CN112026529B - Vehicle output torque control method and device - Google Patents
Vehicle output torque control method and device Download PDFInfo
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- CN112026529B CN112026529B CN201910483323.3A CN201910483323A CN112026529B CN 112026529 B CN112026529 B CN 112026529B CN 201910483323 A CN201910483323 A CN 201910483323A CN 112026529 B CN112026529 B CN 112026529B
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- 238000001914 filtration Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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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
- 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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a vehicle output torque control method and a device, wherein the method comprises the steps of firstly, acquiring a required torque and a real-time vehicle speed; then when the required torque reaches a set torque boundary value, judging whether the real-time vehicle speed reaches the target vehicle speed, and if not, controlling the output torque of the vehicle to switch the vehicle from the economy mode to the power mode; wherein the set torque limit value is a torque value at which the economy mode and the power mode are switched with each other. The method and the device of the invention ensure that the output torque of the vehicle can cross the economy mode and enter the power mode under the condition that the vehicle speed is slowly increased due to the large load of the road slope or the vehicle, and further the real-time vehicle speed of the vehicle does not reach the target vehicle speed, thereby realizing the automatic switching from the economy mode to the power mode and ensuring the sufficient power output of the vehicle.
Description
Technical Field
The invention belongs to the technical field of new energy automobiles, and particularly relates to a vehicle output torque control method and device.
Background
In the face of increasingly serious environmental pollution and energy crisis, the energy-saving and pollution-free characteristics of new energy automobiles become the development direction of automobiles in the future. With the continuous development and progress of new energy automobile technology, the market demand for vehicle economy and dynamic property is continuously improved. The economy and the dynamic performance of the vehicle are opposite to each other to a certain extent, and a balance point needs to be found between the two so as to meet the requirements of the vehicle on the economy and the dynamic performance at the same time.
In the prior art, an economy mode/power mode switch is often installed on a vehicle, a driver is required to recognize road conditions and vehicle loads in advance, and the economy mode and the power mode of the vehicle are switched in a manual operation mode. This kind of mode needs the driver to operate change over switch, appears very easily that the driver is inaccurate to current operating mode and load judgement and make the vehicle be in improper mode. For example, switching the vehicle to power mode when the vehicle is in economy mode to meet the power demand results in wasted energy; the vehicle is kept in the economy mode all the time, without being able to meet the power demand, in the case where the vehicle is in the power mode, which is not.
Disclosure of Invention
The invention provides a vehicle output torque control method, which is used for solving the problem that a vehicle is in an improper mode due to the fact that a driver is required to operate a change-over switch in the prior art; the invention also provides a vehicle output torque control device, which is used for solving the problem that the vehicle is in an improper mode due to the fact that a driver is required to operate a selector switch in the prior art.
In order to solve the technical problems, the technical scheme and the beneficial effects of the invention are as follows:
the invention discloses a vehicle output torque control method, which comprises the following steps:
acquiring a required torque and a real-time vehicle speed; when the required torque reaches a set torque boundary value, judging whether the real-time vehicle speed reaches a target vehicle speed, and if the real-time vehicle speed does not reach the target vehicle speed, controlling the output torque of the vehicle to switch the vehicle from an economic mode to a power mode; wherein the set torque boundary value is a torque value at which the economy mode and the power mode are switched with each other.
A vehicle output torque control apparatus of the present invention includes a memory and a processor for executing instructions stored in the memory to perform the method steps of:
acquiring a required torque and a real-time vehicle speed; when the required torque reaches a set torque boundary value, judging whether the real-time vehicle speed reaches a target vehicle speed, and if not, controlling the output torque of the vehicle to switch the vehicle from an economic mode to a power mode; wherein the set torque boundary value is a torque value at which the economy mode and the power mode are switched with each other.
The beneficial effects are as follows: according to the method and the device, the mode switching is realized without the operation of a switch by a driver, the output torque of the vehicle is automatically increased under the condition that the vehicle speed is slowly increased due to a road slope or a large vehicle load and further the real-time vehicle speed of the vehicle does not reach the target vehicle speed, so that the vehicle enters the power mode after crossing the economy mode, the automatic switching from the economy mode to the power mode is realized, and the sufficient power output of the vehicle is ensured.
As a further improvement of the method and apparatus, in order to save energy, if the target vehicle speed is reached, the output torque of the vehicle is controlled to keep or switch the vehicle to the economy mode.
As a further improvement of the method and the device, in order to enable the output torque of the vehicle within the economic torque range to quickly meet the vehicle power demand, before the demand torque reaches a set torque boundary value, a corresponding filter coefficient is determined according to a torque interval where the demand torque is located, the corresponding filter coefficient is adopted to filter the demand torque, and the filtered demand torque is used as the output torque of the vehicle; each torque interval corresponds to one filter coefficient, at least two torque intervals are divided in an economic torque range before the required torque reaches a set torque boundary value, and the smaller the torque of the torque interval in the economic torque range is, the smaller the corresponding filter coefficient is; the smaller the filter coefficient, the more the torque increase per unit time is represented.
As a further improvement of the method and the device, in order to enable the output torque of the vehicle within the power torque range to quickly meet the power requirement of the vehicle, after the vehicle is switched from the economy mode to the power mode, a corresponding filter coefficient is determined according to a torque interval where the required torque is located, the corresponding filter coefficient is adopted to filter the required torque, and the filtered required torque is used as the output torque of the vehicle; each torque interval corresponds to one filter coefficient, at least one torque interval is divided in a power torque range after the required torque reaches a set torque boundary value, and the filter coefficients corresponding to the torque intervals in the power torque range are all larger than the filter coefficient corresponding to the minimum torque interval in the economic torque range and are all smaller than the filter coefficient corresponding to the secondary small torque interval in the economic torque range.
As a further improvement of the method, in order to enable the output torque of the vehicle to be smoothly transited without generating power abrupt change, when at least two torque sections are divided in the power torque range, the torque of the torque section is smaller, and the corresponding filter coefficient is larger.
As a further improvement of the method, for the purpose of obtaining the required torque simply and conveniently, the process of obtaining the required torque includes: and acquiring the opening degree of an accelerator pedal, and acquiring the required torque according to the vehicle speed and the relation between the opening degree of the accelerator pedal and the required torque of the whole vehicle.
Drawings
FIG. 1 is a schematic illustration of the division of the requested torque map region in an embodiment of the method of the present invention;
FIG. 2 is a method flow diagram in a method embodiment of the invention;
FIG. 3 is a graphical illustration of the filtered torque demand under light-load flat road conditions in an embodiment of the method of the present invention;
FIG. 4 is a graphical representation of the filtered torque demand under full load hill climbing in an embodiment of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
The method comprises the following steps:
as shown in FIG. 1, in the entire vehicle required torque map, the torque limit value T is set 0 The entire region is divided into an economy mode region and a power mode region for a torque value at which the economy mode and the power mode are switched with each other. The torque demand T is greater than T 0 The power mode area is defined, and the vehicle is in the power mode at the moment; the required torque T is less than or equal to T 0 And then it is an economy mode region, where the vehicle is in economy mode. The required torque T is divided into 4 torque intervals, namely an interval 1, an interval 2, an interval 3 and an interval 4 according to the torque value, and the power torque range of the power mode area is divided into 1 torque interval, namely an interval 4; dividing 3 torque intervals into an interval 1, an interval 2 and an interval 3 in an economic torque range of an economic mode area, wherein the requirement of the interval 1The torque request is smaller than the torque request in the interval 2, and the torque request in the interval 2 is smaller than the torque request in the interval 3.
A vehicle output torque control method according to this embodiment will be specifically described based on the above-described division, and the flow is shown in fig. 2.
Firstly, the vehicle speed v (i.e. the real-time vehicle speed) and the accelerator pedal opening a of the vehicle are collected in real time, and according to the relationship between the vehicle speed v and the accelerator pedal opening a and the required torque of the whole vehicle (i.e. the required torque map of the whole vehicle, as shown in fig. 1, the relationship between the vehicle speed at the full accelerator pedal opening and the required torque of the whole vehicle), the corresponding required torque T is obtained dem0 。
Then, the required torque T is judged dem0 Whether the set torque boundary value T is reached 0 ：
If the required torque T dem0 Does not reach the set torque boundary value T 0 Then, the required torque T is judged dem0 In which torque interval and using corresponding filter coefficient to the required torque T dem0 Filtering to obtain the filtered required torque T dem The filtered required torque T dem As the output torque of the vehicle. Wherein the required torque T dem0 The corresponding relation between the located interval and the filter coefficient is as follows: if the required torque T dem0 In interval 1, the filter coefficient f is used 1 To the required torque T dem0 Filtering is carried out; if the required torque T is dem0 In interval 2, the filter coefficient f is used 2 For the required torque T dem0 Filtering is carried out; if the required torque T is dem0 Within interval 3, the filter coefficient f is used 3 To the required torque T dem0 And (6) filtering.
If the required torque T is dem0 Reach the set torque boundary value T 0 Then judging whether the vehicle speed v reaches the target vehicle speed v 0 . If the vehicle speed v does not reach the target vehicle speed v 0 Then the output torque of the vehicle is controlled at this time to switch the vehicle from the economy mode to the power mode at this time, the required torque T dem0 In interval 4, filter coefficient f is used 4 For the required torque T dem0 Filtering is carried out, and the filtered required torque T is dem As output torque of vehicle(ii) a If the real-time vehicle speed v reaches the target vehicle speed v 0 The vehicle remains in the economy mode or the vehicle is switched from the power mode to the economy mode. At the moment according to the required torque T dem0 Range in which the economic torque range is located to the required torque T dem0 Corresponding filtering processing is performed, and the specific processing manner can be seen in the description in the previous paragraph.
Wherein, the value of the filter coefficient represents the following meaning: the smaller the filter coefficient is, the more the torque increases per unit time is represented; the larger the filter coefficient, the less the torque increase per unit time.
In the economy mode region, the smaller the torque of the torque section is, the smaller the corresponding filter coefficient is, so the filter coefficient f 1 、f 2 And f 3 The following relationship exists: f. of 1 ＜f 2 ＜f 3 . Filter coefficient f corresponding to interval 4 4 The following relationship is satisfied: f. of 1 ＜f 4 ＜f 2 。
Overall, the torque demand will go from low to high through the torque intervals, typically up to T 0 Time of t 0 And t is and t 0 Relatively fixed. In the case of a vehicle accelerating faster (e.g. light-load flat road conditions), the target vehicle speed v is reached 0 Using time t 1 And t is 1 ＜t 0 The entire acceleration process is shown in fig. 3, in which case the required torque of the vehicle reaches T 0 When the vehicle speed reaches the target vehicle speed, the vehicle does not need to be switched to a power mode at the moment, and is continuously kept in an economic mode from 0km/h to v 0 Acceleration of (2) does not involve a power mode; in the case of a slow vehicle acceleration (e.g. full load hill-climbing), the target vehicle speed v is reached 0 The time of use is t 2 As shown in FIG. 4, t 0 The vehicle is accelerated only from 0km/h to v 'during time (v' < v) 0 ) At this time, the required torque of the vehicle reaches T 0 But the speed does not reach v 0 When the output torque of the vehicle needs to be controlled to span T 0 Switching the vehicle from the economy mode to the power mode and reaching v at the vehicle speed 0 Reach the external characteristic torque to finish the economyAnd switching from the mode area to the power mode area, namely completing switching of the vehicle from the economy mode to the power mode.
In addition, under the condition that the opening degree of the accelerator pedal is small (an opening degree threshold value of the accelerator pedal can be set and is smaller than the opening degree threshold value of the accelerator pedal, the opening degree of the accelerator pedal is judged to be small), no matter under the condition of a flat road or a climbing condition, the required torque is calculated to be small, the vehicle can be in an economic mode certainly, at the moment, the switching between the two modes is not involved, corresponding filter coefficients can be used for filtering according to the section where the required torque is located, the required torque is generally located in the section 1, and at the moment, the filter coefficient f is used 1 And filtering the required torque, and taking the filtered required torque as the output torque of the vehicle.
If the driver looses the accelerator pedal, the detected opening degree of the accelerator pedal is smaller, if the vehicle is originally in the economy mode, the vehicle is kept in the economy mode, and if the vehicle is originally in the power mode, the vehicle is switched from the power mode to the economy mode.
In the embodiment, three intervals are divided in the economy mode region, and the required torque is filtered by adopting corresponding filter coefficients in each interval. As another embodiment, two intervals or more and finer intervals may be divided, but no matter how many intervals are divided, the following requirements are satisfied: the smaller the torque of the torque interval, the smaller the corresponding filter coefficient.
In this embodiment, only one section is divided in the power mode region. As other embodiments, two or even more intervals may be divided. For example, if the power mode region is divided into two sections, two filter coefficients are required, and if the filter coefficients are the filter coefficients f 4 And a filter coefficient f 5 And filter coefficient f 4 The torque of the corresponding torque interval is less than the filter coefficient f 5 The torque of the corresponding torque section is required to be f at this time in order to smoothly transit the required torque from the economy mode to the power mode 4 ＞f 5 Moreover, on the premise that the economic mode area is divided into three sections, the best mode is to use the filteringWave coefficient f 4 And a filter coefficient f 5 Satisfies the following conditions: f. of 1 ＜f 5 ＜f 4 ＜f 2 ＜f 3 。
The embodiment of the device comprises:
this embodiment provides a vehicle output torque control device comprising a memory and a processor, the memory and processor being directly or indirectly electrically connected to enable the transmission or interaction of data. The processor may be a general purpose processor such as a central processing unit CPU or other programmable logic device such as a digital signal processor DSP. The processor is configured to execute instructions stored in the memory to implement a vehicle output torque control method of the present invention. Since the method is described in detail in the method embodiments, it is not described herein again.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (8)
1. A vehicle output torque control method characterized by comprising the steps of:
acquiring a required torque and a real-time vehicle speed;
when the required torque reaches a set torque boundary value, judging whether the real-time vehicle speed reaches a target vehicle speed, and if not, controlling the output torque of the vehicle to switch the vehicle from an economic mode to a power mode; wherein the set torque boundary value is a torque value which is switched between an economy mode and a power mode; before the required torque reaches a set torque boundary value, determining a corresponding filter coefficient according to a torque interval where the required torque is located, filtering the required torque by adopting the corresponding filter coefficient, and taking the filtered required torque as the output torque of the vehicle; each torque interval corresponds to one filter coefficient, at least two torque intervals are divided in an economic torque range before the required torque reaches a set torque boundary value, and the smaller the torque of the torque interval in the economic torque range is, the smaller the corresponding filter coefficient is; the smaller the filter coefficient, the more the torque increase per unit time is represented.
2. The vehicle output torque control method according to claim 1, characterized in that, if the target vehicle speed is reached, the output torque of the vehicle is controlled to keep or switch the vehicle to the economy mode.
3. The vehicle output torque control method according to claim 1, characterized in that after the vehicle is switched from the economy mode to the power mode, a corresponding filter coefficient is determined according to a torque interval in which the required torque is located, the required torque is filtered by using the corresponding filter coefficient, and the filtered required torque is used as the output torque of the vehicle; each torque interval corresponds to one filter coefficient, at least one torque interval is divided in a power torque range after the required torque reaches a set torque boundary value, and the filter coefficients corresponding to the torque intervals in the power torque range are all larger than the filter coefficient corresponding to the minimum torque interval in the economic torque range and are all smaller than the filter coefficient corresponding to the secondary small torque interval in the economic torque range.
4. The vehicle output torque control method according to claim 3, characterized in that when at least two torque sections are divided in the power torque range, the smaller the torque of the torque section is, the larger the corresponding filter coefficient is.
5. The vehicle output torque control method according to claim 1, characterized in that the process of obtaining the required torque includes: and acquiring the opening degree of an accelerator pedal, and acquiring the required torque according to the vehicle speed and the relation between the opening degree of the accelerator pedal and the required torque of the whole vehicle.
6. A vehicle output torque control device comprising a memory and a processor for executing instructions stored in the memory to implement the method steps of:
acquiring a required torque and a real-time vehicle speed;
when the required torque reaches a set torque boundary value, judging whether the real-time vehicle speed reaches a target vehicle speed, and if not, controlling the output torque of the vehicle to switch the vehicle from an economic mode to a power mode; wherein the set torque boundary value is a torque value which is switched between an economy mode and a power mode; before the required torque reaches a set torque boundary value, determining a corresponding filter coefficient according to a torque interval where the required torque is located, filtering the required torque by adopting the corresponding filter coefficient, and taking the filtered required torque as the output torque of the vehicle; each torque interval corresponds to one filter coefficient, at least two torque intervals are divided in an economic torque range before the required torque reaches a set torque boundary value, and the smaller the torque of the torque interval in the economic torque range is, the smaller the corresponding filter coefficient is; the smaller the filter coefficient, the more the torque increase per unit time is represented.
7. The vehicle output torque control apparatus according to claim 6, characterized in that, if the target vehicle speed is reached, the output torque of the vehicle is controlled to keep or switch the vehicle to the economy mode.
8. The vehicle output torque control device according to claim 6, characterized in that after the vehicle is switched from the economy mode to the power mode, a corresponding filter coefficient is determined according to a torque interval in which the required torque is located, the required torque is filtered by using the corresponding filter coefficient, and the filtered required torque is used as the output torque of the vehicle; each torque interval corresponds to one filter coefficient, at least one torque interval is divided in a power torque range after the required torque reaches a set torque boundary value, and the filter coefficients corresponding to the torque intervals in the power torque range are all larger than the filter coefficient corresponding to the minimum torque interval in the economic torque range and are all smaller than the filter coefficient corresponding to the secondary small torque interval in the economic torque range.
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| CN112644502A (en) * | 2020-12-31 | 2021-04-13 | 大运汽车股份有限公司 | Control method suitable for driving mode switching of new energy commercial vehicle |
| CN114834475B (en) * | 2021-01-15 | 2024-05-31 | 宇通客车股份有限公司 | Vehicle output torque control method and device |
| CN113060015A (en) * | 2021-04-22 | 2021-07-02 | 恒大新能源汽车投资控股集团有限公司 | Vehicle torque processing method, device and equipment |
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Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Applicant after: Yutong Bus Co.,Ltd. Address before: No.1, Shibali Heyu Road, Guancheng Hui District, Zhengzhou City, Henan Province Applicant before: ZHENGZHOU YUTONG BUS Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |