WO2019126966A1

WO2019126966A1 - Motor vehicle and method for controlling torque thereof

Info

Publication number: WO2019126966A1
Application number: PCT/CN2017/118412
Authority: WO
Inventors: 李玥
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-12-25
Filing date: 2017-12-25
Publication date: 2019-07-04
Also published as: CN109414993A; CN109414993B

Abstract

A motor vehicle and a method for controlling the torque thereof. The method for controlling the torque of the motor vehicle comprises: S101: obtaining speed information, throttle state information, and brake state information of the motor vehicle; S102: determining working condition information that corresponds to the motor vehicle according to the speed information, the throttle state information, and the brake state information; S103: outputting corresponding torque according to the working condition information. According to the described method, different working conditions of the motor vehicle under different motion states are collected, and a corresponding torque output is designed for each different working condition, thereby providing a comprehensive and effective responsive mode for the motor vehicle, thus improving the user experience.

Description

Motor vehicle and its torque control method

[Technical Field]

The invention relates to the field of motor vehicles, and in particular to a motor vehicle and a torque control method thereof.

【Background technique】

Pure electric vehicles do not rely on fossil fuels, and the characteristics of zero emissions of pollutants during driving have made pure electric vehicles have developed rapidly in the past two decades. However, because traditional fuel vehicles once occupied almost all the automobile market, new energy vehicles are designed. At the beginning, it was mostly modified. In terms of function, usability, and interior layout, it is still based on traditional cars in recent years.

When a motor vehicle is driven on a sloped road, there are many situations when driving, starting and stopping. First of all, considering the situation of the slope, the slope-lifting is a very dangerous situation, which may cause damage to the personnel and vehicles behind the vehicle. Therefore, in order to prevent the occurrence of the slope, the driver only has the vehicle with the function of standing on the slope. You can pull up the handbrake first, then release the brake, then quickly step on the throttle, and then quickly lower the handbrake when a certain forward speed is reached. However, there are many unexpected situations in this complicated operation. In addition, in the long downhill section, often braking on the brakes is likely to cause brake failure. That is to say, the disadvantages of the prior art motor vehicles (including electric vehicles and hybrid vehicles) are that they do not fully consider the different working conditions of the motor vehicle under different motion states, and therefore cannot provide an effective response manner for all possible situations. .

[Summary of the Invention]

The technical problem mainly solved by the present invention is to provide a motor vehicle and a torque control method thereof, and provide a comprehensive and effective coping mode for different working conditions of the motor vehicle under different motion states.

In order to solve the above technical problem, the first technical solution adopted by the present invention is to provide a torque control method for a motor vehicle, comprising: acquiring speed information, throttle state information, and brake state information of the motor vehicle; The information, the throttle state information and the brake state information determine the working condition information corresponding to the motor vehicle; and the corresponding torque is output according to the working condition information.

In order to solve the above technical problem, the second technical solution adopted by the present invention is to provide a motor vehicle including a memory, a processor, and a memory stored on the memory and operable on the processor. A computer program that implements the torque control method of the above-described motor vehicle when the processor executes the program.

The invention has the beneficial effects that: according to the prior art, the method of the invention collects different working conditions of all different motion states of the motor vehicle, and designs corresponding torque output for each different working condition, thereby being a motor vehicle. Provide a comprehensive and effective response to enhance the user experience.

[Description of the Drawings]

1 is a schematic flow chart of an embodiment of a torque control method for a motor vehicle according to the present invention;

2 is a working condition information classification table of an embodiment of a torque control method for a motor vehicle according to the present invention;

3 is a first torque curve diagram of an embodiment of a torque control method for a motor vehicle of the present invention;

4 is a third torque curve diagram of an embodiment of a torque control method for a motor vehicle of the present invention;

Figure 5 is a sixth torque curve diagram of an embodiment of a torque control method for a motor vehicle of the present invention;

Figure 6 is a schematic view showing the structure of an embodiment of the motor vehicle of the present invention.

【Detailed ways】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

1 is a schematic flow chart of an embodiment of a torque control method for a motor vehicle according to the present invention. As shown in FIG. 1, the torque control method of the motor vehicle of the present invention is as follows:

101: Acquire speed information, throttle status information and brake status information of the motor vehicle.

In the present embodiment, the motor vehicle includes a pure electric vehicle and a hybrid vehicle.

First, obtain the speed information, throttle status information and brake status information of the motor vehicle, including speed, throttle opening and brake opening. When the throttle opening and brake opening are 0, it is regarded as not stepping on the throttle and brake.

102: Determine, according to the speed information, the throttle state information, and the brake state information, the working condition information of the motor vehicle.

Referring to Fig. 2, Fig. 2 is a classification information table of an embodiment of a torque control method for a motor vehicle according to the present invention. The working condition information classification table is searched according to the obtained speed information, the throttle state information and the brake state information, and the working condition information corresponding to the motor vehicle is determined. The eight types of working conditions are as follows:

If the speed of the motor vehicle does not exceed the first predetermined speed and the throttle and the brake are not depressed, the corresponding working condition information is the first working condition information;

If the speed of the motor vehicle exceeds the first predetermined speed and the throttle and the brake are not depressed, the corresponding working condition information is the second working condition information;

If the speed of the motor vehicle does not exceed the first predetermined speed, the brake is depressed, and the throttle is not depressed, the corresponding working condition information is the third working condition information;

If the speed of the motor vehicle exceeds the first predetermined speed, the brake is depressed, and the throttle is not depressed, the corresponding working condition information is the fourth working condition information;

If the speed of the motor vehicle does not exceed the first predetermined speed, the throttle is depressed, and the brake is not depressed, the corresponding working condition information is the fifth working condition information;

If the speed of the motor vehicle exceeds the first predetermined speed, the throttle is depressed, and the brake is not depressed, the corresponding working condition information is the sixth working condition information;

If the speed of the motor vehicle does not exceed the first predetermined speed and the throttle and the brake are both depressed, the corresponding working condition information is the seventh working condition information;

If the speed of the motor vehicle does not exceed the first predetermined speed and both the throttle and the brake are depressed, the corresponding working condition information is the eighth working condition information.

In the present embodiment, the first predetermined speed is 6 km/h. In other embodiments, the first predetermined speed may be other values, which is not limited in the present invention.

103: Output corresponding torque according to the working condition information.

If the corresponding working condition information is the first working condition information, the first torque is output. Referring to Figure 3, Figure 3 is a first torque graph of an embodiment of a torque control method for a motor vehicle of the present invention.

The first torque satisfies the relationship as shown in the formula (1)

Where m is the mass of the motor vehicle, g is the acceleration of gravity, B is the slope of the road, η is the transmission efficiency, i is the transmission ratio, f is the rolling resistance coefficient, C _D is the air resistance coefficient, A is the windward area, u _a is a first predetermined speed, T _min is a first predetermined speed is a first speed torque, T _max is the torque at the first speed 0, T ₁ is the first torque.

Normal road gradient less than 10%, according to the "garage building design" linear gradient of 15% of the maximum slope, in order to ensure not to slip on the slope at the maximum, it is considered to start the motor torque T _max is calculated according to the breakaway force of the 15% slope inferred. In addition, to ensure stability under this condition, setting the motor torque _Tmin when the first predetermined speed is reached may balance the resistance of the vehicle when moving at a first predetermined speed on a horizontal road surface. In this embodiment, the road surface gradient is 15%. In other embodiments, the road surface gradient may be other values, and the value may be determined according to the actual situation, and the calculation formula is modified accordingly, which is not limited by the present invention.

The relationship between the first torque and the speed of the motor vehicle satisfies the relationship as shown in formula (2)

T ₁ =f _a (V) (2)

Where T ₁ is the first torque, V is the speed of the motor vehicle, and the derivative of f _a decreases as V increases.

In the present embodiment, the derivative of f _a decreases as V increases, that is, the shape of the f _a curve is designed to be a derivative decrease type. This design can make the starting torque decrease rapidly when the forward speed can be generated. In addition, if the speed is close to the first predetermined speed on the straight road, no further operation is taken, the vehicle can be stabilized at the current speed; when the road gradient increases Large, the corresponding stabilization speed will be reduced, but the ride comfort can still be guaranteed. In other embodiments, the shape of the f _a curve can also be designed as other function curves, which is not limited in the present invention.

If the corresponding operating condition information is the second operating condition information, the second torque is output. And determining whether the speed of the motor vehicle exceeds a second predetermined speed, wherein the second predetermined speed is higher than the first predetermined speed. If the speed of the motor vehicle exceeds the second predetermined speed, the braking energy recovery function is activated.

In this embodiment, the first predetermined speed is 6 km/h, and the second predetermined speed is 20 km/h. In other embodiments, the first predetermined speed and the second predetermined speed may also be other values, and the present invention does not limited.

In another specific embodiment, if the speed of the motor vehicle is between 6 km/h and 20 km/h, the second torque is 0; if the speed of the motor vehicle exceeds 20 km/h, the remaining battery power of the motor vehicle is obtained. If the remaining battery power of the motor vehicle does not exceed the predetermined power, the braking energy recovery function is activated. In the present embodiment, the predetermined amount of power is 90% of the total amount of the battery of the vehicle. In other embodiments, the predetermined amount of power may be other values, which is not limited in the present invention.

If the corresponding working condition information is the third working condition information, the third torque is output according to the opening information of the brake.

If the opening degree of the brake does not exceed the first brake opening degree, the output third torque is equal to the first torque value; if the opening degree of the brake exceeds the second brake opening degree, the third torque is zero, wherein the second brake opening degree is greater than The first brake opening degree; if the opening degree of the brake is between the first brake opening degree and the second brake opening degree, the third torque is interpolated according to the torque corresponding to the first brake opening degree and the second brake opening degree.

In a specific embodiment, referring to FIG. 4, FIG. 4 is a third torque graph of an embodiment of a torque control method for a motor vehicle of the present invention. The first brake opening is 10% and the second brake opening is 20%. The corresponding working condition information is the third working condition information, and the third torque is output according to the opening information of the brake. If the opening of the brake exceeds 20%, in order to save energy, the motor can no longer output torque, that is, the third torque is 0; if the opening of the brake does not exceed 10%, in order to start the driver quickly, the brake opening When approaching 0 (ie, the brake opening is 0-10%), the motor torque should be increased to the function value of the corresponding first torque in advance, that is, according to the current speed, the third torque is calculated according to the method of calculating the first torque; The third torque is linearly interpolated at 20% and 10% opening. In other embodiments, the first brake opening and the second brake opening may be other values, and the third torque may be calculated by other methods, which is not limited in the present invention.

If the corresponding working condition information is the fourth working condition information, determining whether the speed of the motor vehicle exceeds a second predetermined speed, the second predetermined speed is higher than the first predetermined speed; if the speed of the motor vehicle does not exceed the second predetermined speed, then The fourth torque is output; if the speed of the motor vehicle exceeds the second predetermined speed, the fourth torque is output and braking energy recovery is performed.

In a specific embodiment, if the speed of the motor vehicle is between 6 km/h and 20 km/h, the fourth torque is 0; if the speed of the motor vehicle exceeds 20 km/h, the remaining battery power of the motor vehicle is obtained; If the remaining battery power of the motor vehicle does not exceed the predetermined amount of power, braking energy recovery is performed. When the speed exceeds 20km/h, only the brake is depressed, and braking energy recovery can not only achieve braking energy recovery, but also avoid brake pad damage. In the present embodiment, the predetermined amount of power is 90% of the total amount of the battery of the vehicle. In other embodiments, the predetermined amount of power may be other values, which is not limited in the present invention.

If the corresponding working condition information is the sixth working condition information, obtaining a correspondence relationship between the sixth torque and the accelerator opening degree and the speed; acquiring the sixth torque according to the current throttle opening degree and the speed of the motor vehicle; and outputting the sixth torque.

Referring to Figure 5, Figure 5 is a sixth torque diagram of an embodiment of a torque control method for a motor vehicle of the present invention. The abscissa is the vehicle speed, the unit is km/h, and the ordinate is the moment, the unit is N*m. From top to bottom, the curve corresponding to the throttle opening degree is 100%, 90%...0%, wherein the corresponding throttle is open. The curve of degree 0% is the abscissa. If the speed of the motor vehicle does not change, the sixth torque increases as the throttle opening increases. If the throttle opening is constant, when the motor speed is lower than 40km/h, the sixth torque remains at an initial fixed value, the initial setting is set according to the throttle opening; when the vehicle speed is higher than 40km/h The sixth torque gradually decreases as the speed increases, and the sixth torque reduction amplitude gradually increases as the speed increases. According to this curve, the vehicle outputs a large torque at a low speed to ensure the vehicle is stable at the start, and at the same time, the vehicle gradually reduces the output torque at a higher speed to achieve fuel saving. In other embodiments, the correspondence between the sixth torque and the accelerator opening and the speed may be other curves, which are not limited in the present invention.

If the corresponding operating condition information is the fifth operating condition information, obtaining the sixth torque and the first torque according to the current throttle opening degree and the speed, the fifth torque taking the larger of the sixth torque and the first torque, and outputting the fifth torque . According to the throttle opening and the current speed, the sixth torque can be obtained, but considering that the first torque is already output when the accelerator is not stepped on, if the torque is small during the driver's stepping on the throttle, the driver's feeling will be affected. At this time, the larger of the sixth torque and the first torque is output as the fifth torque.

If the corresponding working condition information is the seventh working condition information, the motor vehicle simultaneously responds to the operation of the throttle and the brake to output the seventh torque. The seventh torque is calculated based on the third torque and the fifth torque, which is not limited by the present invention. When the driver starts on a steep slope, if the hand brake can no longer guarantee that the vehicle does not slip, the brake can be ensured only when the brake is stopped at the low speed by pressing the brake on the left foot and stepping on the throttle on the right foot. The throttle responds at the same time. If the corresponding working condition information is the eighth working condition information, the motor vehicle only responds to the brake and outputs the eighth torque. At high speeds, the brake priority strategy should be guaranteed, so the eighth torque is 0 and only responds to the brakes. At the same time, considering this situation may be a misoperation, so the brake energy recovery is not turned on.

Different from the prior art, the method of the invention collects different working conditions of all different motion states of the motor vehicle, and designs corresponding torque output for each different working condition, thereby providing a comprehensive and effective coping mode for the motor vehicle, thereby improving user experience.

Referring to Figure 6, Figure 6 is a schematic view of the structure of an embodiment of the motor vehicle of the present invention. As shown in FIG. 6, the motor vehicle 60 of the present embodiment includes a memory 61 and a processor 62 coupled to each other, and the memory 61 is used to store a computer program executed by the processor 62 and intermediate data generated when the computer program is executed; When the processor 62 executes a computer program, the torque control method of the motor vehicle of any of the above aspects of the present invention is implemented.

Different from the prior art, the motor vehicle of the invention collects different working conditions of all different motion states of the motor vehicle, and designs corresponding torque output for each different working condition, thereby providing a comprehensive and effective coping mode for the motor vehicle, thereby improving user experience.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation made by the specification and the drawings of the present invention may be directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

A method for controlling torque of a motor vehicle, comprising:

Obtaining speed information, throttle state information, and brake state information of the motor vehicle;

Determining the working condition information corresponding to the motor vehicle according to the speed information, the throttle state information, and the brake state information;

The corresponding torque is output according to the operating condition information.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque information includes:

If the speed of the motor vehicle does not exceed the first predetermined speed and the throttle and the brake are not depressed, the corresponding working condition information is the first working condition information, and the first torque is output according to the first working condition information.
A torque control method for a motor vehicle according to claim 2, wherein said first torque satisfies a relationship as shown in formula (1)

Where m is the mass of the motor vehicle, g is the gravitational acceleration, B is the road gradient, η is the transmission efficiency, i is the transmission ratio, f is the rolling resistance coefficient, C D is the air resistance coefficient, and A is the windward area, u a said first predetermined speed, T min is the first predetermined speed is a first speed torque, T max is the torque at the first speed 0, T 1 is the first torque.
A torque control method for a motor vehicle according to claim 3, wherein said first torque and said speed of said motor vehicle satisfy a relationship as shown in formula (2)

T 1 =f a (V) (2)

Where T 1 is the first torque, V is the speed of the motor vehicle, and the derivative of f a decreases as V increases.
The torque control method for a motor vehicle according to claim 3, wherein the road surface gradient is 15%.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque includes: if the speed of the motor vehicle exceeds the first predetermined speed and the throttle and the brake are not depressed, the corresponding working condition information is the second working condition information, according to the second working The condition information outputs a second torque.
The torque control method of a motor vehicle according to claim 6, wherein after the step of outputting the second torque according to the second operating condition information, the method comprises:

Determining whether the speed of the motor vehicle exceeds a second predetermined speed, the second predetermined speed being higher than the first predetermined speed;

If the speed of the motor vehicle exceeds the second predetermined speed, a braking energy recovery function is initiated.
A torque control method for a motor vehicle according to claim 7, wherein said first predetermined speed is 6 km/h and said second predetermined speed is 20 km/h.
The method for controlling the torque of a motor vehicle according to claim 7, wherein if the speed of the motor vehicle exceeds the second predetermined speed, the step of braking energy recovery of the vehicle includes:

If the speed of the motor vehicle exceeds the second predetermined speed, outputting a second torque and acquiring a remaining battery power of the motor vehicle;

If the remaining battery power of the motor vehicle does not exceed the predetermined power amount, the braking energy recovery function is activated.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque of the information includes: if the speed of the motor vehicle does not exceed the first predetermined speed, the brake is depressed, and the throttle is not depressed, the corresponding working condition information is the third working condition information, according to the The third condition information outputs a third torque.
The method for controlling the torque of a motor vehicle according to claim 10, wherein the step of outputting the third torque according to the third operating condition information specifically includes:

Outputting a third torque according to the opening information of the brake;

If the opening degree of the brake does not exceed the first brake opening degree, the third torque is equal to the first torque;

If the opening degree of the brake exceeds the second brake opening degree, the third torque is zero, wherein the second brake opening degree is greater than the first brake opening degree;

If the opening degree of the brake is between the first brake opening degree and the second brake opening degree, the third torque is interpolated according to the torque corresponding to the first brake opening degree and the second brake opening degree .
The method for controlling the torque of a motor vehicle according to claim 10, wherein the step of interpolating the third torque according to the torque corresponding to the first brake opening and the second brake opening comprises:

The third torque is linearly interpolated according to the torque corresponding to the first brake opening and the second brake opening.
The torque control method for a motor vehicle according to claim 10, wherein said first brake opening degree is 10% and said second brake opening degree is 20%.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque includes: if the speed of the motor vehicle exceeds the first predetermined speed, the brake is depressed, and the throttle is not depressed, the corresponding working condition information is the fourth working condition information, according to the The four working conditions information outputs the fourth torque.
The method for controlling the torque of a motor vehicle according to claim 14, wherein the step of outputting the fourth torque according to the fourth operating condition information specifically includes:

Determining whether the speed of the motor vehicle exceeds a second predetermined speed, the second predetermined speed being higher than the first predetermined speed;

Outputting a fourth torque if the speed of the motor vehicle does not exceed the second predetermined speed;

If the speed of the motor vehicle exceeds the second predetermined speed, the fourth torque is output and braking energy recovery is performed.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque of the information includes: if the speed of the motor vehicle does not exceed the first predetermined speed, the throttle is depressed, and the brake is not depressed, the corresponding working condition information is the fifth working condition information, according to the The fifth condition information outputs a fifth torque.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque of the information includes: if the speed of the motor vehicle exceeds the first predetermined speed, the throttle is depressed, and the brake is not depressed, the corresponding working condition information is the sixth working condition information, according to the The six working conditions information outputs the sixth torque.
The method of controlling a torque of a motor vehicle according to claim 17, wherein the step of outputting the sixth torque according to the sixth operating condition information specifically includes:

Obtaining a correspondence between the sixth torque and the accelerator opening and the speed;

Obtaining the sixth torque according to a current throttle opening and a speed of the motor vehicle;

The sixth torque is output.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque of the information includes: if the speed of the motor vehicle does not exceed the first predetermined speed and the throttle and the brake are both depressed, the corresponding working condition information is the seventh working condition information, and the motor vehicle simultaneously responds The throttle and brake operate to output the seventh torque.
The torque control method for a motor vehicle according to claim 1, wherein the step of determining the condition information corresponding to the vehicle based on the speed information, the throttle state information, and the brake state information and the step of The step of outputting the corresponding torque of the condition information specifically includes: if the speed of the motor vehicle does not exceed the first predetermined speed and the throttle and the brake are both depressed, the motor vehicle only outputs the eighth torque in response to the brake.
A motor vehicle, comprising: a memory and a processor coupled to each other, the memory storing a computer program executable on the processor, the processor executing the computer program A torque control method for a motor vehicle according to any of claims 1-20 is achieved.