CN110239508B - Vehicle control method, vehicle control system and vehicle with system - Google Patents
Vehicle control method, vehicle control system and vehicle with system Download PDFInfo
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- CN110239508B CN110239508B CN201910380674.1A CN201910380674A CN110239508B CN 110239508 B CN110239508 B CN 110239508B CN 201910380674 A CN201910380674 A CN 201910380674A CN 110239508 B CN110239508 B CN 110239508B
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
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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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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Abstract
The invention relates to the technical field of vehicle control, in particular to a vehicle control method, which comprises the following steps: acquiring the tire pressure of each tire of a vehicle; determining the running working condition of the vehicle according to the acquired tire pressure of each tire; determining a torque distribution coefficient of the vehicle according to the operating condition; and sending a power output signal to a four-wheel drive controller of the vehicle based on the operating condition and the torque distribution coefficient. The invention identifies the running working condition of the vehicle based on the tire pressure signals of the tires, and adjusts the four-wheel drive torque control parameters and the intervention of the traction control system by adopting different torque control strategies according to different running working conditions, thereby ensuring the stable running of the vehicle and improving the running safety. In addition, the invention also provides a vehicle control system and a vehicle with the system.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle control system and a vehicle with the system.
Background
The control strategy of the prior art for tire burst is mainly based on an ABS or ESP system, when the tire burst occurs, the ABS or ESP is used for helping a driver to control the driving direction of an automobile, and a series of actions inside a cockpit are used for protecting the safety of personnel. However, for vehicles that are not equipped with ABS and ESP systems, these strategies will not work.
The prior art strategy only considers the control method of the automobile tire burst in the aspects of controlling steering and protecting the inside of a cab, and requires that the automobile is equipped with an ABS (anti-lock braking system) and/or an ESP (electronic stability program) and other configurations to complete the control, so that the basic cost requirement is high, the requirement on the automobile braking system is high when the tire burst occurs, and even if the ABS and/or ESP and other configurations are equipped, the prior art strategy cannot necessarily play a good safety protection role when the tire burst occurs.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a vehicle control method, a vehicle control system, and a vehicle having the same, which can effectively control the vehicle based on the tire pressure of the vehicle, and which can ensure the driving safety of the vehicle without depending on the configuration such as ABS and/or ESP.
One aspect of the present invention provides a vehicle control method, including: acquiring the tire pressure of each tire of a vehicle; determining the running working condition of the vehicle according to the acquired tire pressure of each tire; determining a torque distribution coefficient of the vehicle according to the operating condition; and sending a power output signal to a four-wheel drive controller of the vehicle based on the operating condition and the torque distribution coefficient.
Preferably, the determining the operating condition of the vehicle according to the acquired tire pressures of the tires comprises: comparing the obtained tire pressure of each tire with a preset first tire pressure threshold value; if the tire pressure of at least one tire is higher than the first tire pressure threshold value, judging that the running condition of the vehicle is a limp control condition; if the tire pressure of each tire is not higher than the first tire pressure threshold value, calculating the tire pressure change rate of each tire; comparing the tire pressure of each tire with a preset tire pressure threshold range, and comparing the tire pressure change rate of each tire with a preset change rate threshold; if the tire pressure of each tire is in the tire pressure threshold range and the tire pressure change rate of each tire is smaller than the change rate threshold, judging that the running working condition of the vehicle is a stable control working condition; and if the tire pressure of at least one tire exceeds the tire pressure threshold range and the tire pressure change rate of at least one tire is not less than the change rate threshold, judging that the running working condition of the vehicle is a pre-explosion control working condition.
Preferably, the determining the torque distribution coefficient of the vehicle according to the operating condition comprises: when the operation working condition is a stable control working condition or a limp control working condition, calculating a tire pressure difference value of the vehicle, and determining a torque distribution coefficient of the vehicle according to the tire pressure difference value and a preset first torque distribution coefficient table; when the operation working condition is a pre-tire-burst control working condition, calculating a tire pressure difference value of the vehicle, determining a first candidate torque distribution coefficient of the vehicle according to the tire pressure difference value and the first torque coefficient table, determining a second candidate torque distribution coefficient of the vehicle according to a tire pressure change rate of the tire and a preset second torque coefficient table, and determining the torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient.
Preferably, the determining a torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient comprises: and taking the maximum value of the rear wheel tire torque coefficient in the first candidate torque distribution coefficient and the rear wheel tire torque coefficient in the second candidate torque distribution coefficient as the rear wheel tire torque coefficient of the vehicle.
Preferably, the sending a power output signal to a four-wheel drive controller of the vehicle based on the operating condition and the torque distribution coefficient comprises: when the operation working condition is a stable control working condition or a pre-explosion control working condition, sending a first power output signal to a four-wheel drive controller of the vehicle so that the four-wheel drive controller controls a driving system of the vehicle to adjust power output according to the torque distribution coefficient; and when the running working condition is a limp running control working condition, sending a second power output signal to a four-wheel drive controller of the vehicle, so that the four-wheel drive controller controls a driving system of the vehicle to adjust power output according to the torque distribution coefficient, and simultaneously starting a traction control system of the vehicle to perform stable control.
Another aspect of the present invention provides a vehicle control system, including: the tire pressure monitoring device is used for monitoring the tire pressure of each tire of the vehicle; the vehicle control unit is used for determining the operation condition of the vehicle according to the tire pressure monitored by the tire pressure monitoring device and determining the torque distribution coefficient of the vehicle according to the operation condition; and the four-wheel drive controller is used for controlling a driving system and a traction control system of the vehicle to output power based on the operating condition and the torque distribution coefficient.
Preferably, the tire pressure monitoring device comprises a plurality of tire pressure sensors, and each tire pressure sensor is communicated with the whole vehicle controller; the tire pressure sensors are respectively arranged on each tire of the vehicle to monitor the tire pressure of the tire in real time and send the monitored tire pressure to the whole vehicle controller.
Preferably, the vehicle control unit comprises a processor, a calculator and a signal generator, wherein the signal generator is respectively communicated with the processor and the calculator; the processor is configured to: comparing the obtained tire pressure of each tire with a preset first tire pressure threshold value; when the tire pressure of at least one tire is higher than the first tire pressure threshold value, determining that the running condition of the vehicle is a limp control condition; when the tire pressure of each tire is not higher than the first tire pressure threshold value, calculating the tire pressure change rate of each tire, comparing the tire pressure of each tire with a preset tire pressure threshold value range, and comparing the tire pressure change rate of each tire with a preset change rate threshold value; when the tire pressure of each tire is in the tire pressure threshold range and the tire pressure change rate of each tire is smaller than the change rate threshold, judging that the running working condition of the vehicle is a stable control working condition; when the tire pressure of at least one tire exceeds the tire pressure threshold range and the tire pressure change rate of at least one tire is not less than the change rate threshold, judging that the running working condition of the vehicle is a pre-explosion control working condition; the calculator is configured to: when the operation working condition is a stable control working condition or a limp control working condition, calculating a tire pressure difference value of the vehicle, and determining a torque distribution coefficient of the vehicle according to the tire pressure difference value and a preset first torque distribution coefficient table; when the operation working condition is a pre-explosion control working condition, calculating a tire pressure difference value of the vehicle, determining a first candidate torque distribution coefficient of the vehicle according to the tire pressure difference value and the first torque coefficient table, determining a second candidate torque distribution coefficient of the vehicle according to a tire pressure change rate of the tire and a preset second torque coefficient table, and determining the torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient; the signal generator is configured to: when the operation working condition is a stable control working condition or a pre-burst control working condition, generating a first power output signal according to the torque distribution coefficient, and sending the first power output signal to the four-wheel drive controller; and when the operation working condition is a limp control working condition, generating a second power output signal according to the torque distribution coefficient, and sending the second power output signal to the four-wheel drive controller.
Preferably, the four-wheel drive controller is connected with a driving system and a traction system of a vehicle, and when the operation working condition is a stable control working condition or a pre-burst control working condition, the four-wheel drive controller controls the driving system to adjust power output according to the torque distribution coefficient according to the first power output signal; and when the operation working condition is a limp-home control working condition, the four-wheel drive controller controls the driving system to adjust power output according to the torque distribution coefficient according to the second power output signal, and simultaneously starts a traction control system of the vehicle to perform stable control.
The present invention also provides a vehicle comprising: a tire; a drive system; a traction control system; and the vehicle control system.
Due to the technical scheme, the invention has the following beneficial effects:
the real-time state of each tire of the vehicle is linked with the four-wheel drive control system of the whole vehicle, the running working condition of the vehicle is identified based on the tire pressure signal of each tire, the four-wheel drive torque control parameter and the intervention of the traction control system are adjusted by adopting different torque control strategies according to different running working conditions, the stable running of the vehicle is ensured, the driving safety is improved, the control of the vehicle is optimized, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a configuration system for a vehicle provided by an embodiment of the present invention;
FIG. 2 is a flow chart of a vehicle control method provided by an embodiment of the present invention;
FIG. 3 is a flow chart of a method of determining an operating condition of a vehicle according to an embodiment of the present invention;
FIG. 4 is a control flow of a vehicle under steady control conditions provided by an embodiment of the present invention;
FIG. 5 is a control flow of a vehicle under pre-puncture control conditions as provided by an embodiment of the present invention;
FIG. 6 illustrates a vehicle control flow for limp home operation provided by embodiments of the present invention;
fig. 7 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The tire burst happens occasionally in the driving process, which is a great hidden danger of traffic accidents and a serious consequence of easy vehicle damage and death. At present, a tire pressure monitoring system is basically configured on a vehicle to monitor the tire pressure in real time, but the inventor finds that the current tire pressure monitoring and the power control of the whole vehicle are not linked, the vehicle cannot effectively control the vehicle based on the tire pressure, and the hidden danger caused by the problem of the vehicle tire cannot be avoided. Therefore, the invention provides a vehicle control scheme, which is used for establishing linkage between tire pressure monitoring and power control of the whole vehicle, controlling the vehicle based on the tire state, keeping the vehicle running stably and ensuring driving safety.
Fig. 1 is a configuration system of a vehicle according to an embodiment of the present invention. Referring to fig. 1, the solution of the present invention can be applied to a four-wheel drive vehicle, where the vehicle is configured with a tire pressure monitoring device (TPMS), a vehicle control unit (ECM), a four-wheel drive controller (AWD), a Traction Control System (TCS), and a driving system, the vehicle control unit is respectively in signal connection with the tire pressure monitoring device and the four-wheel drive controller, and the four-wheel drive controller is further in signal connection with the driving system and the traction control system. The tire pressure monitoring device is used for monitoring the tire pressure of each tire on a vehicle, and the driving system comprises an engine, a motor and the like.
Based on the above vehicle configuration system, an embodiment of the present invention provides a vehicle control method, fig. 2 is a flowchart of the vehicle control method provided by the embodiment of the present invention, please refer to fig. 2, the vehicle control method includes the following steps:
s201, acquiring the tire pressure of each tire of the vehicle.
In one possible embodiment, the tire pressure of each tire of the vehicle may include a left front tire pressure, a right front tire pressure, a left rear tire pressure, and a right rear tire pressure, and the tire pressure of each tire may be obtained through monitoring by a tire pressure monitoring device. Of course, the vehicle may also be configured with more or fewer tires than the above-described embodiments, and the number of tires on the vehicle is not limited by the embodiments of the present invention.
S202, determining the running working condition of the vehicle according to the acquired tire pressure of each tire.
The tire is a grounded rolling component assembled on a vehicle, can support the vehicle body, buffer external impact, realize contact with the road surface and ensure the driving performance of the vehicle, the tire pressure of the tire can reflect the state of the tire, and the running condition of the vehicle can be judged through the tire pressure of the tire.
Fig. 3 is a flowchart of a method for determining an operating condition of a vehicle according to an embodiment of the present invention, and referring to fig. 3, in one possible implementation, determining the operating condition of the vehicle according to the tire pressure of each tire may include:
s301, comparing the acquired tire pressure of each tire with a preset first tire pressure threshold value.
The first tire pressure threshold is used for representing the state of the tire after the tire is punctured, generally speaking, after the tire is punctured, the air pressure in the tire tends to be consistent with the external atmospheric pressure, and therefore the first tire pressure threshold can be determined according to the external atmospheric pressure of the vehicle. And comparing the tire pressure of the tire with the first tire pressure threshold value to judge whether the tire is burst or not.
S302, judging whether the tire pressure of at least one tire is higher than the first tire pressure threshold value, if so, entering the step S309, and if not, entering the step S303.
When the tire pressure of one or more tires in each tire of the vehicle is higher than the first tire pressure threshold value, the fact that the tire burst of the vehicle exists is indicated, and further the running stability of the vehicle is poor, the fact that the vehicle is in a limp control working condition is judged, and vehicle body stability control is needed; on the contrary, when the vehicle has no tire burst, the vehicle running state needs to be further determined.
And S303, calculating the tire pressure change rate of each tire.
Specifically, the tire pressure change rate reflects the change of the tire pressure of the tire in unit time, and the tire pressure change rate can be determined by monitoring the obtained tire pressure data and setting the time period.
S304, comparing the tire pressure of each tire with a preset tire pressure threshold range, and comparing the tire pressure change rate of each tire with a preset change rate threshold.
The tire pressure threshold range refers to a normal value range of the tire pressure, and can be specifically determined according to the model of the vehicle tire and the total mass of the vehicle. During the use process of the tire, the tire pressure changes due to factors such as abrasion and vehicle body quality, the change rate threshold value indicates the stable state of the tire, and the change rate threshold value can be determined by implementing a tire air leakage test.
S305, judging whether the tire pressure of each tire is in the tire pressure threshold range and the tire pressure change rate of each tire is smaller than the change rate threshold, if so, going to step S308, and if not, going to step S306.
When the tire pressure of each tire is in the tire pressure threshold range and the tire pressure change rate of each tire is smaller than the change rate threshold, the condition of each tire of the vehicle is good and the vehicle runs stably.
S306, judging whether the tire pressure of at least one tire exceeds the tire pressure threshold range and the tire pressure change rate of at least one tire is not less than the change rate threshold, if so, entering the step S307, and if not, entering the step S308;
when the tire pressure of at least one tire exceeds the tire pressure threshold range and the tire pressure change rate of at least one tire is not less than the change rate threshold, the tire of the vehicle is possibly punctured, and the vehicle body needs to be stably controlled.
S307, judging that the running working condition of the vehicle is a pre-tire-burst control working condition;
s308, judging the running working condition of the vehicle to be a stable control working condition;
s309, judging that the running working condition of the vehicle is a limp running control working condition.
And S203, determining the torque distribution coefficient of the vehicle according to the operation condition.
In the embodiment of the invention, the running working conditions of the vehicle are divided into a stable control working condition, a pre-explosion control working condition and a limp control working condition, and different torque distribution coefficient determination methods are adopted for different running working conditions.
Specifically, when the operation condition is a stable control condition, the tire pressure difference value of the vehicle is calculated, and the torque distribution coefficient of the vehicle is determined according to the tire pressure difference value and a preset first torque distribution coefficient table.
And when the operation working condition is a limp control working condition, calculating the tire pressure difference value of the vehicle, and determining the torque distribution coefficient of the vehicle according to the tire pressure difference value and a preset first torque distribution coefficient table.
When the operation working condition is a pre-explosion control working condition, calculating a tire pressure difference value of the vehicle, determining a first candidate torque distribution coefficient of the vehicle according to the tire pressure difference value and the first torque coefficient table, determining a second candidate torque distribution coefficient of the vehicle according to a tire pressure change rate of the tire and a preset second torque coefficient table, and determining the torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient.
The tire pressure of each tire comprises a left front tire pressure, a right front tire pressure, a left rear tire pressure and a right rear tire pressure. The tire pressure difference value comprises a front tire pressure difference value, a rear tire pressure difference value and a front tire pressure difference value, wherein the front tire pressure difference value is obtained by subtracting the sum of the left front tire pressure and the right front tire pressure from the sum of the left rear tire pressure and the right rear tire pressure, the front tire pressure difference value is a difference value between the left front tire pressure and the right front tire pressure, and the rear tire pressure difference value is a difference value between the left rear tire pressure and the right rear tire pressure. The tire pressure change rate includes a left front tire pressure change rate, a right front tire pressure change rate, a left rear tire pressure change rate, and a right rear tire pressure change rate, and the calculation of the tire pressure change rate is please refer to the foregoing embodiments, which are not repeated herein.
The first torque coefficient table comprises a mapping relation between the tire pressure difference value and the torque distribution coefficient, and the corresponding torque distribution coefficient can be quickly determined through table lookup under the condition that the tire pressure difference value is obtained. In the first torque coefficient table, the torque distribution coefficient reflects the optimal or better power output state of the vehicle under the condition of the tire pressure difference value corresponding to the torque distribution coefficient, so that the vehicle can be ensured to run stably, and the mapping relation between the tire pressure difference value and the torque distribution coefficient can be obtained according to actual tests.
The second torque coefficient table comprises a mapping relation between the tire pressure change rate and the torque distribution coefficient, and the corresponding torque distribution coefficient can be quickly determined through table lookup under the condition that the tire pressure change rate is obtained. In the second torque coefficient table, the torque distribution coefficient reflects the optimal or better power output state of the vehicle under the condition of the tire pressure change rate corresponding to the torque distribution coefficient, so that the vehicle can be ensured to run stably, and the mapping relation between the tire pressure change rate and the torque distribution coefficient can be obtained according to actual tests.
It should be noted that, in the pre-explosion control condition, determining the torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient may include: and taking the maximum value of the rear wheel tire torque coefficient in the first candidate torque distribution coefficient and the rear wheel tire torque coefficient in the second candidate torque distribution coefficient as the rear wheel tire torque coefficient of the vehicle. In a four-wheel drive vehicle, the output power of the tire is composed of the output power of the front wheel and the output power of the rear wheel, compared with the front wheel, the rear wheel does not relate to steering interference, the torque coefficient of the rear wheel is more accurate, and the torque coefficient of the front wheel tire can be indirectly determined by determining the torque coefficient of the rear wheel tire. In the embodiment of the present invention, the maximum value of the rear tire torque coefficient in the first candidate torque distribution coefficient and the rear tire torque coefficient in the second candidate torque distribution coefficient is selected as the rear tire torque coefficient of the vehicle, and then the front tire torque coefficient is 1 minus the rear tire torque coefficient. For example, in the pre-puncture control condition, if the rear wheel tire torque coefficient in the first candidate torque distribution coefficient is 0.5 and the rear wheel tire torque coefficient in the second candidate torque distribution coefficient is 0.4, the rear wheel tire torque coefficient and the front wheel tire torque coefficient of the vehicle are determined to be 0.5 and 0.5 respectively.
And S204, sending a power output signal to a four-wheel drive controller of the vehicle based on the operation condition and the torque distribution coefficient.
The embodiment performs targeted control on different operation conditions to ensure the running stability and safety of the vehicle. Specifically, when the operation working condition is a stable control working condition or a pre-explosion control working condition, a first power output signal is sent to a four-wheel drive controller of the vehicle, so that the four-wheel drive controller controls a driving system of the vehicle to adjust power output according to the torque distribution coefficient; and when the running working condition is a limp running control working condition, sending a second power output signal to a four-wheel drive controller of the vehicle, so that the four-wheel drive controller controls a driving system of the vehicle to adjust power output according to the torque distribution coefficient, and simultaneously starting a traction control system of the vehicle to perform stable control.
When the vehicle is in a stable control working condition or a pre-tire burst control working condition, the stability of the vehicle is good, the stability of the vehicle body is enhanced by adjusting the torque output of the front wheel and the rear wheel, and safe driving is realized. When the vehicle is in a limp control working condition, the stability of the vehicle is poor, the vehicle is stably controlled in a traction control system intervention mode except that the torque output of the front wheels and the rear wheels is adjusted, and the driving safety is enhanced. According to the embodiment of the invention, the tire pressure of the vehicle is linked with the four-wheel drive control system of the whole vehicle, and the four-wheel drive torque control parameter and the intervention of the traction control system are adjusted according to the real-time condition of the vehicle tire, so that the driving safety is ensured to the maximum extent, and the vehicle controllability is improved.
FIG. 4 is a control flow of a vehicle under steady control conditions provided by an embodiment of the present invention; FIG. 5 is a control flow of a vehicle under pre-puncture control conditions as provided by an embodiment of the present invention; fig. 6 is a control flow of the vehicle in the limp home condition according to the embodiment of the present invention. Referring to fig. 4 to 6, a vehicle control method according to an embodiment of the present invention is described with reference to a four-wheeled vehicle as an example, where the following symbols are used:
p 1: a left front tire pressure;
p 2: a right front wheel tire pressure;
p 3: left rear tire pressure;
p 4: the pressure of the right rear wheel;
ap 1: left front tire pressure rate of change;
ap 2: a right front wheel tire pressure change rate;
ap 3: left rear tire pressure rate of change;
ap 4: the right rear wheel tire pressure change rate;
a: front and rear tire differential pressure values (a ═ p3+ p4-p1-p 2);
b: a front tire differential pressure value (B ═ p1-p 2);
c: rear tyre pressure difference value (C ═ p3-p4)
In the embodiment of the invention, based on tire pressure signals p1, p2, p3 and p4 sent by a TPMS tire pressure monitoring device, an ECM whole vehicle controller identifies and processes tire pressure signals obtained by monitoring the tire pressure monitoring device, calculates a left front wheel tire pressure change rate ap1, a right front wheel tire pressure change rate ap2, a left rear wheel tire pressure change rate ap3 and a right rear wheel tire pressure change rate ap4, a front and rear tire pressure difference value A, a front tire pressure difference value B and a rear tire pressure difference value C, and then identifies three operation conditions: stable control working condition, pre-burst control working condition and limping control working condition.
After the working condition judgment is completed, the whole vehicle controller calculates the torque distribution coefficient of the front wheel and the rear wheel of the vehicle by combining the working condition, the tire pressure difference value and the tire pressure change rate, and then the AWD four-wheel drive control system, the TCS traction control system and the driving system of the vehicle complete the power output control of the vehicle.
Fig. 7 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention. Referring to fig. 7, a vehicle control system 700 of the present embodiment includes a tire pressure monitoring device 710, a vehicle control unit 720, and a four-wheel drive controller 730. The tire pressure monitoring device 710 is used for monitoring the tire pressure of each tire of the vehicle; the vehicle controller 720 is configured to determine an operation condition of the vehicle according to the tire pressure monitored by the tire pressure monitoring device, and determine a torque distribution coefficient of the vehicle according to the operation condition; and the four-wheel drive controller 730 controls a driving system and a traction control system of the vehicle to output power based on the operating condition and the torque distribution coefficient.
The tire pressure monitoring device 710 comprises a plurality of tire pressure sensors, and each tire pressure sensor is communicated with the whole vehicle controller; the tire pressure sensors are respectively arranged on each tire of the vehicle to monitor the tire pressure of the tire in real time and send the monitored tire pressure to the whole vehicle controller.
In one possible implementation, the vehicle control unit 720 includes a processor 721, a calculator 722, and a signal generator 723, which is in communication with the processor and the calculator, respectively.
The processor 721 is configured to: comparing the obtained tire pressure of each tire with a preset first tire pressure threshold value; when the tire pressure of at least one tire is higher than the first tire pressure threshold value, determining that the running condition of the vehicle is a limp control condition; when the tire pressure of each tire is not higher than the first tire pressure threshold value, calculating the tire pressure change rate of each tire, comparing the tire pressure of each tire with a preset tire pressure threshold value range, and comparing the tire pressure change rate of each tire with a preset change rate threshold value; when the tire pressure of each tire is in the tire pressure threshold range and the tire pressure change rate of each tire is smaller than the change rate threshold, judging that the running working condition of the vehicle is a stable control working condition; and when the tire pressure of at least one tire exceeds the tire pressure threshold range and the tire pressure change rate of at least one tire is not less than the change rate threshold, judging that the running working condition of the vehicle is a pre-explosion control working condition.
The calculator 722 is configured to: when the operation working condition is a stable control working condition or a limp control working condition, calculating a tire pressure difference value of the vehicle, and determining a torque distribution coefficient of the vehicle according to the tire pressure difference value and a preset first torque distribution coefficient table; when the operation working condition is a pre-explosion control working condition, calculating a tire pressure difference value of the vehicle, determining a first candidate torque distribution coefficient of the vehicle according to the tire pressure difference value and the first torque coefficient table, determining a second candidate torque distribution coefficient of the vehicle according to a tire pressure change rate of the tire and a preset second torque coefficient table, and determining the torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient.
The signal generator 723 is configured to: when the operation working condition is a stable control working condition or a pre-burst control working condition, generating a first power output signal according to the torque distribution coefficient, and sending the first power output signal to the four-wheel drive controller; and when the operation working condition is a limp control working condition, generating a second power output signal according to the torque distribution coefficient, and sending the second power output signal to the four-wheel drive controller.
Further, the four-wheel drive controller is connected with a driving system and a traction system of the vehicle. When the operation working condition is a stable control working condition or a pre-explosion control working condition, the four-wheel drive controller controls the driving system to adjust power output according to the torque distribution coefficient according to the first power output signal; and when the operation working condition is a limp-home control working condition, the four-wheel drive controller controls the driving system to adjust power output according to the torque distribution coefficient according to the second power output signal, and simultaneously starts a traction control system of the vehicle to perform stable control.
Embodiments of the present invention further provide a vehicle, which includes tires, a driving system, a traction control system, and the vehicle control system described above with reference to fig. 7.
The embodiment of the invention links the real-time state of each tire of the vehicle with the four-wheel drive control system of the whole vehicle, identifies the running working condition of the vehicle based on the tire pressure signal of each tire, and adopts different torque control strategies to adjust the intervention of the four-wheel drive torque control parameter and the traction control system according to different running working conditions, thereby ensuring the stable running of the vehicle, improving the driving safety, optimizing the control of the vehicle and improving the user experience.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A vehicle control method characterized by comprising:
acquiring the tire pressure of each tire of a vehicle;
comparing the obtained tire pressure of each tire with a preset first tire pressure threshold value; if the tire pressure of at least one tire is higher than the first tire pressure threshold value, judging that the running condition of the vehicle is a limp control condition; if the tire pressure of each tire is not higher than the first tire pressure threshold value, calculating the tire pressure change rate of each tire; comparing the tire pressure of each tire with a preset first tire pressure threshold range, and comparing the tire pressure change rate of each tire with a preset change rate threshold; if the tire pressure of each tire is in the first tire pressure threshold range and the tire pressure change rate of each tire is smaller than the change rate threshold, judging that the running working condition of the vehicle is a stable control working condition; if the tire pressure of at least one tire exceeds the first tire pressure threshold range and the tire pressure change rate of at least one tire is not smaller than the change rate threshold, judging that the running working condition of the vehicle is a pre-explosion control working condition;
when the operation working condition is a stable control working condition or a limp control working condition, calculating a tire pressure difference value of the vehicle, and determining a torque distribution coefficient of the vehicle according to the tire pressure difference value and a preset first torque distribution coefficient table; when the operation working condition is a pre-tire-burst control working condition, calculating a tire pressure difference value of the vehicle, determining a first candidate torque distribution coefficient of the vehicle according to the tire pressure difference value and the first torque coefficient table, determining a second candidate torque distribution coefficient of the vehicle according to a tire pressure change rate of the tire and a preset second torque coefficient table, and determining the torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient;
and sending a power output signal to a four-wheel drive controller of the vehicle based on the operating condition and the torque distribution coefficient.
2. The method of claim 1, wherein the determining a torque distribution coefficient for the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient comprises: and taking the maximum value of the rear wheel tire torque coefficient in the first candidate torque distribution coefficient and the rear wheel tire torque coefficient in the second candidate torque distribution coefficient as the rear wheel tire torque coefficient of the vehicle.
3. The method of claim 1, wherein said sending a power output signal to a four-wheel-drive controller of the vehicle based on the operating conditions and the torque distribution coefficient comprises: when the operation working condition is a stable control working condition or a pre-explosion control working condition, sending a first power output signal to a four-wheel drive controller of the vehicle so that the four-wheel drive controller controls a driving system of the vehicle to adjust power output according to the torque distribution coefficient; and when the running working condition is a limp running control working condition, sending a second power output signal to a four-wheel drive controller of the vehicle, so that the four-wheel drive controller controls a driving system of the vehicle to adjust power output according to the torque distribution coefficient, and simultaneously starting a traction control system of the vehicle to perform stable control.
4. A vehicle control system, characterized by comprising: the tire pressure monitoring device is used for monitoring the tire pressure of each tire of the vehicle; the vehicle control unit is used for determining the operation condition of the vehicle according to the tire pressure monitored by the tire pressure monitoring device and determining the torque distribution coefficient of the vehicle according to the operation condition; the four-wheel drive controller is used for controlling a driving system and a traction control system of the vehicle to output power based on the operating condition and the torque distribution coefficient;
the vehicle control unit comprises a processor, a calculator and a signal generator, wherein the signal generator is respectively communicated with the processor and the calculator; the processor is configured to: comparing the obtained tire pressure of each tire with a preset first tire pressure threshold value; when the tire pressure of at least one tire is higher than the first tire pressure threshold value, determining that the running condition of the vehicle is a limp control condition; when the tire pressure of each tire is not higher than the first tire pressure threshold value, calculating the tire pressure change rate of each tire, comparing the tire pressure of each tire with a preset first tire pressure threshold value range, and comparing the tire pressure change rate of each tire with a preset change rate threshold value; when the tire pressure of each tire is in the first tire pressure threshold range and the tire pressure change rate of each tire is smaller than the change rate threshold, judging that the running working condition of the vehicle is a stable control working condition; when the tire pressure of at least one tire exceeds the first tire pressure threshold range and the tire pressure change rate of at least one tire is not smaller than the change rate threshold, judging that the running working condition of the vehicle is a pre-explosion control working condition; the calculator is configured to: when the operation working condition is a stable control working condition or a limp control working condition, calculating a tire pressure difference value of the vehicle, and determining a torque distribution coefficient of the vehicle according to the tire pressure difference value and a preset first torque distribution coefficient table; when the operation working condition is a pre-explosion control working condition, calculating a tire pressure difference value of the vehicle, determining a first candidate torque distribution coefficient of the vehicle according to the tire pressure difference value and the first torque coefficient table, determining a second candidate torque distribution coefficient of the vehicle according to a tire pressure change rate of the tire and a preset second torque coefficient table, and determining the torque distribution coefficient of the vehicle based on the first candidate torque distribution coefficient and the second candidate torque distribution coefficient; the signal generator is configured to: when the operation working condition is a stable control working condition or a pre-burst control working condition, generating a first power output signal according to the torque distribution coefficient, and sending the first power output signal to the four-wheel drive controller; and when the operation working condition is a limp control working condition, generating a second power output signal according to the torque distribution coefficient, and sending the second power output signal to the four-wheel drive controller.
5. The system of claim 4, wherein the tire pressure monitoring device includes a plurality of tire pressure sensors, each of the tire pressure sensors being in communication with the vehicle control unit; the tire pressure sensors are respectively arranged on each tire of the vehicle to monitor the tire pressure of the tire in real time and send the monitored tire pressure to the whole vehicle controller.
6. The system of claim 4, wherein the four-wheel drive controller is connected with a driving system and a traction system of a vehicle, and when the operation condition is a stable control condition or a pre-burst control condition, the four-wheel drive controller controls the driving system to adjust power output according to the torque distribution coefficient according to the first power output signal; and when the operation working condition is a limp-home control working condition, the four-wheel drive controller controls the driving system to adjust power output according to the torque distribution coefficient according to the second power output signal, and simultaneously starts a traction control system of the vehicle to perform stable control.
7. A vehicle, characterized by comprising: a tire; a drive system; a traction control system; and a vehicle control system as claimed in any one of claims 4 to 6.
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| CN105082899B (en) * | 2015-08-06 | 2017-08-04 | 北汽福田汽车股份有限公司 | Vehicle flat tire emergency set, vehicle and control method for vehicle with the device |
| CN105856980A (en) * | 2016-06-07 | 2016-08-17 | 江西凯马百路佳客车有限公司 | Passenger-car rollover early-warning method based on tire pressure monitoring |
| KR20190016643A (en) * | 2017-08-08 | 2019-02-19 | 주식회사 만도 | Steering control apparatus for steer-by-wire system and method thereof |
| CN108860151A (en) * | 2018-07-10 | 2018-11-23 | 江西凯马百路佳客车有限公司 | A kind of pure electric car drive system energy-saving control method |
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