CN108944911B - Vehicle control method and device - Google Patents

Vehicle control method and device Download PDF

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Publication number
CN108944911B
CN108944911B CN201710391880.3A CN201710391880A CN108944911B CN 108944911 B CN108944911 B CN 108944911B CN 201710391880 A CN201710391880 A CN 201710391880A CN 108944911 B CN108944911 B CN 108944911B
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China
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vehicle
parameter
torque
driving
proportion
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CN108944911A (en
Inventor
周铁
牛小锋
刘维峰
白龙霞
戴彦收
刘自敏
孔凡茂
马龙兴
曾迁
刘天培
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/40—Torque distribution
    • B60W2720/403—Torque distribution between front and rear axle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a vehicle control method and a vehicle control device, wherein the vehicle control method comprises the following steps: acquiring at least one driving parameter, wherein the at least one driving parameter is used for indicating the current driving state of the vehicle; determining a target torque ratio of a front axle and a rear axle of the vehicle according to the at least one driving parameter; and adjusting the output torques of the front shaft and the rear shaft according to the target torque proportion. According to the vehicle control method, the output torques of the front axle and the rear axle of the vehicle are adjusted according to the acquired at least one driving parameter, so that the vehicle can be controlled by adjusting the output torque of the rotating shaft of the vehicle on the basis of controlling the vehicle through the VSC, the vehicle can be stably controlled even if the VSC fails, the safety of the vehicle in the driving process is improved, and the flexibility of controlling the vehicle is improved.

Description

Vehicle control method and device
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device.
Background
In the vehicle driving process, in order to prevent the occurrence of safety accidents of the vehicle, the driving state of the vehicle needs to be monitored in real time, and when the emergency situation of the vehicle is detected, the vehicle can be controlled in time, so that the safety accidents are avoided.
In the related art, a Vehicle is generally controlled by a VSC (Vehicle Stability Control). For example, during the steering process of the vehicle, the VSC can determine that the vehicle is in a neutral steering state, an understeer state or an oversteer state through driving parameters of the vehicle acquired by a plurality of sensors, so as to control the rotation speed of each wheel of the vehicle, complete the control of the vehicle, and avoid the situation that the vehicle rushes out of a curve or the vehicle is "thrown away".
However, when the VSC fails due to a logic error, the vehicle loses the stability control capability, and there is a certain driving safety hazard, so a vehicle control method is urgently needed, and the vehicle can also be stably controlled when the VSC fails.
Disclosure of Invention
In view of this, the present invention is directed to a vehicle control method, so as to solve the problem that when a logic error occurs in a VSC and the VSC fails, the vehicle has a certain driving safety hazard.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle control method, comprising:
acquiring at least one driving parameter, wherein the at least one driving parameter is used for indicating the current driving state of the vehicle;
determining a target torque ratio of a front axle and a rear axle of the vehicle according to the at least one driving parameter;
and adjusting the output torques of the front shaft and the rear shaft according to the target torque proportion.
Further, the at least one driving parameter includes: at least one base parameter and at least one higher order parameter;
determining a target torque ratio of a front axle and a rear axle of the vehicle according to the at least one driving parameter comprises:
calculating the output torque of a front axle and the output torque of a rear axle according to the at least one basic parameter, and determining the basic torque proportion of the front axle and the rear axle;
and adjusting the output torque of the front axle and the output torque of the rear axle according to the at least one high-order parameter and the basic torque proportion, and determining the target torque proportion.
Further, the vehicle control method further includes:
calculating to obtain a driving stability factor value according to the at least one driving parameter, wherein the driving stability factor value is used for indicating the stability degree of the vehicle;
judging whether the driving stability factor value is larger than or equal to a preset threshold value or not;
the adjusting the output torques of the front axle and the rear axle according to the target torque proportion comprises:
and when the driving stability factor value is larger than or equal to a preset threshold value, adjusting the output torques of the front axle and the rear axle according to the target torque proportion.
Further, the basic parameters are battery power, treading degree of an accelerator pedal, a steering wheel angle, a road gradient or the current speed of the vehicle;
the high-order parameter is lateral acceleration, longitudinal acceleration, yaw rate, steering wheel torque, steering wheel speed, or wheel speed of at least four wheels.
Further, the adjusting the output torques of the front axle and the rear axle according to the target torque ratio includes:
according to the target torque proportion, output torques respectively corresponding to the front shaft and the rear shaft are distributed, and the output torques respectively corresponding to the front shaft and the rear shaft are determined;
and increasing or decreasing the current output torque of the front shaft and the current output torque of the rear shaft according to the output torque corresponding to the front shaft and the rear shaft respectively.
Compared with the prior art, the vehicle control method has the following advantages:
(1) according to the vehicle control method, the output torques of the front axle and the rear axle of the vehicle are adjusted according to the acquired at least one driving parameter, so that the vehicle can be controlled by adjusting the output torque of the rotating shaft of the vehicle on the basis of controlling the vehicle through the VSC, the vehicle can be stably controlled even if the VSC fails, the safety of the vehicle in the driving process is improved, and the flexibility of controlling the vehicle is improved.
Another objective of the present invention is to provide a vehicle control device to solve the problem that when the VSC fails due to a logic error, the vehicle has a certain driving safety hazard.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle control apparatus, comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring at least one driving parameter, and the at least one driving parameter is used for indicating the current driving state of a vehicle;
the proportion determining module is used for determining the target torque proportion of a front axle and a rear axle of the vehicle according to the at least one driving parameter;
and the adjusting module is used for adjusting the output torques of the front shaft and the rear shaft according to the target torque proportion.
Further, the at least one driving parameter includes: at least one base parameter and at least one higher order parameter;
the proportion determining module comprises:
the basic proportion determining submodule is used for calculating the output torque of a front shaft and the output torque of a rear shaft according to the at least one basic parameter and determining the basic torque proportion of the front shaft and the rear shaft;
and the target proportion determining submodule is used for adjusting the output torque of the front axle and the output torque of the rear axle according to the at least one high-order parameter and the basic torque proportion to determine the target torque proportion.
Further, the vehicle control apparatus further includes:
the calculation module is used for calculating to obtain a driving stability factor value according to the at least one driving parameter, and the driving stability factor value is used for indicating the stability degree of the vehicle;
the judging module is used for judging whether the driving stability factor value is larger than or equal to a preset threshold value or not;
the adjustment module includes:
and the condition adjusting submodule is used for adjusting the output torques of the front axle and the rear axle according to the target torque proportion when the driving stability factor value is greater than or equal to a preset threshold value.
Further, the basic parameters are battery power, treading degree of an accelerator pedal, a steering wheel angle, a road gradient or the current speed of the vehicle;
the high-order parameter is lateral acceleration, longitudinal acceleration, yaw rate, steering wheel torque, steering wheel speed, or wheel speed of at least four wheels.
Further, the adjusting module comprises:
the distribution submodule is used for distributing the output torques respectively corresponding to the front shaft and the rear shaft according to the target torque proportion and determining the output torques respectively corresponding to the front shaft and the rear shaft;
and the adjusting submodule is used for increasing or decreasing the current output torques of the front shaft and the rear shaft according to the output torques respectively corresponding to the front shaft and the rear shaft.
The vehicle control device and the vehicle control method have the same advantages compared with the prior art, and are not repeated herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is an exemplary block diagram of a vehicle control system according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps of a method for controlling a vehicle according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a method for controlling a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic representation of the variation of the torque ratio of the front and rear axles of the vehicle according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle rear axle corresponding to a ratio of output torques at different electrical quantities for a vehicle battery according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating steps of a vehicle control method according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In addition, the front axle mentioned in the embodiment of the present invention refers to a vehicle rotation shaft located at a head portion, and the rear axle mentioned in the embodiment of the present invention refers to a vehicle rotation shaft located at a tail portion.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, there is shown an exemplary configuration diagram of a vehicle control system according to an embodiment of the present invention, which may include, as shown in fig. 1: the device comprises a driving parameter acquisition module 10, a target proportion determination module 20 and a power output module 30.
The target ratio determining module 20 is connected to the driving parameter acquiring module 10 and the power output module 30 respectively.
Specifically, the driving parameter obtaining module 10 is configured to obtain at least one driving parameter, where the at least one driving parameter is used to indicate a current driving state of the vehicle.
The target ratio determination module 20 is configured to determine a target torque ratio of a front axle and a rear axle of the vehicle based on at least one driving parameter.
The power output module 30 is used to adjust the output torque of the front and rear axles according to the target torque ratio.
It should be noted that the driving parameter obtaining module 10 may include a direct obtaining sub-module and an indirect obtaining sub-module, where the direct obtaining sub-module may include: a brake pedal, an accelerator pedal, a steering wheel and a gear switching device; the indirect acquisition submodule may include: the device comprises a steering wheel torque sensor, a steering wheel corner sensor, a wheel speed sensor, a vehicle motion sensor and a battery electric quantity detection device; the target ratio determination module 20 may be an HCU (Hybrid Combining Unit), and the power output module 30 may include: an engine and a battery.
Of course, the direct obtaining sub-module, the indirect obtaining sub-module, the target ratio determining module 20 and the power output module 30 may also be other devices, which is not limited in the embodiment of the present invention.
An embodiment of the present invention provides a vehicle control method, as shown in fig. 2, which may include the following steps:
step 201, at least one driving parameter is obtained.
Wherein the at least one driving parameter is used for indicating the current driving state of the vehicle.
In the driving process of the vehicle, at least one driving parameter of the vehicle can be acquired in real time through each sensor of the vehicle, so that in the subsequent step, the vehicle can be controlled according to the at least one driving parameter, and the driving safety of the vehicle is ensured.
It should be noted that the at least one driving parameter may include: the method comprises the steps of determining at least one basic parameter and at least one high-order parameter, wherein the basic parameter is used for determining the upper limit and the lower limit of output torque corresponding to a front axle and a rear axle of the vehicle respectively, and the high-order parameter is used for determining the output torque required to be adjusted by the front axle and the rear axle of the vehicle.
For example, the basic parameter may be a battery level, an accelerator pedal depression degree, a steering wheel angle, a road gradient or a current vehicle speed of the vehicle, and the high-order parameter may be a lateral acceleration, a longitudinal acceleration, a yaw rate, a steering wheel torque, a steering wheel rotation speed or wheel speeds of at least four wheels, and the basic parameter and the high-order parameter are not limited in the embodiment of the present invention.
Step 202, determining a target torque ratio of a front axle and a rear axle of the vehicle according to at least one driving parameter.
After at least one driving parameter is obtained, determining the maximum output torque of a rear axle of the vehicle according to the battery electric quantity in the at least one driving parameter; the method can also determine the total output torque required by the driver at present according to the stepping degree of the accelerator pedal, wherein the total output torque is the output torque for providing all power for the vehicle, so that whether the engine of the vehicle needs to be started or not is judged by combining the maximum output torque of the rear axle of the vehicle, the torque is output by the front axle of the vehicle, the output torque of the front axle of the vehicle is further determined, and finally the output torques corresponding to the front axle and the rear axle of the vehicle are determined respectively to obtain the target torque proportion of the front axle and the rear axle.
In addition, whether the vehicle is in a turning state or not can be judged according to the steering wheel angle, if the vehicle is in the turning state, the output torque of the rear shaft of the vehicle needs to be reduced, the output torque of the front shaft of the vehicle needs to be improved, and the vehicle is prevented from rushing out of a curve.
Of course, the output torques of the front axle and the rear axle of the vehicle may also be adjusted according to other parameters, which is not limited in the embodiment of the present invention.
And step 203, adjusting the output torques of the front axle and the rear axle according to the target torque proportion.
After the vehicle determines the target torque proportion, the torque distribution path corresponding to each value in the target torque proportion can be determined, that is, which value in the target torque proportion corresponds to the front axle and the rear axle of the vehicle respectively, so that the torque required to be output by the front axle and the rear axle respectively is determined according to the total output torque of the vehicle, and then the output torques of the front axle and the rear axle are increased or decreased by combining the current output torques of the front axle and the rear axle of the vehicle, thereby completing the adjustment of the output torques of the front axle and the rear axle.
It should be noted that the output torque of the front axle can be adjusted first, and then the output torque of the rear axle can be adjusted; the output torque of the rear axle may be adjusted first, then the output torque of the front axle may be adjusted, and the output torques of the front axle and the rear axle may be adjusted at the same time.
In summary, in the vehicle control method provided in the embodiment of the present invention, at least one driving parameter is obtained, the target torque ratio of the front axle and the rear axle of the vehicle is determined according to the at least one driving parameter, and the output torques of the front axle and the rear axle are adjusted according to the target torque ratio. Wherein the at least one driving parameter is used for indicating the current driving state of the vehicle. Through according to at least one driving parameter who obtains, the output torque of adjustment vehicle front axle and rear axle for the vehicle can also be controlled the vehicle through the output torque of adjustment vehicle pivot on the basis of passing through VSC control vehicle, even if also can realize the stability control to the vehicle under the circumstances that VSC became invalid, has improved the security of vehicle in the in-process of traveling, has improved the flexibility of control vehicle.
On the basis of fig. 2, another vehicle control method is provided in the embodiment of the present invention, and as shown in fig. 3, the vehicle control method may include the following steps:
301, obtaining at least one driving parameter.
Step 301 is similar to step 201 and will not be described herein again.
And step 302, calculating to obtain a driving stability factor value according to at least one driving parameter.
The driving stability factor value is used to indicate a stability degree of the vehicle, and the driving stability factor may be calculated according to an existing method for calculating a static stability factor of the vehicle, and certainly, other manners may also be used to obtain the driving stability factor value, which is not limited in the embodiment of the present invention.
The vehicle can calculate according to the acquired at least one driving parameter to obtain a driving stability factor value for indicating the stability degree of the vehicle in the driving process, so that whether the vehicle needs to be controlled by adjusting the rotating shaft of the vehicle can be judged in the subsequent step according to the driving stability factor value.
Specifically, the driving stability factor value may be calculated from wheel speeds of respective wheels of the vehicle, a longitudinal acceleration, a lateral acceleration, a yaw rate, torques respectively output from the engine and the motor, and related parameters acquired from driving behavior of the driver.
The larger the value of the driving stability factor is, the more stable the vehicle is, and the smaller the value of the driving stability factor is, the more unstable the vehicle is. Of course, the larger the value of the driving stability factor is, the more stable the vehicle is; the smaller the value of the driving stability factor is, the more stable the vehicle is, which is not limited in the embodiment of the present invention.
For example, the driving stability factor value may be a value of the interval [0, 1], and when the driving stability factor value is 0, it indicates that the vehicle is most unstable; when the driving stability factor value is 1, it indicates that the vehicle is in a stable driving state.
And step 303, judging whether the driving stability factor value is greater than or equal to a preset threshold value.
The preset threshold may be adjusted according to an actual driving condition of the vehicle, which is not limited in the embodiment of the present invention.
After the driving stability factor value is calculated, the driving stability factor value is compared with a preset threshold value, and whether the driving stability factor value is greater than or equal to the preset threshold value, that is, whether the driving stability factor value is not less than the preset threshold value, is determined.
If the driving stability factor value is smaller than the preset threshold value, it indicates that the vehicle is in a severely unstable state, and the vehicle needs to be controlled in other ways, for example, by the VSC; however, when the driving stability factor value is not less than the preset threshold value, it indicates that the vehicle is in a slightly unstable state, and the vehicle can be controlled only through the rotating shaft of the vehicle.
For example, if the value of the driving stability factor is the value of the interval [0, 1] and the preset threshold value is 0.5, then if the value of the driving stability factor is greater than or equal to 0.5 and less than or equal to 1, it indicates that the vehicle is slightly unstable, and the control of the vehicle can be completed only by controlling the rotating shaft of the vehicle; however, if the value of the driving stability factor is greater than or equal to 0 and less than 0.5, the vehicle is seriously unstable, and it is necessary to control the vehicle in another manner.
Step 304, determining a target torque ratio of a front axle and a rear axle of the vehicle according to at least one driving parameter.
Since the at least one driving parameter of the vehicle may include: the at least one basic parameter and the at least one high-order parameter can determine a basic torque proportion of the vehicle according to the at least one basic parameter, and then adjust the determined basic torque proportion according to the at least one high-order parameter, so that a target torque proportion is obtained.
Optionally, the output torque of the front axle and the output torque of the rear axle may be calculated according to the at least one basic parameter, a basic torque ratio between the front axle and the rear axle is determined, and then the output torque of the front axle and the output torque of the rear axle are adjusted according to the at least one high-order parameter and the basic torque ratio, so as to determine the target torque ratio.
For example, referring to fig. 4, fig. 4 is a schematic diagram showing the change of the torque ratio of the front axle and the rear axle during the acceleration process or the hill-climbing process of the vehicle, in which the horizontal axis represents the vehicle speed and the vertical axis represents the ratio of the torque output by the rotating shaft of the vehicle, and when the vehicle speed is less than 10KPH (Kilometer Per Hour ), the front axle of the vehicle does not output the torque and the rear axle of the vehicle outputs the torque completely; when the vehicle speed reaches 10KPH, the output torque of the front axle of the vehicle is increased, the output torque of the corresponding rear axle of the vehicle is reduced, and when the output torques of the front axle and the rear axle of the vehicle respectively occupy 50 percent, the output torques of the front axle and the rear axle are not adjusted. However, when it is detected that the vehicle continues to run with acceleration, in order to improve the feeling of pushing back when the driver drives the vehicle, it is necessary to increase the output torque of the rear axle of the vehicle and decrease the output torque of the front axle of the vehicle, and when the ratio of the output torque of the rear axle of the vehicle is increased to 70%, the torque ratio can be maintained. If the vehicle speed of the vehicle reaches 70KPH, in order to prevent the battery of the vehicle from over-discharging, it is necessary to reduce the output torque of the rear axle of the vehicle and increase the output torque of the front axle of the vehicle, so that the vehicle is always kept in an acceleration state.
In addition, when the battery power of the vehicle is too low, the output torque of the rear axle of the vehicle needs to be limited, referring to fig. 5, fig. 5 is a schematic diagram of the output torque ratio of the rear axle of the vehicle when the battery power of the vehicle is different, in the diagram, the horizontal axis is the vehicle speed, the vertical axis is the torque ratio occupied by the output torque of the rear axle of the vehicle, the solid line in the diagram is the rear axle torque output curve corresponding to the normal battery power, and the dotted line is the rear axle torque output curve corresponding to the low battery power.
And if the wheel slipping or the wheel locking occurs, the wheel speed of the corresponding wheel can be controlled by adjusting the rotating shaft corresponding to the corresponding wheel in the subsequent steps, so that the adjustment of the wheel slipping rate of the vehicle is finished.
It should be noted that, in the embodiment of the present invention, the step 304 may be executed before the step 302, may also be executed simultaneously with the step 302, and may also be executed after the step 302, which is not limited in the embodiment of the present invention.
And 305, when the driving stability factor value is larger than or equal to a preset threshold value, adjusting the output torques of the front axle and the rear axle according to the target torque proportion.
When the driving stability factor value is greater than or equal to the preset threshold value and the target torque proportion is obtained through calculation, the output torques of the front axle and the rear axle can be adjusted according to the target torque proportion, and the control of the vehicle is realized.
Optionally, the output torques respectively corresponding to the front axle and the rear axle may be distributed according to the target torque proportion, so as to determine the output torques respectively corresponding to the front axle and the rear axle, that is, to determine the vehicle rotating shaft corresponding to each parameter in the target torque proportion, so as to determine the output torques respectively corresponding to the front axle and the rear axle of the vehicle in the total output torque.
And then according to the output torques respectively corresponding to the front axle and the rear axle, increasing or decreasing the current output torques of the front axle and the rear axle so that the proportion of the output torques of the front axle and the rear axle of the vehicle is consistent with the target torque proportion.
It should be noted that, when the vehicle is under-or over-steer, the gradient of the variation range of the target torque ratio should not exceed 40% per second, and the request range of the lifting torque of the front axle and the rear axle is-20% to + 20%; when the vehicle adjusts the output torque of the front axle or the rear axle, the gradient of the change range of the target torque proportion should not exceed 100% per second, and the request range of the lifting torque of the front axle and the rear axle is-20% to + 20%; when the vehicle adjusts the slip ratio of the front axle or the rear axle, the gradient of the range of change of the target torque proportion should not exceed 40% per second, and the request range of the lifting torque of the front axle and the rear axle is-40% to + 40%. Of course, the parameters may be adjusted according to the actual driving state of the vehicle, which is not limited in the embodiment of the present invention.
In summary, in the vehicle control method provided in the embodiment of the present invention, at least one driving parameter is obtained, the target torque ratio of the front axle and the rear axle of the vehicle is determined according to the at least one driving parameter, and the output torques of the front axle and the rear axle are adjusted according to the target torque ratio. Wherein the at least one driving parameter is used for indicating the current driving state of the vehicle. The driving stability factor value of the vehicle is obtained through calculation according to the acquired at least one driving parameter, the output torques of the front axle and the rear axle of the vehicle are adjusted under the condition that the driving stability factor value meets the corresponding condition, so that the vehicle can be controlled by adjusting the output torque of the rotating shaft of the vehicle on the basis of controlling the vehicle through the VSC, the vehicle can be stably controlled even if the VSC fails, the safety of the vehicle in the driving process is improved, and the flexibility of controlling the vehicle is improved.
An embodiment of the present invention provides a vehicle control apparatus, which may include the following modules as shown in fig. 6:
an obtaining module 601, configured to obtain at least one driving parameter, where the at least one driving parameter is used to indicate a current driving state of a vehicle;
a ratio determination module 602, configured to determine a target torque ratio of a front axle and a rear axle of the vehicle according to the at least one driving parameter;
an adjusting module 603 is configured to adjust the output torques of the front axle and the rear axle according to the target torque ratio.
In summary, the vehicle control apparatus provided in the embodiment of the present invention determines the target torque ratio of the front axle and the rear axle of the vehicle according to at least one driving parameter by obtaining the at least one driving parameter, and adjusts the output torque of the front axle and the rear axle according to the target torque ratio. Wherein the at least one driving parameter is used for indicating the current driving state of the vehicle. Through according to at least one driving parameter who obtains, the output torque of adjustment vehicle front axle and rear axle for the vehicle can also be controlled the vehicle through the output torque of adjustment vehicle pivot on the basis of passing through VSC control vehicle, even if also can realize the stability control to the vehicle under the circumstances that VSC became invalid, has improved the security of vehicle in the in-process of traveling, has improved the flexibility of control vehicle.
Further, the at least one driving parameter includes: at least one base parameter and at least one higher order parameter;
the ratio determination module 602 includes:
the basic proportion determining submodule is used for calculating the output torque of the front shaft and the output torque of the rear shaft according to the at least one basic parameter and determining the basic torque proportion of the front shaft and the rear shaft;
and the target proportion determining submodule is used for adjusting the output torque of the front axle and the output torque of the rear axle according to the at least one high-order parameter and the basic torque proportion to determine the target torque proportion.
Further, the vehicle control apparatus further includes:
the calculation module is used for calculating to obtain a driving stability factor value according to the at least one driving parameter, and the driving stability factor value is used for indicating the stability degree of the vehicle;
the judging module is used for judging whether the driving stability factor value is larger than or equal to a preset threshold value or not;
the adjusting module 603 includes:
and the condition adjusting submodule is used for adjusting the output torques of the front axle and the rear axle according to the target torque proportion when the driving stability factor value is greater than or equal to a preset threshold value.
Further, the basic parameters are battery power, treading degree of an accelerator pedal, a steering wheel angle, a road gradient or the current speed of the vehicle;
the higher-order parameter is lateral acceleration, longitudinal acceleration, yaw rate, steering wheel torque, steering wheel speed, or wheel speed of at least four wheels.
Further, the adjusting module 603 includes:
the distribution submodule is used for distributing the output torques respectively corresponding to the front shaft and the rear shaft according to the target torque proportion and determining the output torques respectively corresponding to the front shaft and the rear shaft;
and the adjusting submodule is used for increasing or decreasing the current output torques of the front shaft and the rear shaft according to the output torques respectively corresponding to the front shaft and the rear shaft.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (8)

1. A vehicle control method characterized by comprising:
acquiring at least one driving parameter, wherein the at least one driving parameter is used for indicating the current driving state of the vehicle;
determining a target torque ratio of a front axle and a rear axle of the vehicle according to the at least one driving parameter;
adjusting the output torques of the front axle and the rear axle according to the target torque proportion;
the vehicle control method further includes:
calculating to obtain a driving stability factor value according to the at least one driving parameter, wherein the driving stability factor value is used for indicating the stability degree of the vehicle;
judging whether the driving stability factor value is larger than or equal to a preset threshold value or not;
the adjusting the output torques of the front axle and the rear axle according to the target torque proportion comprises:
and when the driving stability factor value is larger than or equal to a preset threshold value, adjusting the output torques of the front axle and the rear axle according to the target torque proportion.
2. The vehicle control method according to claim 1, characterized in that the at least one running parameter includes: at least one base parameter and at least one higher order parameter;
determining a target torque ratio of a front axle and a rear axle of the vehicle according to the at least one driving parameter comprises:
calculating the output torque of a front axle and the output torque of a rear axle according to the at least one basic parameter, and determining the basic torque proportion of the front axle and the rear axle;
and adjusting the output torque of the front axle and the output torque of the rear axle according to the at least one high-order parameter and the basic torque proportion, and determining the target torque proportion.
3. The vehicle control method according to claim 2, wherein the basic parameter is a battery level, an accelerator pedal depression degree, a steering wheel angle, a road grade, or a current vehicle speed of the vehicle;
the high-order parameter is lateral acceleration, longitudinal acceleration, yaw rate, steering wheel torque, steering wheel speed, or wheel speed of at least four wheels.
4. The vehicle control method according to any one of claims 1 to 3, wherein said adjusting the output torques of the front axle and the rear axle according to the target torque proportion includes:
according to the target torque proportion, output torques respectively corresponding to the front shaft and the rear shaft are distributed, and the output torques respectively corresponding to the front shaft and the rear shaft are determined;
and increasing or decreasing the current output torque of the front shaft and the current output torque of the rear shaft according to the output torque corresponding to the front shaft and the rear shaft respectively.
5. A vehicle control apparatus, characterized by comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring at least one driving parameter, and the at least one driving parameter is used for indicating the current driving state of a vehicle;
the proportion determining module is used for determining the target torque proportion of a front axle and a rear axle of the vehicle according to the at least one driving parameter;
the adjusting module is used for adjusting the output torques of the front shaft and the rear shaft according to the target torque proportion;
the calculation module is used for calculating to obtain a driving stability factor value according to the at least one driving parameter, and the driving stability factor value is used for indicating the stability degree of the vehicle;
the judging module is used for judging whether the driving stability factor value is larger than or equal to a preset threshold value or not;
the adjustment module includes:
and the condition adjusting submodule is used for adjusting the output torques of the front axle and the rear axle according to the target torque proportion when the driving stability factor value is greater than or equal to a preset threshold value.
6. The vehicle control apparatus according to claim 5, characterized in that the at least one running parameter includes: at least one base parameter and at least one higher order parameter;
the proportion determining module comprises:
the basic proportion determining submodule is used for calculating the output torque of a front shaft and the output torque of a rear shaft according to the at least one basic parameter and determining the basic torque proportion of the front shaft and the rear shaft;
and the target proportion determining submodule is used for adjusting the output torque of the front axle and the output torque of the rear axle according to the at least one high-order parameter and the basic torque proportion to determine the target torque proportion.
7. The vehicle control apparatus according to claim 6, wherein the basic parameter is a battery level, an accelerator pedal depression degree, a steering wheel angle, a road grade, or a current vehicle speed of the vehicle;
the high-order parameter is lateral acceleration, longitudinal acceleration, yaw rate, steering wheel torque, steering wheel speed, or wheel speed of at least four wheels.
8. The vehicle control apparatus according to any one of claims 5 to 7, characterized in that the adjustment module includes:
the distribution submodule is used for distributing the output torques respectively corresponding to the front shaft and the rear shaft according to the target torque proportion and determining the output torques respectively corresponding to the front shaft and the rear shaft;
and the adjusting submodule is used for increasing or decreasing the current output torques of the front shaft and the rear shaft according to the output torques respectively corresponding to the front shaft and the rear shaft.
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CN111645528B (en) * 2020-06-05 2022-02-11 中国第一汽车股份有限公司 Braking energy recovery control method, system, device, vehicle and storage medium
CN113954820A (en) * 2020-07-02 2022-01-21 宝能汽车集团有限公司 Drive control method, system, device, and storage medium for vehicle
CN113911099B (en) * 2021-02-03 2023-10-20 长城汽车股份有限公司 Low-speed four-wheel drive mode control method and device, storage medium and electronic equipment
CN117124880A (en) * 2022-05-20 2023-11-28 比亚迪股份有限公司 Vehicle torque control method and device, electronic equipment and storage medium
CN117124882A (en) * 2022-05-20 2023-11-28 比亚迪股份有限公司 Vehicle torque control method, processing device and vehicle

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