation, and determining the required torque based on the tuned APS sensitivity, the invalid stroke is minimized to improve the control performance of the vehicle and the driving satisfaction of the driver. There is an effect that can be improved.

1 is a diagram illustrating a configuration of a torque control apparatus for a vehicle according to an embodiment of the present invention.
2 to 6 are diagrams illustrating an embodiment referenced to explain the operation of the torque control apparatus for a vehicle according to an embodiment of the present invention.
7 to 9 are diagrams illustrating an operation flow of a method for controlling a torque of a vehicle according to an embodiment of the present invention.
10 is a diagram illustrating a computing system in which a method according to an embodiment of the present invention is executed.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

1 is a diagram illustrating a configuration of a torque control apparatus for a vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , the apparatus for controlling the torque of a vehicle may include a gradient determining unit 110 , an APS setting unit 120 , and a torque control unit 130 .

Operations of the gradient determining unit 110 , the APS setting unit 120 , and the torque control unit 130 will be described in detail with reference to FIG. 2 .

First, as in operation 210 , the gradient determiner 110 determines whether or not there is a gradient, and in the case of a gradient situation, determines the gradient degree, that is, gradient %. At this time, the gradient determiner 110 may determine whether the grade or steel plate. The gradient determining unit 110 transmits the gradient determination information and information on the determined gradient % to the APS setting unit 120 .

Accordingly, the APS setting unit 120 may define a variable for adjusting the setting ratio according to the gradient % as in operation 220 , and determine the distribution of the APS sensitivity based on this.

First, the APS setting unit 120 may define a defined variable corresponding to the gradient %. Here, the variable may be defined as a preset ratio corresponding to the gradient % among preset ratios for each gradient %. In this case, the APS setting unit 120 may determine a setting ratio corresponding to the current gradient % with respect to a predefined variable as a variable value. For the set ratio for each gradient %, refer to the embodiment of FIG. 3 .

Referring to FIG. 3 , in the gradient 0%, the set ratio may be defined as 1. In this case, since the setting ratio is 1, it is possible not to be affected by the gradient when distributing the motor torque for each APS sensitivity.

The setting ratio may be defined as 0.9 at 10% of the gradient when climbing or -10% of the gradient in the case of a steel plate. In addition, the setting ratio may be defined as 0.8 at the gradient of 20% during the climbing or -20% of the gradient at the time of the steel plate. Of course, the set ratio defined in FIG. 3 is only an example and is not limited thereto, and may be defined differently.

The APS setting unit 120 determines whether the slope % determined by the slope determination unit 110 is less than a preset reference value, and determines torque distribution according to the APS sensitivity according to the determination result.

Here, when the gradient % is less than a preset reference value, the APS setting unit 120 determines the torque distribution according to the general APS sensitivity that does not reflect the gradient situation. For example, if the slope % is '-N% (steel plate) < gradient % < N% (slope)', the APS setting unit 120 recognizes it as flat driving and determines the torque distribution according to the general APS sensitivity.

Meanwhile, if the gradient % is equal to or greater than a preset reference value, the APS setting unit 120 tunes the APS sensitivity according to the gradient % to adjust the torque distribution according to the APS sensitivity. As an example, if the slope % is '-N% (steel plate) >= gradient % or gradient % >= N% (slope)', the APS setting unit 120 recognizes it as a steel plate or slope driving and sets the APS sensitivity according to the slope % tune in

At this time, the APS setting unit 120 calculates the motor torque for each APS sensitivity by applying the set ratio of the variables defined above and the proportional ratio for each APS sensitivity to the costregen torque and the maximum motor torque, and the APS sensitivity according to the calculated motor torque It can distribute star motor torque.

Here, the APS setting unit 120 may calculate a motor torque for each APS sensitivity at the time of climbing and a motor torque for each APS sensitivity at the time of a steel plate, respectively.

As an example, the APS setting unit 120 may define the torque with the APS 0% sensitivity during climbing as the costregen torque Tcost_regen and the APS 100% sensitivity torque as the maximum motor torque Tmot_max. In addition, the APS setting unit 120 calculates a torque value between the costregen torque Tcost_regen and the maximum motor torque Tmot_max according to the following equation, and distributes the motor torque of APS 10% to APS 90% sensitivity during climbing.

<Equation 1>

APS M% Torque = (Tmot_max - Tcost_regen) * (M * Kp) + Tcost_regen

In <Equation 1>, Tmot_max is the maximum motor torque, Tcost_regen is the costregen torque, and Kp is a variable in which the setting ratio according to the gradient % is defined.

Accordingly, the motor torque for each APS sensitivity during climbing can be expressed as in [Table 1] below.

On the other hand, the APS setting unit 120 may define the torque of the APS 0% sensitivity at the time of the steel plate as costregen torque Tcost_regen, and define the torque of the APS 100% sensitivity as the maximum motor torque Tmot_max.

In addition, the APS setting unit 120 may calculate and distribute a torque value between the costregen torque Tcost_regen and the maximum motor torque Tmot_max of the APS 10% to APS 90% torque at the time of the steel plate according to the following equation.

<Equation 2>

APS M% Torque = Tmot_max - (Tmot_max - Tcost_regen) * ((100 - M) * Kp)

In <Equation 2>, Tmot_max is the maximum motor torque, Tcost_regen is the costregen torque, and Kp is a variable in which the setting ratio according to the gradient % is defined.

Accordingly, the motor torque for each APS sensitivity at the time of the steel plate can be expressed as in [Table 2] below.

An embodiment of the tuning strategy for each APS sensitivity according to the gradient % at the time of climbing and at the time of the steel plate is to refer to FIG. 4 .

As shown in FIG. 4 , it can be confirmed that the APS at the time of climbing is concentrated on positive (+) torque, and the APS during the steel plate is concentrated on negative (+) torque.

When the motor torque for each APS sensitivity is determined in the gradient situation as above, the torque controller 130 determines the required torque corresponding to the driver's input APS in operation 240 and outputs the determined required torque to the motor.

For example, when the input APS is 60% during climbing, the torque controller 130 may determine the required torque based on the torque corresponding to the APS of 60% in [Table 1], and output the determined required torque to the motor. . In addition, when the input APS of the steel sheet is 30%, the torque controller 130 may determine the required torque based on the torque corresponding to the APS of 30% in [Table 2], and output the determined required torque to the motor.

On the other hand, the available motor torque may be limited when the battery output decreases. Accordingly, the APS setting unit 120 basically performs tuning for each APS sensitivity according to the gradient %, but may additionally perform tuning for each APS sensitivity according to the battery output and driving conditions.

An embodiment of a change in the available motor torque according to the battery output will be referred to FIG. 5 .

5 is a graph showing a change in available motor torque according to a change in battery output. When the battery output is a maximum value, the available motor torque also becomes a maximum value, but it can be confirmed that the available motor torque decreases as the battery output decreases.

If the motor torque with 100% APS sensitivity is set as the maximum motor torque, if the battery output is limited, even if the input APS is 100%, the maximum motor torque cannot be output, and an invalid stroke may occur.

In order to prevent the invalid stroke from occurring in this way, the APS setting unit 120 does not set the APS 100% sensitivity motor torque to the maximum motor torque when the battery output or motor output is limited, but sets variable according to the battery output do.

However, in order to ensure the same driving feeling for the driver, the APS setting unit 120 may set the APS sensitivity mainly used during general driving, that is, the torque of the APS sensitivity with high input frequency, to be fixed without changing. In this case, assuming that the sensitivity of the APS having a high input frequency during driving is X%, this may be set as the reference APS.

As an example, the reference APS may be set to APS 60% sensitivity. In this case, the APS setting unit 120 may fix a motor torque of 0% to 60% of the previously set motor torques for each APS sensitivity.

Meanwhile, the APS setting unit 120 may adjust the motor torque between X% (eg, 60%) and 100%, which is the reference APS, based on the variably set APS 100% sensitivity motor torque.

For an embodiment of the APS tuning strategy according to the battery output, refer to FIG. 6 .

As shown in FIG. 6 , in the prior art, as the motor torque of 100% APS sensitivity is fixed as the maximum motor torque, the motor torque is limited when the battery output is reduced, so that an invalid stroke may occur, but the present invention provides a motor with 100% APS sensitivity By adjusting the torque according to the battery output, the invalid stroke is minimized, but the same driving feeling can be provided by fixing the motor torque of the APS sensitivity with high input frequency.

As used herein, the gradient determining unit 110, APS setting unit 120 and/or torque control unit 130 is a unit that processes at least one function or operation, for example, software, FPGA, or hardware components. can mean The functions provided by the gradient determining unit 110 , the APS setting unit 120 , and/or the torque control unit 130 may be performed separately by a plurality of components, or may be integrated with other additional components. The gradient determining unit 110 , the APS setting unit 120 and/or the torque control unit 130 of the present specification is not necessarily limited to software or hardware, and may be configured to be in an addressable storage medium, one or more It may be configured to regenerate the above processors.

An operation flow of the torque control apparatus for a vehicle according to the present invention configured as described above will be described in more detail as follows.

7 to 9 are diagrams illustrating an operation flow of a method for controlling a torque of a vehicle according to an embodiment of the present invention.

Referring to FIG. 7 , the torque control device first determines the gradient ( S110 ) and determines the degree of gradient (gradient %) ( S120 ). In this process, the torque control device may determine whether it is a graded plate or a steel plate.

If the gradient % determined in the 'S120' process is less than the reference value, that is, if it falls within the range of -N% < gradient % < N% (S130), it determines that it is normal flat driving and sets the general APS sensitivity ( S140). In this case, it is possible to distribute the motor torque for each APS sensitivity according to a general standard.

On the other hand, if the gradient % determined in the 'S120' process is greater than or equal to the reference value, that is, if it does not fall within the range of -N% < gradient % < N% (S130), it is determined that it is climbing or steel plate driving, and the gradient % is Based on the APS sensitivity is tuned (S150).

Here, the detailed operation flow of the process 'S150' will be referred to FIG. 8 .

Referring to FIG. 8 , when the torque control apparatus performs the process 'S150', first, a variable according to the gradient % is defined (S210). Here, the defined variable may be defined as a set ratio corresponding to the gradient %.

Thereafter, the torque control device calculates the motor torque for each APS sensitivity using the set ratio of the variable defined in the process 'S210' (S220). In this case, APS 0% torque is determined as Costrigen torque and APS 100% torque is determined as maximum motor torque, and the sensitivity between APS 0% and 100% can be calculated by reflecting Costregen torque, maximum motor torque and setting ratio. have.

When the tuning for each APS sensitivity is completed, the torque control device determines the required torque corresponding to the input APS input from the driver (S160), and outputs the motor torque based on the required torque determined in the process 'S160' (S170). The motor torque output in the ‘S170’ process reflects the gradient %.

Meanwhile, if the battery output decreases while performing the processes of FIGS. 7 and 8 , the torque control apparatus may additionally perform the processes of FIG. 9 .

Referring to FIG. 9 , the torque control device determines the reference APS according to the driving situation ( S310 ). In the process of ‘S310’, the torque control device may set the APS sensitivity X%, which has a high input frequency during normal driving, as the reference APS.

In addition, the torque control device measures the battery output (S320), and variably sets the motor torque of 100% APS sensitivity based on the battery output measured in the process 'S320' (S330).

Accordingly, the torque control device fixes the motor torque up to the reference APS determined in the 'S310' process, and the motor torque between the reference APS and APS 100% is variable based on the APS 100% sensitivity motor torque set in the 'S330' process. It can be adjusted (S340).

Thereafter, the torque control device determines the required torque corresponding to the APS input from the driver (S160), and outputs the motor torque based on the required torque determined in the process 'S160' (S170). The motor torque output in the ‘S170’ process reflects changes in battery output.

10 is a diagram illustrating a computing system in which a method according to an embodiment of the present invention is executed.

Referring to FIG. 10 , the computing system 1000 includes at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , and storage connected through a bus 1200 . 1600 , and a network interface 1700 .

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or the storage 1600 . The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by the processor 1100 , or a combination of the two. A software module resides in a storage medium (ie, memory 1300 and/or storage 1600 ) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM. You may. An exemplary storage medium is coupled to the processor 1100 , the processor 1100 capable of reading information from, and writing information to, the storage medium. Alternatively, the storage medium may be integrated with the processor 1100 . The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

110: gradient determining unit
120: APS setting unit
130: torque control unit

Claims (15)

APS setting unit defining a variable for adjusting the setting ratio according to the degree of gradient, and tuning the APS sensitivity based on the setting ratio of the variable; and
A torque control unit that determines a required torque corresponding to the input APS based on the tuned APS sensitivity and outputs a motor torque according to the requested torque
A torque control device for a vehicle comprising a.
The method according to claim 1,
The torque control device for a vehicle, characterized in that it further comprises a gradient determining unit for determining the gradient of the grade or steel plate, and determining the gradient of the grade or the steel plate when the gradient is determined.
The method according to claim 1,
The variable is
When the gradient degree is 0%, the set ratio is adjusted to 1, and the set ratio decreases as the gradient degree at the time of climbing becomes greater than 0% or the gradient degree at the time of the steel plate becomes smaller than 0% of torque control device.
The method according to claim 1,
The APS setting unit,
The torque control device for a vehicle, characterized in that the motor torque for each APS sensitivity is determined by applying the set ratio of the variable and the proportional ratio for each APS sensitivity to the costregen torque and the maximum motor torque.
5. The method according to claim 4,
The APS setting unit,
At the time of climbing, APS 0% sensitivity and APS 100% sensitivity are respectively determined as Costrigen torque and maximum motor torque, and the value between the maximum motor torque and the Costrigen torque increases proportional to the setting ratio of the variable and APS sensitivity A torque control apparatus for a vehicle, characterized in that the ratio is applied to determine the motor torque for each APS sensitivity.
5. The method according to claim 4,
The APS setting unit,
At the time of steel plate, APS 0% sensitivity and APS 100% sensitivity are determined as costregen torque and maximum motor torque, respectively, and the set ratio of the variable to the value between the maximum motor torque and the costrigen torque and decrease inversely proportional to the APS sensitivity A torque control apparatus for a vehicle, characterized in that the ratio is applied to determine the motor torque for each APS sensitivity.
The method according to claim 1,
The APS setting unit,
A torque control device for a vehicle, characterized in that it adjusts a motor torque for each preset APS sensitivity according to a driving situation and a change in battery output.
8. The method of claim 7,
The APS setting unit,
A torque control device for a vehicle, characterized in that an APS sensitivity having a high input frequency is set as a reference APS according to a driving situation, and a motor torque up to the reference APS among preset motor torques for each APS sensitivity is fixed.
9. The method of claim 8,
The APS setting unit,
The motor torque corresponding to the 100% sensitivity of APS is variably set according to the battery output change, and the proportional ratio for each APS sensitivity is applied to the variably set motor torque of the APS 100% sensitivity, and the motor torque between the reference APS and the APS 100% sensitivity A torque control device for a vehicle, characterized in that for adjusting the
defining a variable for adjusting the set ratio according to the degree of gradient;
tuning the APS sensitivity based on the set ratio of the variable; and
determining a required torque corresponding to the input APS based on the tuned APS sensitivity, and outputting a motor torque according to the requested torque
Torque control method of a vehicle comprising a.
11. The method of claim 10,
determining the gradient status of the grade or steel plate; and
The torque control method of the vehicle, characterized in that it further comprises the step of determining the grade of the grade or the grade of the steel plate when the grade is determined.
11. The method of claim 10,
The variable is
When the gradient degree is 0%, the set ratio is adjusted to 1, and the set ratio decreases as the gradient degree at the time of climbing becomes greater than 0% or the gradient degree at the time of the steel plate becomes smaller than 0% of torque control method.
11. The method of claim 10,
The step of tuning the APS sensitivity comprises:
and determining the motor torque for each APS sensitivity by applying the set ratio of the variable and the proportional ratio for each APS sensitivity to the costregen torque and the maximum motor torque.
11. The method of claim 10,
The method of controlling the torque of a vehicle, characterized in that it further comprises the step of adjusting the motor torque for each preset APS sensitivity according to a driving situation and a change in battery output.
15. The method of claim 14,
The step of adjusting the motor torque for each APS sensitivity comprises:
setting an APS sensitivity with a high input frequency as a reference APS according to a driving situation;
fixing a motor torque up to the reference APS among preset motor torques for each APS sensitivity;
Variably setting a motor torque corresponding to 100% APS sensitivity according to a change in battery output; and
and adjusting the motor torque between the reference APS and APS 100% sensitivity by applying a proportional ratio for each APS sensitivity to the variably set APS 100% sensitivity motor torque.

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