CN111546903B - Determination method, device and equipment of coasting torque and storage medium - Google Patents

Determination method, device and equipment of coasting torque and storage medium Download PDF

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Publication number
CN111546903B
CN111546903B CN202010338588.7A CN202010338588A CN111546903B CN 111546903 B CN111546903 B CN 111546903B CN 202010338588 A CN202010338588 A CN 202010338588A CN 111546903 B CN111546903 B CN 111546903B
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sliding
vehicle
vehicle speed
determining
speed
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CN111546903A (en
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杨云波
钟云锋
赵鹏遥
王昊
武斐
承学军
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Changchun Automotive Test Center Co ltd
FAW Group Corp
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FAW Group Corp
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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
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/26—Vehicle weight
    • 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
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining a sliding torque. The method comprises the following steps: when the fact that the vehicle enters a sliding state is detected, obtaining the sliding starting speed of the vehicle, and determining the sliding ending speed according to the sliding starting speed; determining the hundred kilometers of power consumption corresponding to the current working condition of the vehicle; determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption; determining a sliding torque according to the optimal sliding deceleration and vehicle operation parameters, and writing the sliding torque into a vehicle control unit, so that the vehicle control unit controls a motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance. According to the method for determining the sliding torque, provided by the embodiment of the invention, the recovered sliding torque is converted into energy for the vehicle to run, so that the driving range of the whole electric vehicle can be increased, and the utilization rate of electric energy is increased.

Description

Determination method, device and equipment of coasting torque and storage medium
Technical Field
The embodiment of the invention relates to the technical field of vehicle sliding torque determination, in particular to a method, a device, equipment and a storage medium for determining sliding torque.
Background
The pure electric vehicle has the advantages of zero emission, low energy consumption and the like, and is more and more widely applied in daily life. However, the driving range of the pure electric vehicle is short due to the limitation of the energy density of the battery. In order to improve the driving range of the pure electric vehicle, the deceleration of the vehicle is realized by providing negative torque recovery energy through the motor under the sliding or braking working condition, and the method is an effective means for improving the driving range. In the prior art, for the utilization of sliding and braking energy recovery, the driving performance of the whole vehicle is considered, and the deceleration of the vehicle under the same working condition is ensured to be consistent within the recovery capacity range of the motor. On one hand, the recovery rate of the recovered energy is considered, and the maximum capacity of the motor is used as much as possible so as to ensure that all the energy can be recovered. In the prior art, control is not performed from the perspective of the driving range of the whole vehicle, because the high recovery rate of recovered energy means that the deceleration of the vehicle is large, the sliding distance of the vehicle is short, energy recovery is performed at the expense of the driving distance of the vehicle during sliding, and whether the improvement of the driving range of the whole vehicle is beneficial or not is uncertain, so a control method for determining the recovery torque of the whole vehicle from the perspective of the improvement of the driving range of the whole vehicle is needed.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining a sliding torque, which can improve the driving range of a whole electric vehicle, thereby improving the utilization rate of electric energy.
In a first aspect, an embodiment of the present invention provides a method for determining a creep torque, including:
when the fact that the vehicle enters a sliding state is detected, obtaining the sliding starting speed of the vehicle, and determining the sliding ending speed according to the sliding starting speed;
determining the hundred kilometers of power consumption corresponding to the current working condition of the vehicle;
determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption;
determining a sliding torque according to the optimal sliding deceleration and vehicle operation parameters, and writing the sliding torque into a vehicle control unit, so that the vehicle control unit controls a motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance. .
In a second aspect, an embodiment of the present invention further provides a device for determining a creep torque, including:
the device comprises a sliding vehicle speed acquisition module, a sliding vehicle speed determination module and a sliding vehicle speed determination module, wherein the sliding vehicle speed acquisition module is used for acquiring the sliding starting vehicle speed of a vehicle when the vehicle is detected to enter a sliding state, and determining the sliding ending vehicle speed according to the sliding starting vehicle speed;
the power consumption determining module is used for determining the power consumption of the hundred kilometers corresponding to the current working condition of the vehicle;
the optimal sliding deceleration is used for determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption;
the vehicle control device comprises a vehicle control module, a sliding torque determining module, a vehicle driving module and a vehicle driving module, wherein the vehicle control module is used for determining a sliding torque according to the optimal sliding deceleration and vehicle running parameters and writing the sliding torque into a vehicle control unit so that the vehicle control unit controls a motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method for determining the creep torque according to the embodiment of the present invention when executing the computer program.
In a fourth aspect, the embodiment of the invention provides a vehicle, which includes a determination device of a coasting torque, and the determination device of the coasting torque is used for implementing the determination method of the coasting torque according to the embodiment of the invention.
According to the embodiment of the invention, when a vehicle is detected to enter a sliding state, the sliding starting speed of the vehicle is obtained, the sliding ending speed is determined according to the sliding starting speed, then the power consumption of one hundred kilometers corresponding to the current working condition of the vehicle is determined, then the optimal sliding deceleration is determined according to the sliding speed interval and the power consumption of one hundred kilometers, which are formed by the sliding starting speed and the sliding ending speed, and finally the sliding torque is determined according to the optimal sliding deceleration and vehicle operation parameters, and the sliding torque is written into the vehicle controller, so that the vehicle controller controls the motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance. According to the method for determining the sliding torque, provided by the embodiment of the invention, the recovered sliding torque is converted into energy for the vehicle to run, so that the driving range of the whole electric vehicle can be increased, and the utilization rate of electric energy is increased.
Drawings
FIG. 1 is a flow chart of a method of determining creep torque according to one embodiment of the present invention;
FIG. 2 is a graph of the deceleration rate of a certain coasting vehicle speed interval and a certain one hundred kilometers of power consumption versus the form mileage in accordance with one embodiment of the present invention;
FIG. 3 is a graph of the deceleration of a certain coasting vehicle speed interval and different hundreds of kilometers of power consumption versus the form mileage in accordance with one embodiment of the present invention;
fig. 4 is a schematic diagram of a third information association table according to a first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a coasting torque determination device according to a second embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a computer device according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for determining a creep torque according to an embodiment of the present invention, where the embodiment is applicable to determining a creep torque of an electric vehicle, and the method may be executed by a device for determining a creep torque, as shown in fig. 1, where the method specifically includes the following steps:
and step 110, when the vehicle is detected to enter the sliding state, acquiring the sliding starting vehicle speed of the vehicle, and determining the sliding ending vehicle speed according to the sliding starting vehicle speed.
The coasting state can be understood as a state that a driver releases an accelerator, the coasting start speed is a vehicle speed when the driver completely releases the accelerator, and the coasting end speed is a vehicle speed when the driver steps on the accelerator again or steps on the brake.
Specifically, the manner of determining the coasting end vehicle speed from the coasting start vehicle speed may be: and searching the coasting ending vehicle speed corresponding to the coasting starting vehicle speed from the first information association table.
Optionally, the manner of creating the first information association table may be: acquiring a sliding starting speed and a sliding ending speed in the sliding process in actual driving of a user; clustering the collected sliding starting vehicle speed and sliding ending vehicle speed to obtain the corresponding relation between the sliding starting vehicle speed and the sliding ending vehicle speed; and establishing a first information association table according to the corresponding relation.
Optionally, the manner of creating the first information association table may be: creating an initial first information association table; when the vehicle is detected to enter a sliding state, acquiring a sliding starting vehicle speed, and searching an initial sliding ending vehicle speed corresponding to the sliding starting vehicle speed from the initial first information association table; acquiring the actual sliding finish speed of a user in the driving process; judging whether the difference value between the sliding starting vehicle speed and the actual sliding finishing vehicle speed is greater than a first threshold value or not; if so, judging whether the difference value between the actual sliding ending vehicle speed and the initial sliding ending vehicle speed is greater than a second threshold value; if so, accumulating 1 by the updating counter of the first information association table, and judging whether the value of the updating counter is greater than a third threshold value; if the initial sliding speed is greater than the preset value, adjusting the initial sliding speed corresponding to the sliding starting speed in the initial first information association table to a first set value, and enabling the value of the updated counter to return to 0; otherwise, no adjustment is made.
The difference between the coasting start vehicle speed and the coasting end vehicle speed in the initial first information association table may be a fixed value, such as 2 km/h. The first set value may be 0.5. In the embodiment, if the actual sliding ending vehicle speed is greater than the initial sliding ending vehicle speed, the sliding starting vehicle speed is increased by a first set value in the initial first information association table; and if the actual sliding ending vehicle speed is less than the initial sliding ending vehicle speed, reducing the initial sliding vehicle speed corresponding to the sliding starting vehicle speed in the initial first information association table by a first set value.
And step 120, determining the hundred kilometers of power consumption corresponding to the current working condition of the vehicle.
Wherein, the consumption of electricity in hundred kilometers can be understood as the amount of electricity consumed by a vehicle running in one hundred kilometers.
Specifically, the current speed of the vehicle corresponding to the current working condition of the vehicle is determined, and the method for determining the power consumption of hundreds of kilometers corresponding to the current working condition of the vehicle may be: and looking up the power consumption of hundreds of kilometers corresponding to the current speed of the vehicle from the second information association table.
Optionally, the manner of creating the second information association table may be: dividing the vehicle speed into a plurality of vehicle speed intervals, and acquiring theoretical hundred kilometers of power consumption corresponding to each vehicle speed interval to establish a second information association table; accumulating and calculating actual hundred kilometers of power consumption corresponding to each speed interval of the vehicle in the running process; for each vehicle speed interval, judging whether the difference value between the actual hundred-kilometer power consumption and the theoretical hundred-kilometer power consumption is greater than a fourth threshold value or not; if so, accumulating the update counter of the second information association table by 1, and judging whether the value of the accumulated update counter is greater than a fifth threshold value; if the current power consumption is larger than the set value, adjusting the theoretical hundred kilometers of power consumption corresponding to the vehicle speed interval in the second information association table to a second set value, and returning the value of the updated counter to 0; otherwise, no adjustment is made.
Optionally, the method for determining the hundred kilometers of power consumption corresponding to the current working condition of the vehicle may be: the current working condition of the vehicle is the working condition in a set time period before the vehicle starts to slide; judging whether the starting time of the vehicle exceeds the set time or not; if the power consumption does not exceed the preset value, determining the third set value as the power consumption of hundreds of kilometers; and if the current is over, calculating the power consumption of the vehicle in the set time, and determining the power consumption as the final power consumption of the vehicle in the set time.
Wherein the set time may be set to 10 minutes. The third setting value may be determined by calculating an average vehicle speed of the vehicle from the start to the current time, and acquiring the power consumption of hundreds of kilometers corresponding to the average vehicle speed.
And step 130, determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption.
Here, the deceleration may be understood as a deceleration at which the vehicle changes from the coasting start coasting vehicle speed to the coasting end vehicle speed.
Specifically, the method for determining the optimal coasting deceleration according to the coasting vehicle speed interval composed of the coasting start vehicle speed and the coasting end vehicle speed and the hundred kilometers of power consumption may be: and searching the optimal sliding deceleration corresponding to the sliding vehicle speed interval and the hundred kilometers of power consumption from the third information association table.
Optionally, the manner of creating the third information association table may be: setting a plurality of vehicle sliding speed intervals, a plurality of hundred kilometers of power consumption and deceleration boundary conditions; for each vehicle coasting interval, calculating a coasting mileage at which the vehicle decelerates from a coasting start vehicle speed to a coasting end vehicle speed at each deceleration in the deceleration boundary conditions, and a required coasting torque; determining recoverable energy according to the sliding torque, and calculating the actual mileage of the vehicle by utilizing the recoverable energy according to the recoverable energy and the hundred kilometers of power consumption; and accumulating the coasting mileage and the actual mileage, and determining the deceleration corresponding to the accumulated maximum value as the optimal deceleration.
Wherein the formula for determining recoverable energy from creep torque is:
Figure GDA0003321141110000071
Figure GDA0003321141110000072
the formula for calculating the actual mileage of the vehicle using the recoverable energy according to the recoverable energy and the electricity consumption of hundreds of kilometers is as follows:
Figure GDA0003321141110000073
specifically, the process of creating the third information association table is as follows:
3.1, setting a certain vehicle sliding speed interval to be calculated;
3.2 setting a certain hundred kilometers of power consumption to be calculated;
3.3 setting the boundary condition of the vehicle deceleration, wherein the lower limit value of the vehicle deceleration can be set as the vehicle deceleration when the vehicle coasting torque is zero, and the upper limit value of the vehicle deceleration can be set as the maximum coasting deceleration acceptable by the driver in the current vehicle coasting interval;
3.4, selecting a certain vehicle deceleration in the vehicle deceleration boundary conditions, and calculating the coasting mileage of the vehicle when the vehicle to be calculated in 3.1 starts to decelerate from the coasting start speed to the coasting end speed according to the vehicle deceleration;
3.5 calculating the sliding recovery torque required by the vehicle when the vehicle sliding speed interval in 3.1 runs at the vehicle deceleration in 3.4, and converting the sliding recovery torque into the recovered energy on the basis of considering the energy conversion efficiency according to the energy conservation law;
3.6 calculating the actual driving mileage of the vehicle when the energy recovered by the vehicle is reused according to the recovered energy in 3.5 and the hundred kilometers of electricity consumption to be calculated in 3.2;
3.7, adding the mileage stated in 3.4 and the actual mileage of the vehicle when the energy stated in 3.6 is used again to obtain the total mileage driven by a certain vehicle deceleration stated in 3.4;
3.8, repeating the steps of 3.4-3.7, and calculating the total driving mileage of all the vehicle decelerations within the boundary condition of the vehicle deceleration of 3.3;
3.9 selecting the maximum corresponding vehicle deceleration of the total mileage from the total mileage traveled as the optimal vehicle deceleration of the coasting vehicle speed interval described in 3.1 and the corresponding vehicle deceleration of the hundred kilometers of the vehicle power consumption in the third information association table described in 3.2, as shown in fig. 2.
3.10 repeating the steps of 3.2-3.9, and calculating the vehicle sliding deceleration corresponding to the sliding vehicle speed interval in the 3.1 in the third information association table under the condition that different vehicles use electricity consumption of hundreds of kilometers, as shown in fig. 3.
And 3.11, repeating the steps of 3.1-3.10 to obtain the optimal sliding deceleration of the vehicle corresponding to the different vehicle sliding speed intervals and the different vehicle using hundred kilometers of power consumption in the third information association table, as shown in fig. 4.
And 140, determining a sliding torque according to the optimal sliding deceleration and the vehicle operation parameters, and writing the sliding torque into the vehicle control unit, so that the vehicle control unit controls the motor to output the sliding torque.
The vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance. Specifically, the calculation formula of the coasting torque is as follows:
Figure GDA0003321141110000081
wherein: t istqTarget coasting torque, G vehicle weight, f rolling friction coefficient, i road gradient, CDIs the coefficient of air resistance, A is the frontal area, uaRelative vehicle speed, i.e., the traveling speed of the vehicle in the absence of wind, δ is the conversion coefficient of the rotating mass of the vehicle, m is the mass of the vehicle,
Figure GDA0003321141110000082
Acceleration for vehicle running, r tire radius, i0Position transmission ratio, ηTIs the traditional efficiency.
According to the technical scheme of the embodiment, when the vehicle is detected to enter a sliding state, the sliding starting speed of the vehicle is obtained, the sliding ending speed is determined according to the sliding starting speed, then the power consumption of one hundred kilometers corresponding to the current working condition of the vehicle is determined, then the optimal sliding deceleration is determined according to the sliding speed interval and the power consumption of one hundred kilometers, which are formed by the sliding starting speed and the sliding ending speed, and finally the sliding torque is determined according to the optimal sliding deceleration and vehicle operation parameters, and the sliding torque is written into the vehicle controller, so that the vehicle controller controls the motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance. According to the method for determining the sliding torque, provided by the embodiment of the invention, the recovered sliding torque is converted into energy for the vehicle to run, so that the driving range of the whole electric vehicle can be increased, and the utilization rate of electric energy is increased.
Example two
Fig. 5 is a schematic structural diagram of a device for determining a creep torque according to a second embodiment of the present invention. As shown in fig. 5, the apparatus includes:
the sliding vehicle speed obtaining module 210 is configured to obtain a sliding start vehicle speed of the vehicle when it is detected that the vehicle enters a sliding state, and determine a sliding end vehicle speed according to the sliding start vehicle speed;
a hundred kilometers electricity consumption determining module 220, configured to determine a hundred kilometers electricity consumption corresponding to a current working condition of the vehicle;
the optimal sliding deceleration 230 is used for determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption;
a coasting torque determination module 240, configured to determine a coasting torque according to the optimal coasting deceleration and a vehicle operation parameter, and write the coasting torque into a vehicle controller, so that the vehicle controller controls a motor to output the coasting torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance.
Optionally, the coasting vehicle speed obtaining module 210 is further configured to:
searching a sliding ending vehicle speed corresponding to the sliding starting vehicle speed from a first information association table;
optionally, the hundred kilometers electricity consumption determining module 220 is further configured to:
determining the current speed of the vehicle corresponding to the current working condition of the vehicle, and searching the power consumption of hundred kilometers corresponding to the current speed of the vehicle from a second information association table;
optionally, the optimal coasting deceleration 230, is further used to:
and searching the optimal sliding deceleration corresponding to the sliding vehicle speed interval and the hundred-kilometer power consumption from a third information association table.
Optionally, creating the first information association table includes:
acquiring a sliding starting speed and a sliding ending speed in the sliding process in actual driving of a user;
clustering the collected sliding starting vehicle speed and sliding ending vehicle speed to obtain the corresponding relation between the sliding starting vehicle speed and the sliding ending vehicle speed;
and establishing a first information association table according to the corresponding relation.
Optionally, creating the first information association table includes:
creating an initial first information association table;
when the vehicle is detected to enter a sliding state, acquiring a sliding starting vehicle speed, and searching an initial sliding ending vehicle speed corresponding to the sliding starting vehicle speed from the initial first information association table;
acquiring the actual sliding finish speed of a user in the driving process; judging whether the difference value between the sliding starting vehicle speed and the actual sliding finishing vehicle speed is greater than a first threshold value or not;
if so, judging whether the difference value between the actual sliding ending vehicle speed and the initial sliding ending vehicle speed is greater than a second threshold value;
if so, accumulating 1 by an update counter of the first information association table, and judging whether the value of the update counter is greater than a third threshold value;
if so, adjusting the initial coasting vehicle speed corresponding to the coasting start vehicle speed in the initial first information association table to a first set value, and returning the value of the updated counter to 0; otherwise, no adjustment is made.
Optionally, creating the second information association table includes:
dividing the vehicle speed into a plurality of vehicle speed intervals, and acquiring theoretical hundred kilometers of power consumption corresponding to each vehicle speed interval to establish a second information association table;
accumulating and calculating actual hundred kilometers of power consumption corresponding to each speed interval of the vehicle in the running process;
for each vehicle speed interval, judging whether the difference value between the actual hundred kilometer power consumption and the theoretical hundred kilometer power consumption is greater than a fourth threshold value;
if so, accumulating the update counter of the second information association table by 1, and judging whether the value of the accumulated update counter is greater than a fifth threshold value;
if the current power consumption is larger than the set value, adjusting the theoretical hundred kilometers of power consumption corresponding to the vehicle speed interval in the second information association table to a second set value, and returning the value of the updated counter to 0; otherwise, no adjustment is made.
Optionally, creating the third information association table includes:
setting a plurality of vehicle sliding speed intervals, a plurality of hundred kilometers of power consumption and deceleration boundary conditions;
for each vehicle coasting interval, calculating a coasting mileage at which the vehicle decelerates from a coasting start vehicle speed to a coasting end vehicle speed at each deceleration in the deceleration boundary condition, and a required coasting torque;
determining recoverable energy according to the sliding torque, and calculating the actual mileage of the vehicle by utilizing the recoverable energy according to the recoverable energy and the hundred kilometers of electricity consumption;
and accumulating the mileage and the actual mileage, and determining the deceleration corresponding to the accumulated maximum value as the optimal deceleration.
Optionally, the hundred kilometers electricity consumption determining module 220 is further configured to:
the current working condition of the vehicle is a working condition in a set time period before the vehicle starts to slide;
judging whether the starting time of the vehicle exceeds the set time or not;
if the power consumption does not exceed the preset value, determining the third set value as the power consumption of hundreds of kilometers;
and if the current is more than the set time, calculating the power consumption of the vehicle in the set time, and determining the power consumption as the final power consumption in the hundred kilometers.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For details not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the present invention.
EXAMPLE III
Fig. 6 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. FIG. 6 illustrates a block diagram of a computer device 312 suitable for use in implementing embodiments of the present invention. The computer device 312 shown in FIG. 6 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention. Device 312 is a computing device for typical vehicle localization functions.
As shown in FIG. 6, computer device 312 is in the form of a general purpose computing device. The components of computer device 312 may include, but are not limited to: one or more processors 316, a storage device 328, and a bus 318 that couples the various system components including the storage device 328 and the processors 316.
Bus 318 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.
Computer device 312 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 312 and includes both volatile and nonvolatile media, removable and non-removable media.
Storage 328 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 330 and/or cache Memory 332. The computer device 312 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 334 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk-Read Only Memory (CD-ROM), a Digital Video disk (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 318 by one or more data media interfaces. Storage 328 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
Program 336 having a set (at least one) of program modules 326 may be stored, for example, in storage 328, such program modules 326 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which may comprise an implementation of a network environment, or some combination thereof. Program modules 326 generally carry out the functions and/or methodologies of embodiments of the invention as described herein.
The computer device 312 may also communicate with one or more external devices 314 (e.g., keyboard, pointing device, camera, display 324, etc.), with one or more devices that enable a user to interact with the computer device 312, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 312 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 322. Also, computer device 312 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), etc.) and/or a public Network, such as the internet, via Network adapter 320. As shown, network adapter 320 communicates with the other modules of computer device 312 via bus 318. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the computer device 312, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.
Processor 316 executes programs stored in memory device 328 to perform various functional applications and data processing, such as implementing the method of determining creep torque provided by the above-described embodiments of the present invention.
Example four
Fig. 7 is a schematic structural diagram of a vehicle provided by an embodiment of the present invention, and as shown in fig. 7, the vehicle includes a coasting torque determination device according to an embodiment of the present invention, and the device includes: the device comprises a sliding vehicle speed acquisition module, a sliding vehicle speed determination module and a sliding vehicle speed determination module, wherein the sliding vehicle speed acquisition module is used for acquiring the sliding starting vehicle speed of a vehicle when the vehicle is detected to enter a sliding state, and determining the sliding ending vehicle speed according to the sliding starting vehicle speed; the power consumption determining module is used for determining the power consumption of the hundred kilometers corresponding to the current working condition of the vehicle; the optimal sliding deceleration is used for determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption; the vehicle control device comprises a vehicle control module, a sliding torque determining module, a vehicle driving module and a vehicle driving module, wherein the vehicle control module is used for determining a sliding torque according to the optimal sliding deceleration and vehicle running parameters and writing the sliding torque into a vehicle control unit so that the vehicle control unit controls a motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method of determining creep torque, comprising:
when the fact that the vehicle enters a sliding state is detected, obtaining the sliding starting speed of the vehicle, and determining the sliding ending speed according to the sliding starting speed;
determining the hundred kilometers of power consumption corresponding to the current working condition of the vehicle;
determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption;
determining a sliding torque according to the optimal sliding deceleration and vehicle operation parameters, and writing the sliding torque into a vehicle control unit, so that the vehicle control unit controls a motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance.
2. The method of claim 1, wherein determining a coast end vehicle speed from the coast start vehicle speed comprises:
searching a sliding ending vehicle speed corresponding to the sliding starting vehicle speed from a first information association table;
determining the hundred kilometers of power consumption corresponding to the current working condition of the vehicle, comprising the following steps:
determining the current speed of the vehicle corresponding to the current working condition of the vehicle, and searching the power consumption of hundred kilometers corresponding to the current speed of the vehicle from a second information association table;
determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption, wherein the optimal sliding deceleration comprises the following steps:
and searching the optimal sliding deceleration corresponding to the sliding vehicle speed interval and the hundred-kilometer power consumption from a third information association table.
3. The method of claim 2, wherein creating the first information association table comprises:
acquiring a sliding starting speed and a sliding ending speed in the sliding process in actual driving of a user;
clustering the collected sliding starting vehicle speed and sliding ending vehicle speed to obtain the corresponding relation between the sliding starting vehicle speed and the sliding ending vehicle speed;
and establishing a first information association table according to the corresponding relation.
4. The method of claim 2, wherein creating the first information association table comprises:
creating an initial first information association table;
when the vehicle is detected to enter a sliding state, acquiring a sliding starting vehicle speed, and searching an initial sliding ending vehicle speed corresponding to the sliding starting vehicle speed from the initial first information association table;
acquiring the actual sliding finish speed of a user in the driving process; judging whether the difference value between the sliding starting vehicle speed and the actual sliding finishing vehicle speed is greater than a first threshold value or not;
if so, judging whether the difference value between the actual sliding ending vehicle speed and the initial sliding ending vehicle speed is greater than a second threshold value;
if so, accumulating 1 by an update counter of the first information association table, and judging whether the value of the update counter is greater than a third threshold value;
if so, adjusting the initial coasting vehicle speed corresponding to the coasting start vehicle speed in the initial first information association table to a first set value, and returning the value of the updated counter to 0; otherwise, no adjustment is made.
5. The method of claim 2, wherein creating the second information association table comprises:
dividing the vehicle speed into a plurality of vehicle speed intervals, and acquiring theoretical hundred kilometers of power consumption corresponding to each vehicle speed interval to establish a second information association table;
accumulating and calculating actual hundred kilometers of power consumption corresponding to each speed interval of the vehicle in the running process;
for each vehicle speed interval, judging whether the difference value between the actual hundred kilometer power consumption and the theoretical hundred kilometer power consumption is greater than a fourth threshold value;
if so, accumulating the update counter of the second information association table by 1, and judging whether the value of the accumulated update counter is greater than a fifth threshold value;
if the current power consumption is larger than the set value, adjusting the theoretical hundred kilometers of power consumption corresponding to the vehicle speed interval in the second information association table to a second set value, and returning the value of the updated counter to 0; otherwise, no adjustment is made.
6. The method of claim 2, wherein creating the third information association table comprises:
setting a plurality of vehicle sliding speed intervals, a plurality of hundred kilometers of power consumption and deceleration boundary conditions;
for each vehicle coasting interval, calculating a coasting mileage at which the vehicle decelerates from a coasting start vehicle speed to a coasting end vehicle speed at each deceleration in the deceleration boundary condition, and a required coasting torque;
determining recoverable energy according to the sliding torque, and calculating the actual mileage of the vehicle by utilizing the recoverable energy according to the recoverable energy and the hundred kilometers of electricity consumption;
and accumulating the mileage and the actual mileage, and determining the deceleration corresponding to the accumulated maximum value as the optimal deceleration.
7. The method of claim 1, wherein determining the hundred kilometers of power consumption corresponding to the current operating condition of the vehicle comprises:
the current working condition of the vehicle is a working condition in a set time period before the vehicle starts to slide;
judging whether the starting time of the vehicle exceeds the set time or not;
if the power consumption does not exceed the preset value, determining the third set value as the power consumption of hundreds of kilometers;
and if the current is more than the set time, calculating the power consumption of the vehicle in the set time, and determining the power consumption as the final power consumption in the hundred kilometers.
8. A creep torque determination apparatus, comprising:
the device comprises a sliding vehicle speed acquisition module, a sliding vehicle speed determination module and a sliding vehicle speed determination module, wherein the sliding vehicle speed acquisition module is used for acquiring the sliding starting vehicle speed of a vehicle when the vehicle is detected to enter a sliding state, and determining the sliding ending vehicle speed according to the sliding starting vehicle speed;
the power consumption determining module is used for determining the power consumption of the hundred kilometers corresponding to the current working condition of the vehicle;
the optimal sliding deceleration is used for determining the optimal sliding deceleration according to a sliding vehicle speed interval consisting of the sliding starting vehicle speed and the sliding ending vehicle speed and the hundred-kilometer power consumption;
the vehicle control device comprises a vehicle control module, a sliding torque determining module, a vehicle driving module and a vehicle driving module, wherein the vehicle control module is used for determining a sliding torque according to the optimal sliding deceleration and vehicle running parameters and writing the sliding torque into a vehicle control unit so that the vehicle control unit controls a motor to output the sliding torque; the vehicle operation parameters comprise vehicle weight, road gradient, air resistance and rolling resistance.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method of determining creep torque according to any one of claims 1-7.
10. A vehicle characterized by comprising a coasting torque determination device for implementing a coasting torque determination method according to any one of claims 1 to 7.
CN202010338588.7A 2020-04-26 2020-04-26 Determination method, device and equipment of coasting torque and storage medium Active CN111546903B (en)

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