CN111959513A - Control method for smooth torque transition of driver - Google Patents
Control method for smooth torque transition of driver Download PDFInfo
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- CN111959513A CN111959513A CN202010737357.3A CN202010737357A CN111959513A CN 111959513 A CN111959513 A CN 111959513A CN 202010737357 A CN202010737357 A CN 202010737357A CN 111959513 A CN111959513 A CN 111959513A
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- 230000007704 transition Effects 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000003247 decreasing effect Effects 0.000 claims abstract description 19
- 230000000737 periodic effect Effects 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
-
- 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
- B60W40/08—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 drivers or passengers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a control method for smooth transition of driver torque, which specifically comprises the following steps of S1: obtaining the current mode Torque through the current driving mode or gear or accelerator pedal opening of the vehiclePreModeReqTransition factor TransfactorAnd the transition factor gradient Valueramp(ii) a Step S2: obtaining the target mode Torque through the target driving mode or gear or accelerator pedal opening of the vehicleCurrentModeReq(ii) a Step S3: by unit time TperiodCumulative transition factor gradient ValuerampCarrying out periodic increment to obtain incremental transition factor Increasefactor(ii) a Step S4: by unit time TperiodCumulative subtraction transition factor gradient ValuerampCarrying out periodic decrement to obtain a decreasing transition factor Decreasefactor(ii) a Step S5: calculating the driver demand TorqueDriveRamp＝Increasefactor*TorqueCurrentModeReq+Decreasefactor*TorquePreModeReq(ii) a The smooth transition control is carried out on the sudden change of the driver request torque, so that the driving performance and the comfort of the whole vehicle are improved, and the control method has good robustness and portability.
Description
Technical Field
The invention belongs to the technical field of automobile control, and particularly relates to a control method for smooth torque transition of a driver.
Background
At the present stage, the power request in the automobile driving process comes from the torque request of a driver, and the driver steps on an accelerator pedal to realize the change of the driving torque of the automobile;
with the complexity of the power architecture and the power function of the automobile being improved, the automobile can be switched and used in multiple driving modes or driving modes, when a driver steps on an accelerator pedal, the automobile is switched in the driving modes or the driving modes, and in the process, the phenomenon that torque intervention of the driver is unsmooth in different driving modes or driving modes can occur; the front and back mode switching enables the torque gradient of a driver to change, and the influence on the driving performance and the comfort of the whole vehicle is large.
Disclosure of Invention
The invention provides a control method for smooth transition of driver torque, which improves or improves the driving performance and comfort of the whole vehicle by performing smooth transition control on the suddenly-changed driver request torque, and has good robustness and portability.
In order to achieve the purpose, the invention adopts the technical scheme that: a control method for smooth torque transition of a driver specifically comprises the following steps
Step S1: obtaining the current mode Torque through the current driving mode or gear or accelerator pedal opening of the vehiclePreModeReqTransition factor TransfactorAnd the transition factor gradient Valueramp；
Step S2: obtaining the target mode Torque through the target driving mode or gear or accelerator pedal opening of the vehicleCurrentModeReq；
Step S3: by unit time TperiodCumulative transition factor gradient ValuerampCarrying out periodic increment to obtain an increasing transition factor lncreasefactor；
Step S4: by unit time TperiodCumulative subtraction transition factor gradient ValuerampCarrying out periodic decrement to obtain a decreasing transition factor Decreasefactor；
Step S5: the driver-required torque is calculated,
TorqueDriveRamp＝Increasefactor*TorqueCurrentModeReq+Decreasefactor*TorquePreModeReq。
preferably, the transition factor Trans in step S1factorTorque for current modePreModeReqA clockwise transition factor in the state.
Preferably, the incremental transition factor Increase in step S3factorIn the range of [0-1]。
Preferably, the decreasing transition factor Decrease in step S4factorIn the range of [0-1]。
The beneficial effect of adopting above technical scheme is:
1. according to the control method for smooth transition of the driver torque, smooth transition control is carried out on the suddenly-changed driver request torque, the driving performance and the comfort of the whole vehicle are improved, and the control method has good robustness and portability.
2. Increase of transition factor IncreasefactorAccumulating the gradient Value of the transition factor based on the current system operation periodrampImplemented so that the transition factor TransfactorIntroduce undesirable driver torque flare problems as system operating times continue to increase, soDuring the period of time when the driving mode or gear shift or accelerator pedal stroke change is completed, the incremental transition factor Increase is neededfactorLimiting the range of the Increate to be less than or equal to 0factor≤1；
Due to decreasing transition factor DecreasefactorIs increasing transition factor IncreatasefactorSynchronously varied, determining a decreasing transition factor Decrease by the physical behaviour of the driver torque variationfactorNeed to complement the increasing transition factor IncreatasefactorSo that the Torque request of the driver can be ensured in the process of changing the driving mode or gear shifting or the travel of the accelerator pedalDriveRampSo as to Decrease the transition factor gradientfactor1-increasing transition factor Increasefactor(ii) a The decreasing transition factor Decrease is also needed to improve the robustness of the systemfactorLimiting the range of the reduction to be more than or equal to 0factor≤1。
3. Requesting Torque by driverDriveModeReqIncreasing transition factor IncreatefactorAnd decreasing the transition factor DecreasefactorRealizing the Torque required by the driver of the whole vehicleDriveRampSmoothing treatment;
driver requested TorqueDriveModeReqIncluding the current oncoming target mode TorqueCurrentModeReqAnd the current mode Torque to be exitedPreModeReqIn order to realize smooth transition of the driver torque in the mode switching process, increasing the transition factor Increase is adoptedfactorAnd the target mode Torque to be enteredCurrentModeReqMultiplying to obtain the driver requested Torque of the incremental transition factorCurrentModeRampReq(ii) a While decreasing the transition factor DecreasefactorAnd the current mode Torque to be exitedPreModeReqMultiplying to obtain a decreasing transition factor driver requested TorquePreModeRampReq(ii) a Finally, the Torque requested by the driver of the whole vehicleDriveRamp＝TorqueCurrentModeRampReq+TorquePreModeRampReqThe torque is finally controlled by the whole vehicleThe torque distribution of the device is embodied at the wheel end, and the function of smooth transition of the torque of a driver of the whole vehicle is realized.
Drawings
FIG. 1 is a control block diagram of a smooth transition of driver torque;
FIG. 2 is a diagram of a transition factor mathematical transformation process;
FIG. 3 is a table of transition factor mathematical variations;
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
As shown in fig. 1, fig. 2 and fig. 3, the present invention is a method for controlling smooth transition of driver torque, which improves or improves the driving performance and comfort of the entire vehicle by performing smooth transition control on the abrupt change of driver request torque, and the control method has good robustness and portability.
Specifically, as shown in fig. 1, 2 and 3, the method specifically includes the following steps
Step S1: obtaining the current mode Torque through the current driving mode or gear or accelerator pedal opening of the vehiclePreModeReqTransition factor TransfactorAnd the transition factor gradient Valueramp；
Step S2: obtaining the target mode Torque through the target driving mode or gear or accelerator pedal opening of the vehicleCurrentModeReq；
Step S3: by unit time TperiodCumulative transition gradient ValuerampCarrying out periodic increment to obtain incremental transition factor Increasefactor；
Step S4: by unit time TperiodDecreasing transition gradient ValuerampCarrying out periodic decrement to obtain a decreasing transition factor Decreasefactor；
Step S5: the driver-required torque is calculated,
TorqueDriveRamp＝Increasefactor*TorqueCurrentModeReq+Decreasefactor*TorquePreModeReq。
transition factor Trans in the step S1factorTorque for current modePreModeReqA clockwise transition factor in the state.
Increasing the transition factor Increase in the step S3factorIn the range of [0-1]。
Decreasing the transition factor decreasel in the step S4factorIn the range of [0-1]。
The following specific working modes are illustrated by specific examples:
example 1:
the driver behavior monitoring section realizes the current mode Torque by the driving mode, the gear and the accelerator openingPreModeReqTransition factor TransfactorAnd the transition factor gradient ValuerampConfirmation of (1);
when the driver selects a different driving mode (ECO, Normal, Sport), if the driving mode is changed, the target mode Torque is obtained at this timeCurrentModeReqThen through a unit time TperiodCumulative transition gradient ValuerampCarrying out periodic increment to obtain incremental transition factor Increasefactor(ii) a By unit time TperiodDecreasing transition gradient ValuerampCarrying out periodic decrement to obtain a decreasing transition factor Decreasefactor(ii) a The driver required torque is then calculated,
TorqueDriveRamp＝Increasefactor*TorqueCurrentModeReq+Decreasefactor* TorquePreModeReq
by increasing the transition factor IncreatasefactorTorque target modeCurrentModeReqDown, by decreasing the transition factor DecreasefactorThe net is raised, the smooth transition control is carried out on the sudden change of the driver request torque, the driving performance and the comfort of the whole vehicle are improved, and the control method has good robustness andand (4) transplanting property.
Example 2:
the driver behavior monitoring section realizes the current mode Torque by the driving mode, the gear and the accelerator openingPreModeReqTransition factor TransfactorAnd the transition factor gradient ValuerampConfirmation of (1);
when the driver selects a different gear (P/N, R, D), if the gear is changed, the target mode Torque is obtained at this timeCurrentModeReqThen through a unit time TperiodCumulative transition gradient ValuerampCarrying out periodic increment to obtain incremental transition factor Increasefactor(ii) a By unit time TperiodDecreasing transition gradient ValuerampCarrying out periodic decrement to obtain a decreasing transition factor Decreasefactor(ii) a The driver required torque is then calculated,
TorqueDriveRamp＝Increasefactor*TorqueCurrentModeReq+Decreasefactor* TorquePreModeReq
by increasing the transition factor IncreatasefactorTorque target modeCurrentModeReqDown, by decreasing the transition factor DecreasefactorThe network is raised, smooth transition control is carried out on the torque requested by the suddenly-changed driver, the driving performance and the comfort of the whole vehicle are improved, and the control method has good robustness and portability.
Example 3:
the driver behavior monitoring section realizes the current mode Torque by the driving mode, the gear and the accelerator openingPreModeReqTransition factor TransfactorAnd the transition factor gradient ValuerampConfirmation of (1);
if the travel variation value Delta X of the accelerator pedal is less than or equal to L1At this time, the target mode Torque Torque is obtainedCurrentModeReqApproximately equal to the current mode TorquePreModeReq。
If the travel variation value Delta X of the accelerator pedal is larger than L1At this time, the target mode Torque Torque is obtainedCurrentModeReqThen through a unit time TperiodCumulative transition gradient ValuerampCarrying out periodic increment to obtain incremental transition factor Increasefactor(ii) a By unit time TperiodDecreasing transition gradient ValuerampCarrying out periodic decrement to obtain a decreasing transition factor Decreasefactor(ii) a The driver required torque is then calculated,
TorqueDriveRamp＝Increasefactor*TorqueCurrentModeReq+Decreasefactor* TorquePreModeReq；
wherein: l represents the entire accelerator pedal stroke; l is1Representing a calibrated accelerator pedal stroke change value;
by increasing the transition factor IncreatasefactorTorque target modeCurrentModeReqDown, by decreasing the transition factor DecreasefactorThe network is raised, smooth transition control is carried out on the torque requested by the suddenly-changed driver, the driving performance and the comfort of the whole vehicle are improved, and the control method has good robustness and portability.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various insubstantial modifications of the invention based on the principles and technical solutions of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (4)
1. A method for controlling a smooth transition in driver torque, comprising: comprises the following steps
Step S1: obtaining the current mode Torque through the current driving mode or gear or accelerator pedal opening of the vehiclePreModeReqTransition factor TransfactorAnd the transition factor gradient Valueramp；
Step S2: obtaining the target mode Torque through the target driving mode or gear or accelerator pedal opening of the vehicleCurrentModeReq；
Step S3: by unit time TperiodCumulative transition factor gradient ValuerampCarrying out periodic increment to obtain incremental transition factor Increasefactor；
Step S4: by unit time TperiodCumulative subtraction transition factor gradient ValuerampCarrying out periodic decrement to obtain a decreasing transition factor Decreasefactor；
Step S5: the driver-required torque is calculated,
TorqueDriveRamp＝Increasefacror*TorqueCurrentModeReq+Decreasefactar*TorquePreModeReq。
2. the method of claim 1, wherein the step of controlling the smooth transition of the driver torque comprises: transition factor Trans in the step S1factorTorque for current modePreModeReqA clockwise transition factor in the state.
3. The method of claim 1, wherein the step of controlling the smooth transition of the driver torque comprises: increasing the transition factor Increase in the step S3factorIn the range of [0-1]。
4. The method of claim 1, wherein the step of controlling the smooth transition of the driver torque comprises: decreasing the transition factor decreasel in the step S4factorIn the range of [0-1]。
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| CN202010737357.3A CN111959513A (en) | 2020-07-28 | 2020-07-28 | Control method for smooth torque transition of driver |
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| CN202010737357.3A CN111959513A (en) | 2020-07-28 | 2020-07-28 | Control method for smooth torque transition of driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116476804A (en) * | 2023-06-25 | 2023-07-25 | 中国第一汽车股份有限公司 | Control method and device for vehicle transitional working conditions, storage medium and vehicle |
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Patent Citations (6)
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| US20010044360A1 (en) * | 2000-05-19 | 2001-11-22 | Bernd Loffler | Engine torque control system based on the dynamic behavior of a driven automatic transmission |
| US20150202965A1 (en) * | 2004-03-09 | 2015-07-23 | Ford Global Technologies, Llc | System and method for controlling regenerative braking in a vehicle |
| CN101259845A (en) * | 2007-12-05 | 2008-09-10 | 奇瑞汽车股份有限公司 | Mixed power motor torsional moment smoothness processing controlling system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116476804A (en) * | 2023-06-25 | 2023-07-25 | 中国第一汽车股份有限公司 | Control method and device for vehicle transitional working conditions, storage medium and vehicle |
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Application publication date: 20201120 |