CN109131319B - Automatic parking torque control method and device - Google Patents
Automatic parking torque control method and device Download PDFInfo
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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
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides an automatic parking torque control method and device, wherein the method comprises the following steps: obtaining a parking control instruction; acquiring the current time speed of the vehicle; acquiring the target acceleration at the next moment; calculating to obtain a target output torque of the vehicle at the next moment matched with the target acceleration at the next moment according to the vehicle speed at the current moment and the target acceleration at the next moment; and calculating the actual output torque of the vehicle at the next moment according to the target output torque at the next moment. The automatic parking torque control method is simple and easy to implement, does not need a large amount of debugging and calibration work, and is low in investment cost.
Description
Technical Field
The invention relates to the technical field of a vehicle control unit of a new energy automobile, in particular to an automatic parking torque control method and device.
Background
At present, the automatic parking control of the electric automobile generally adopts a torque control method based on the automobile speed, adopts PID control, or is an optimization method adding some compensation methods or parameters on the basis of the PID control.
However, when the vehicle speed is controlled by adopting the PID control technology, the parameter configuration of the PID basically depends on a large amount of manpower and time for debugging, the early investment cost is high, the workload is large, the same set of PID parameters cannot meet the control requirements of different vehicles, and the reusability of the technology is poor.
Disclosure of Invention
In view of the above, the present invention provides a method and a device for controlling an automatic parking torque, so as to reduce the investment cost of a scheme for controlling an automobile torque in an automatic parking process and improve the reusability of the technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic parking torque control method comprising:
obtaining a parking control instruction;
acquiring the current time speed of the vehicle;
acquiring the target acceleration at the next moment;
calculating to obtain a target output torque of the vehicle at the next moment matched with the target acceleration at the next moment according to the vehicle speed at the current moment and the target acceleration at the next moment;
calculating the actual output torque of the vehicle at the next moment according to the target output torque at the next moment;
and a preset time interval is reserved between the current moment and the next moment.
Preferably, in the automatic parking torque control method, after the obtaining of the parking control command and before the obtaining of the target acceleration at the next time, the method further includes:
judging whether the vehicle state meets the automatic parking condition, if so, executing the target acceleration at the next moment; if not, the torque control process is quitted.
Preferably, in the automatic parking torque control method, the automatic parking condition includes:
the current-time vehicle speed of the vehicle is within a preset vehicle speed range, and the position of a gear shifter of the vehicle is located in a parking gear.
Preferably, in the automatic parking torque control method, the acquiring of the target acceleration at the next time includes:
acquiring a target speed of the vehicle at the next moment;
and calculating to obtain the target acceleration at the next moment according to the current moment vehicle speed of the vehicle and the target speed at the next moment.
Preferably, in the automatic parking torque control method, the calculating a target acceleration at the next time from the current time vehicle speed and the target speed at the next time of the vehicle includes:
obtaining the vehicle speed change rate of the vehicle at the next moment, the current moment and the continuous previous N moments by using a least square method; wherein N is a preset value not less than 1;
and calculating the average value of all the vehicle speed change rates to obtain the target acceleration at the next moment.
Preferably, in the automatic parking torque control method, the calculating a target output torque at a next time that matches the target acceleration at the next time includes:
and calculating to obtain the target output torque at the next moment matched with the target acceleration at the next moment according to an automobile dynamic equation.
Preferably, in the automatic parking torque control method, the calculating a target output torque at a next time that matches the target acceleration at the next time includes:
acquiring the target output torque at the next moment matched with the current moment vehicle speed and the target acceleration at the next moment from a preset mapping table; wherein,
and the preset mapping table prestores target output torque values at the next moment, which are matched with the vehicle speed at each current moment and the target acceleration at each next moment.
Preferably, in the automatic parking torque control method, the calculating an actual output torque of the vehicle at a next time based on the target output torque at the next time includes:
acquiring an actual output torque value of the vehicle at the current moment;
acquiring a torque increase and decrease allowance value matched with the current-moment vehicle speed and the current-moment actual output torque value by a preset torque gradient value change table;
calculating the sum of an increase threshold value in the torque increase and decrease margin value and the actual output torque value at the current moment to obtain a first sum value;
calculating the difference between the actual output torque value at the current moment and a subtraction threshold value in the torque increase and decrease margin value to obtain a first difference value;
when the actual output torque at the current moment is not greater than the target output torque at the next moment, taking the smaller value of the target output torque at the next moment and the first sum as the target filtering torque at the next moment;
and when the actual output torque at the current moment is larger than the target output torque at the next moment, taking the larger value of the first difference value and the target output torque at the next moment as the target filtering torque at the next moment.
Preferably, in the automatic parking torque control method, the calculating an actual output torque at the next time includes:
acquiring the maximum output torque determined according to the maximum available power of the vehicle-mounted battery at the current moment and the motor rotating speed at the current moment under the current running state;
taking the smaller value of the maximum output torque and the preset highest parking torque as the torque output upper limit;
if the target filtering torque at the next moment is smaller than the torque output upper limit, updating the actual output torque at the next moment to be the target filtering torque at the next moment;
and if the target filtering torque at the next moment is not less than the torque output upper limit, updating the actual output torque at the next moment to be the torque output upper limit.
An automatic parking torque control device comprising: a memory and a processor;
the memory stores a program adapted to be executed by the processor to implement the automatic parking torque control method according to any one of the above.
Based on the technical scheme, in the method provided by the embodiment of the invention, in the automatic parking process, the control process of the output torque of the vehicle is as follows: after a parking instruction is obtained, the current-time vehicle speed and the next-time target acceleration of the vehicle are obtained, the corresponding next-time target output torque is obtained according to the next-time target acceleration of the vehicle and the current-time vehicle speed, the next-time actual output torque matched with the next-time target output torque is generated based on a preset strategy, a large amount of debugging and calibration work is not needed before the method is executed, the investment cost is low, the same control method can be adopted on different vehicle types, and the technical reusability is strong.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating an automatic parking torque control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an automatic parking torque control method according to another embodiment of the present disclosure;
FIG. 3 is a flowchart illustrating an automatic parking torque control method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic parking torque control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the problems of high early investment cost, large workload and poor technical reusability in the PID control technology, the invention discloses an automatic parking torque control method and a device, and referring to fig. 1, the method comprises the following steps:
step S101: obtaining a parking control instruction;
in the technical solution disclosed in the embodiment of the present invention, when a driver desires to automatically park a vehicle, the driver stops the vehicle and controls the gear to switch to the P gear (parking gear), and the driver may input a parking control command through a preset command input device, for example, the driver may input the parking control command through a voice input method, or output the parking control command through a method of triggering a preset button in a cab.
Step S102: acquiring the current time speed of the vehicle;
in the technical solution disclosed in the embodiment of the present invention, the current-time vehicle speed of the vehicle may be detected by using a technical solution in the prior art, for example, in the technical solution disclosed in the embodiment of the present application, the current-time vehicle speed V of the vehicle may be detected by using the vehicle control unit VCU.
Step S103: acquiring the target acceleration at the next moment;
the next moment is separated from the current moment by a preset time interval, namely the acquisition of the vehicle speed and the calculation of the target acceleration are updated in real time by taking the fixed time interval as a cycle.
It should be noted that steps S102 and S103 may be executed simultaneously, or step S103 may be executed first and then step S102 is executed, and this example is only for convenience of description, and step S102 is placed before step S103.
In this step, the target acceleration at the next time may be directly obtained, or may be indirectly obtained through calculation of real-time data of the vehicle:
the step of directly obtaining the target acceleration at the next moment means that when the intelligent parking assist system (APA) integrates a calculation function of the target acceleration, the target acceleration at the next moment can be directly provided by the intelligent parking assist system (APA), and the target acceleration corresponding to each moment of automatic parking is stored in the intelligent parking assist system.
The target acceleration at the next moment is obtained indirectly through the real-time data calculation of the vehicle, which means that when the intelligent parking assist system does not have the function of providing the target acceleration:
the method for calculating the vehicle speed change rate at the current moment comprises the following steps:
assuming that the collection of the vehicle speed takes 10ms as a period, t represents the current time, (t-1) represents 10ms before the current time, namely the previous time, (t-2) represents 20ms. before the current time, and so on, the vehicle speed at the current time is VtThe vehicle speed at the previous moment is Vt-1... mixing VtAnd vehicle speed (V) of the first 5 consecutive timest、Vt-1、Vt-2、Vt-3、Vt-4) Fitting is carried out by using a least square method, and a specific formula is as follows:
△VehSpd＝(sum(Xi*Yi)-Z*avrX*avrY)/(sum(Xi*Xi)-Z*avrX*avrX)
wherein X is time, Y is vehicle speed, i ═ 0, 1, 2, 3 … Z; m is used for representing the total number of the vehicle speeds participating in calculation, Xi represents the time length from the time X0 to the time Xi, Yi represents the time XiAt the moment, the speed of the vehicle, avrX represents the average time length, avrY represents the average speed of the vehicle in the period, and the speed change rate delta VehSpd at the current moment is obtained by the formulat。
The vehicle speed change rate delta VehSpd of the first N continuous moments can be obtained by the formulat-1、ΔVehSpdt-2.....ΔVehSpdt-N。
The intelligent parking auxiliary system sends the target speed V corresponding to the next moment of automatic parkingt+1The target speed is calculated by the intelligent parking assist system according to the control strategy of the intelligent parking assist system.
Assuming that the vehicle speed change from the current moment to the next moment is uniform, the vehicle speed change rate Δ VehSpd of a new node at the next moment can be obtained according to the current vehicle speed and the target speed at the next momentt+1。
Rate of change of vehicle speed Δ VehSpd for next momentt+1The speed change rate Δ VehSpd at the current timetAnd a vehicle speed change rate Δ VehSpd at the previous N consecutive times before the current timet-1、ΔVehSpdt-2.....ΔVehSpdt-NThe average value is obtained as the target acceleration alpha of the next momentt+1The average value of all the vehicle speed change rates is obtained to prevent the vehicle from shaking due to sudden acceleration change of the vehicle, which affects driving comfort.
And the value of N is self-defined according to the actual condition, and if 10ms is taken as a preset time interval, namely the period of target acceleration calculation at the next moment, N can be 3-10.
And continuously updating and iterating all the vehicle speed, the acceleration and the vehicle speed change rate along with the change of time, wherein the updating is carried out once every period.
Step S104: calculating a target output torque at the next moment;
in this step, after the target acceleration at the next moment is determined, a target output torque at the next moment of the vehicle, which is matched with the target acceleration at the next moment, is calculated based on the vehicle speed at the current moment and the target acceleration at the next moment;
in the technical solution disclosed in the embodiment of the present application, the target output torque in step S104 may be calculated according to an automobile dynamics equation, which is as follows:
the automobile dynamic equation is as follows:
wherein, the i0For the differential gear ratio, igTo the transmission ratio of the gearbox, said
For mechanical transmission efficiency, gamma is the radius of the wheel, G is the weight of the whole vehicle, m is the mass of the whole vehicle, f is the rolling damping coefficient, CDThe coefficient is an air resistance coefficient, A is a windward area, the coefficient is an automobile rotating mass conversion coefficient, and i is a gradient. The above parameters can be derived from the actual vehicle condition as known quantities, so that the equation relates the vehicle speed v at the present moment, the target acceleration at the next moment
(i.e.. alpha.)t+1) And a target output torque T at the next timemThe equation of (c).
The vehicle speed v at the current moment can be obtained by back calculation according to an ABS vehicle speed signal received in real time or a VCU according to the rotating speed of the motor. So as to obtain the target output torque T of the whole vehicle at the next momentmOnly the target acceleration a of the next moment needs to be knownt+1And (4) finishing. Calculating the target acceleration a of the next time obtained by the step S102t+1Then, the target output torque T at the next moment can be calculated according to the above formulam。
Of course, in addition to directly obtaining the target output torque at the next moment based on the vehicle dynamics equation, in order to reduce the data processing amount of the processor and increase the processing speed of the processor, the target output torque at the next moment may also be obtained by looking up the table, and the specific process is as follows:
can be based on a formula
The target output torque T at the next moment corresponding to each vehicle speed and the target acceleration at each next moment is calculated in advancemCalculating the target output torque TmAnd storing the corresponding vehicle speed (equivalent to the vehicle speed at the current moment) and the target acceleration at the next moment in a preset mapping table, and calculating the vehicle speed at the current moment and the target acceleration alpha at the next moment when neededt+1Corresponding target output torque T at the next momentmBased directly on the current time vehicle speed and the next time target acceleration alphat+1And looking up a table according to the preset mapping table.
Step S105: calculating the actual output torque of the vehicle at the next moment according to the target output torque at the next moment;
and after the target output torque at the next moment is obtained, calculating to obtain the actual output torque by combining the current running condition of the vehicle and a preset torque control strategy.
In this step, the actual output torque at the next moment can be obtained by filtering and torque limiting the target output torque at the next moment;
the filtering is to prevent the vehicle from shaking due to sudden change of the output torque of the vehicle, so as to ensure the stability of the entire vehicle, and specifically, referring to fig. 3, the filtering process may include:
step S301: acquiring an actual output torque value at the current moment;
step S302: acquiring a torque increase and decrease allowance value matched with the current-moment vehicle speed and the current-moment actual output torque value by a preset torque gradient value change table;
the preset torque gradient value change table is prestored with a MAP (MAP of current vehicle speed, current actual output torque and torque margin value), and corresponding torque margin values can be read by searching the MAP corresponding to different current vehicle speeds or current actual output torques. Each combination of the vehicle speed at the current time and the actual output torque at the current time corresponds to a set of torque margin values, which include an increase threshold value and a decrease threshold value, both of which are positive values.
Step S303: calculating the sum of an increase threshold value in the torque increase and decrease margin value and the actual output torque value at the current moment to obtain a first sum value; calculating the difference between the actual output torque value at the current moment and a subtraction threshold value in the torque increase and decrease margin value to obtain a first difference value;
step S304: judging whether the actual output torque at the current moment is larger than the target output torque at the next moment, if so, executing a step S305, otherwise, executing a step S306;
step S305: taking the larger value of the first difference value and the target output torque at the next moment as the target filtering torque at the next moment;
step S306: and taking the smaller value of the target output torque at the next moment and the first sum as the target filtering torque at the next moment.
The torque limitation refers to limiting an upper limit value of the actual output torque at the next time, and performing the torque limitation on the actual output torque at the next time may include:
and under the current driving state, obtaining the maximum output torque determined according to the maximum available power of the vehicle-mounted battery at the current moment and the motor rotating speed at the current moment, taking the smaller value of the maximum output torque and the preset highest parking torque as a torque output upper limit, judging whether the target filtering torque at the next moment is larger than the torque output upper limit, if so, updating the actual output torque at the next moment to be the torque output upper limit, and if not, updating the actual output torque at the next moment to be the target filtering torque at the next moment.
Step S106: and judging whether parking is finished or not, if so, exiting the parking torque control process, and otherwise, continuing to execute the step S102 until parking is finished.
In this step, whether parking is completed or not can be judged by adopting any scheme in the prior art, and the method does not limit how parking is completed or not, for example, whether parking is completed or not can be judged by judging whether a vehicle reaches a target parking space or not; or whether parking is finished is judged by judging whether the vehicle reaches the end position on the parking path automatically planned when parking.
According to the technical scheme disclosed by the embodiment of the invention, in the provided automatic parking scheme, the target output torque at the next moment can be obtained according to the target acceleration of the vehicle at the next moment and the vehicle speed at the current moment, so that the corresponding actual output torque at the next moment can be obtained.
Further, referring to fig. 2, in the technical solution disclosed in the above embodiment of the present invention, after the parking control command is obtained before the target acceleration at the next time is obtained, that is, a step S1011 needs to be performed between steps S101 and S102, it is determined that the vehicle meets an automatic parking condition, and if the parking condition is met, the step S102 is continued, where the parking condition may be specifically that the vehicle speed at the current time of the vehicle is within a preset vehicle speed range, and the position of the shifter of the vehicle is located in the parking position. Specifically, whether the vehicle meets the parking condition or not is judged, the current moment vehicle speed V of the vehicle can be detected through the VCU, whether the current moment vehicle speed V is within a preset parking vehicle speed range or not is judged, if yes, whether the gear position GearPosition of a Gear Shifter (GSM) meets the parking condition or not (in a P gear state) is judged, if both the judgment results are yes, the vehicle meets the automatic parking condition, and the subsequent steps are continuously executed, wherein the preset parking vehicle speed can be set automatically according to the requirements of users, for example, the value range of the preset parking vehicle speed is (-1Km/s, 1Km/s) in the technical scheme disclosed by the embodiment of the invention, and when the vehicle speed is a negative number, the vehicle is in a reverse state; and if the two judgment conditions cannot be met simultaneously, determining to continue waiting for the preset time length or quitting the torque control process according to the specific real vehicle condition.
In correspondence to the above method, the present invention also discloses an automatic parking torque control apparatus, and referring to fig. 4, the storage medium may include:
a memory 11 and a processor 12;
the automatic parking torque control device further comprises a communication interface 13 and a communication bus 14, wherein the memory 11, the processor 12 and the communication interface 13 are communicated with each other through the communication bus 14.
The memory 11 is used for storing program codes; the program code includes computer operational instructions.
The memory 11 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor 11 may be a central processing unit CPU or an Application Specific Integrated Circuit ASIC or one or more Integrated circuits configured to implement embodiments of the present invention. The processor 11 is configured to call the program code, and when the program code is executed, is configured to execute any one of the automatic parking torque control methods described above in the present application.
For example, it may be used to perform the following operations:
obtaining a parking control instruction;
acquiring the current time speed of the vehicle;
acquiring the target acceleration at the next moment;
calculating to obtain a target output torque of the vehicle at the next moment matched with the target acceleration at the next moment according to the vehicle speed at the current moment and the target acceleration at the next moment;
calculating the actual output torque of the vehicle at the next moment according to the target output torque at the next moment;
and the time interval between the current moment and the next moment is a preset calculation period.
Corresponding to the method, the processor 12 is further configured to, after the obtaining of the parking control instruction and before the obtaining of the target acceleration at the next time, perform:
judging whether the vehicle state meets the automatic parking condition, if so, executing the target acceleration at the next moment; if not, the torque control process is quitted.
Corresponding to the method, when determining whether the vehicle state meets the automatic parking condition, the processor is specifically configured to perform the following actions:
judging whether the current time vehicle speed of the vehicle is within a preset vehicle speed range;
and when the current vehicle speed is within the preset vehicle speed range, judging whether the position of a shifter of the vehicle is located at a parking gear, if so, indicating that the vehicle is in a stop state, otherwise, indicating that the vehicle is not in the stop state.
Corresponding to the method, the processor is specifically configured to perform the following actions when acquiring the target acceleration of the vehicle at the next time:
acquiring a target speed of the vehicle at the next moment;
and calculating to obtain the target acceleration at the next moment according to the current moment vehicle speed of the vehicle and the target speed at the next moment.
Corresponding to the above method, when the processor calculates the target acceleration at the next time according to the current time vehicle speed of the vehicle and the target speed at the next time, the processor is specifically configured to perform the following actions:
obtaining the vehicle speed change rate of the vehicle at the next moment, the current moment and the continuous previous N moments by using a least square method; wherein N is a preset value not less than 1;
and calculating the average value of all the vehicle speed change rates to obtain the target acceleration at the next moment.
Corresponding to the above method, when the processor calculates the target output torque at the next time matched with the target acceleration at the next time, the processor is specifically configured to perform the following actions:
and calculating according to an automobile dynamic equation to obtain the target output torque at the next calculation moment matched with the target acceleration at the next moment.
Corresponding to the method, when the processor calculates the target output torque at the next time matched with the target acceleration at the next time, the processor is specifically configured to perform the following actions, including:
acquiring the target output torque at the next moment matched with the current moment vehicle speed and the target acceleration at the next moment from a preset mapping table; wherein,
the preset mapping table prestores target output torque values at the next moment, which are matched with the vehicle speeds at the current moment and the target acceleration at the next moment;
at this time, when the processor calculates the actual output torque of the vehicle at the next time according to the target output torque at the next time, the processor is specifically configured to perform the following actions:
and calculating the actual output torque of the vehicle at the next moment according to the target output torque at the next moment.
Corresponding to the above method, the processor performs the functions of torque filtering and limiting when calculating the actual output torque at the next time, and the specific contents can be referred to the contents of the filtering and limiting part in step S105.
For convenience of description, the above system is described with the functions divided into various modules, which are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations of the invention.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An automatic parking torque control method characterized by comprising:
obtaining a parking control instruction;
acquiring the current time speed of the vehicle;
acquiring a target acceleration at the next moment, wherein the target acceleration at the next moment refers to the target acceleration of the vehicle at the next moment;
calculating to obtain a target output torque of the vehicle at the next moment matched with the target acceleration at the next moment according to the vehicle speed at the current moment and the target acceleration at the next moment;
calculating the actual output torque of the vehicle at the next moment according to the target output torque at the next moment;
the current time and the next time are separated by a preset time interval;
the calculating the actual output torque of the vehicle at the next moment according to the target output torque at the next moment comprises the following steps:
acquiring an actual output torque value of the vehicle at the current moment;
acquiring a torque increase and decrease allowance value matched with the current-moment vehicle speed and the current-moment actual output torque value by a preset torque gradient value change table;
calculating the sum of an increase threshold value in the torque increase and decrease margin value and the actual output torque value at the current moment to obtain a first sum value;
calculating the difference between the actual output torque value at the current moment and a subtraction threshold value in the torque increase and decrease margin value to obtain a first difference value;
when the actual output torque at the current moment is not greater than the target output torque at the next moment, taking the smaller value of the target output torque at the next moment and the first sum as the target filtering torque at the next moment;
and when the actual output torque at the current moment is larger than the target output torque at the next moment, taking the larger value of the first difference value and the target output torque at the next moment as the target filtering torque at the next moment.
2. The automatic parking torque control method according to claim 1, further comprising, after the obtaining of the parking control command and before the obtaining of the target acceleration at the next time:
judging whether the vehicle state meets the automatic parking condition, if so, executing the target acceleration at the next moment; if not, the torque control process is quitted.
3. The automatic parking torque control method according to claim 2, wherein the automatic parking condition includes:
the current-time vehicle speed of the vehicle is within a preset vehicle speed range, and the position of a gear shifter of the vehicle is located in a parking gear.
4. The automatic parking torque control method according to claim 1, wherein the acquiring of the target acceleration at the next time includes:
acquiring a target speed of the vehicle at the next moment;
and calculating to obtain the target acceleration at the next moment according to the current moment vehicle speed of the vehicle and the target speed at the next moment.
5. The automatic parking torque control method according to claim 4, wherein the calculating of the target acceleration at the next time from the current time vehicle speed and the target speed at the next time of the vehicle includes:
obtaining the vehicle speed change rate of the vehicle at the next moment, the current moment and the continuous previous N moments by using a least square method; wherein N is a preset value not less than 1;
and calculating the average value of all the vehicle speed change rates to obtain the target acceleration at the next moment.
6. The automatic parking torque control method according to claim 1, wherein the calculating a target output torque at a next time that matches the target acceleration at the next time includes:
and calculating to obtain the target output torque at the next moment matched with the target acceleration at the next moment according to an automobile dynamic equation.
7. The automatic parking torque control method according to claim 1, wherein the calculating a target output torque at a next time that matches the target acceleration at the next time includes:
acquiring the target output torque at the next moment matched with the current moment vehicle speed and the target acceleration at the next moment from a preset mapping table; wherein,
and the preset mapping table prestores target output torque values at the next moment, which are matched with the vehicle speed at each current moment and the target acceleration at each next moment.
8. The automatic parking torque control method according to claim 1, wherein the calculating an actual output torque at the next time includes:
acquiring the maximum output torque determined according to the maximum available power of the vehicle-mounted battery at the current moment and the motor rotating speed at the current moment under the current running state;
taking the smaller value of the maximum output torque and the preset highest parking torque as the torque output upper limit;
if the target filtering torque at the next moment is smaller than the torque output upper limit, updating the actual output torque at the next moment to be the target filtering torque at the next moment;
and if the target filtering torque at the next moment is not less than the torque output upper limit, updating the actual output torque at the next moment to be the torque output upper limit.
9. An automatic parking torque control device, characterized by comprising: a memory and a processor;
the memory stores a program adapted to be executed by the processor to implement the automatic parking torque control method according to any one of claims 1 to 8.
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| CN109871044B (en) * | 2019-03-19 | 2022-04-01 | 北京经纬恒润科技股份有限公司 | Rotating speed tracking method and device |
| CN110466531B (en) * | 2019-08-30 | 2021-10-12 | 广州小鹏汽车科技有限公司 | Vehicle driving control method and system and vehicle |
| CN113442907B (en) * | 2020-03-24 | 2023-12-01 | 广州汽车集团股份有限公司 | Method and device for controlling vehicle speed under low-speed working condition |
| CN111605546B (en) * | 2020-04-29 | 2022-08-02 | 宁波吉利汽车研究开发有限公司 | Automatic parking control method, device and equipment for electric automobile and parking system |
| CN111845718B (en) * | 2020-06-19 | 2022-11-22 | 浙江吉利汽车研究院有限公司 | Automatic parking method and device based on vehicle state and vehicle |
| CN111791881B (en) * | 2020-07-17 | 2021-09-21 | 上海汽车集团股份有限公司 | Automatic parking method and device |
| CN111806251A (en) * | 2020-07-28 | 2020-10-23 | 摩登汽车有限公司 | Control method for automatic parking torque of electric automobile |
| CN112519755B (en) * | 2020-12-09 | 2022-05-03 | 奇瑞汽车股份有限公司 | Parking torque determination method and device |
| CN112606828B (en) * | 2020-12-11 | 2022-02-01 | 东风汽车集团有限公司 | Automatic parking control device and method and vehicle |
| CN117235978A (en) * | 2023-08-16 | 2023-12-15 | 阿尔特汽车技术股份有限公司 | Torque filtering method and device |
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| CN106740267A (en) * | 2017-01-25 | 2017-05-31 | 北京新能源汽车股份有限公司 | Control method and system for output torque |
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