CN112193082A - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN112193082A CN112193082A CN202011149157.2A CN202011149157A CN112193082A CN 112193082 A CN112193082 A CN 112193082A CN 202011149157 A CN202011149157 A CN 202011149157A CN 112193082 A CN112193082 A CN 112193082A
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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
- B60L15/2045—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 for optimising the use of energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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
- Y02T10/60—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 provides a vehicle control method and a vehicle control device, and relates to a vehicle controller and a motor controller, wherein the motor controller comprises a motor controller in a torque mode starting state; the method comprises the following steps: after the vehicle is in a high-voltage ready state and enters a drivable state, judging the current driving intention of a user through the vehicle controller; if the current driving intention of the user is the vehicle parking intention, generating an exit instruction; and sending an exit instruction to the motor controller in the torque mode starting state through the vehicle control unit, so that the motor controller in the torque mode starting state responds to the exit instruction and exits the torque mode. When the current driving intention of the user is judged to be the vehicle parking intention, the motor controller in the torque mode is controlled to exit the torque mode under the working conditions of road congestion, temporary parking and the like in the driving process of the vehicle, and the effects of reducing the energy consumption of the whole vehicle and improving the driving range are achieved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling a vehicle.
Background
In the face of increasingly severe energy and environmental problems, energy-saving and new-energy automobiles are developed, particularly pure electric automobiles with zero pollution and zero emission have great significance on energy safety and environmental protection, and the method is also a trend for future development of the automobile field in China.
The pure electric automobile mainly realizes vehicle running by driving wheels through a motor, wherein a motor controller needs to adopt different control methods aiming at different working conditions in the working process so as to adapt to various conditions possibly encountered in the running process. However, in the existing technical solution, a mode of controlling a motor of an electric vehicle generally sends an instruction to a motor controller through a vehicle controller, and the motor controller executes the instruction immediately when receiving the corresponding instruction, which may greatly improve energy consumption of the vehicle.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a control method of a vehicle and a corresponding control apparatus of a vehicle that overcome or at least partially solve the above problems.
In order to solve the above problems, an embodiment of the present invention discloses a control method for a vehicle, the method involving a vehicle controller and a motor controller, the motor controller including a motor controller in a torque mode on state; the method comprises the following steps:
after the vehicle is in a high-voltage ready state and enters a drivable state, judging the current driving intention of a user through the vehicle control unit;
if the current driving intention of the user is the vehicle parking intention, generating an exit instruction;
and sending the exit instruction to the motor controller in the torque mode starting state through the vehicle control unit, so that the motor controller in the torque mode starting state responds to the exit instruction and exits the torque mode.
Optionally, the determining, by the vehicle control unit, a current driving intention of the user includes:
and acquiring the current working parameters of the vehicle through the vehicle control unit, and judging the current driving intention of the user according to the current working parameters of the vehicle.
Optionally, the current operating parameter comprises at least one of a current state of the vehicle, a gear of the vehicle, a motor speed of the vehicle, and a brake pedal depth of the vehicle.
Optionally, the obtaining, by the vehicle controller, the current working parameter of the vehicle, and determining, according to the current working parameter of the vehicle, the current driving intention of the user includes:
judging whether the current working parameters of the vehicle meet one of the following preset first conditions: the current state of the vehicle is in a whole vehicle high-voltage disconnection state, or when the gear of the vehicle is in a preset first gear, the rotating speed of a motor of the vehicle is smaller than a preset first threshold value, or when the gear of the vehicle is in a preset second gear and the depth of a brake pedal of the vehicle is larger than a preset second threshold value, the rotating speed of the motor of the vehicle is smaller than the preset first threshold value;
and if the current working parameters of the vehicle meet one of the preset first conditions, determining that the current driving intention of the user is a vehicle parking intention.
Optionally, the obtaining, by the vehicle controller, the current working parameter of the vehicle, and determining, according to the current working parameter of the vehicle, the current driving intention of the user includes:
judging whether the current working parameters of the vehicle meet the following preset second conditions: the current state of the vehicle is in a finished vehicle high-pressure ready state, and when the gear of the vehicle is in a preset first gear or a preset second gear, the rotating speed of a motor of the vehicle is greater than a preset second threshold value;
and if the current working parameters of the vehicle meet the preset second condition, determining that the current driving intention of the user is the driving intention of the vehicle.
Optionally, the motor controller comprises a motor controller in a torque mode off state, the method further comprising:
if the current driving intention of the user is a vehicle driving intention, generating an entering instruction through the vehicle control unit, and sending the entering instruction to the motor controller in the torque mode closing state, so that the motor controller in the torque mode closing state responds to the entering instruction and enters the torque mode.
Optionally, the vehicle control unit has a function of identifying driving intention of a user; before the current driving intention of the user is judged through the vehicle control unit, the method further comprises the following steps:
judging the current driving mode of the vehicle, and if the current driving mode of the vehicle is an economic driving mode, starting a driving intention recognition function of a user of the vehicle control unit;
the judging of the current driving intention of the user through the vehicle control unit comprises the following steps:
and judging the driving intention of the vehicle in the current working state by adopting the driving intention identification function of the user of the vehicle control unit.
The embodiment of the invention also discloses a control device of a vehicle, which relates to a vehicle controller and a motor controller, wherein the motor controller comprises a motor controller in a torque mode starting state, and the device comprises:
the vehicle driving intention judging module is used for judging the current driving intention of the user through the vehicle control unit after the vehicle is in a high-voltage ready state and enters a drivable state;
the exit instruction generating module is used for generating an exit instruction if the current driving intention of the user is a vehicle parking intention;
and the exit instruction sending module is used for sending the exit instruction to the motor controller in the torque mode starting state through the vehicle control unit so that the motor controller in the torque mode starting state responds to the exit instruction and exits the torque mode.
Optionally, the driving intention determining module includes:
and the driving intention judgment module is used for acquiring the current working parameters of the vehicle through the vehicle control unit and judging the current driving intention of the user according to the current working parameters of the vehicle.
Optionally, the current operating parameter comprises at least one of a current state of the vehicle, a gear of the vehicle, a motor speed of the vehicle, and a brake pedal depth of the vehicle.
Optionally, the driving intention determining submodule includes:
the first driving intention judging unit is used for judging whether the current working parameters of the vehicle meet one of the following preset first conditions: the current state of the vehicle is in a whole vehicle high-voltage disconnection state, or when the gear of the vehicle is in a preset first gear, the rotating speed of a motor of the vehicle is smaller than a preset first threshold value, or when the gear of the vehicle is in a preset second gear and the depth of a brake pedal of the vehicle is larger than a preset second threshold value, the rotating speed of the motor of the vehicle is smaller than the preset first threshold value;
and the vehicle parking intention determining unit is used for determining that the current driving intention of the user is the vehicle parking intention if the current working parameters of the vehicle meet one of the preset first conditions.
Optionally, the driving intention determining submodule includes:
the second driving intention judging unit is used for judging whether the current working parameters of the vehicle meet the following preset second conditions: the current state of the vehicle is in a finished vehicle high-pressure ready state, and when the gear of the vehicle is in a preset first gear or a preset second gear, the rotating speed of a motor of the vehicle is greater than a preset third threshold value;
and the vehicle driving intention determining unit is used for determining that the current driving intention of the user is the vehicle driving intention if the current working parameters of the vehicle meet the preset second condition.
Optionally, the motor controller comprises a motor controller in a torque mode off state, the apparatus further comprising:
and the entering instruction sending module is used for generating an entering instruction through the vehicle control unit and sending the entering instruction to the motor controller in the torque mode closing state if the current driving intention of the user is a vehicle driving intention, so that the motor controller in the torque mode closing state responds to the entering instruction and enters the torque mode.
Optionally, the vehicle control unit has a function of identifying driving intention of a user; before the determining, by the vehicle control unit, the current driving intention of the user, the apparatus further includes:
the current driving mode judging module is used for judging the current driving mode of the vehicle, and if the current driving mode of the vehicle is an economic driving mode, a driving intention identifying function of a user of the whole vehicle controller is started;
the driving intention judging module comprises:
and the driving intention identification submodule judges the driving intention in the current working state of the vehicle by adopting the driving intention identification function of the user of the vehicle control unit.
The embodiment of the invention also discloses a vehicle, which comprises: a control device for the vehicle, a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of any of the methods of controlling the vehicle.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is used for realizing the steps of the control method of any vehicle when being executed by a processor.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the vehicle control unit and the motor controller are involved, wherein the motor controller may include a motor controller in a torque mode on state, after a vehicle is in a high-voltage ready state and enters a drivable state, a current driving intention of a user may be judged through the vehicle control unit, if the current driving intention of the user is a vehicle stopping intention, a quit instruction may be generated through the vehicle control unit, and the quit instruction is sent to the motor controller in the torque mode, so that the motor controller in the torque mode on state responds to the quit instruction and quits the torque mode. When the current driving intention of the user is judged to be the vehicle parking intention, the motor controller in the torque mode is controlled to exit the torque mode under the working conditions of road congestion, temporary parking and the like in the driving process of the vehicle, and the effects of reducing the energy consumption of the whole vehicle and improving the driving range are achieved.
Drawings
FIG. 1 is a flow chart illustrating steps of a first embodiment of a method for controlling a vehicle according to the present invention;
FIG. 2 is a schematic flow chart illustrating control of the motor controller to exit the torque mode in an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a second embodiment of a method for controlling a vehicle according to the present invention;
FIG. 4 is a schematic flow chart illustrating the process for controlling the motor controller to enter the torque mode in an embodiment of the present invention;
fig. 5 is a block diagram of a control device of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The electric Vehicle is driven by a Motor to drive wheels, and generally, a Motor Control mode of the electric Vehicle is realized by immediately sending a command to a Motor controller through a Vehicle Control Unit, and immediately executing the command when the Motor controller receives the corresponding command, specifically, after the electric Vehicle is ready at high voltage and enters a drivable state, when a Vehicle gear is switched to a D/R gear (drive/Reverse gear), the Vehicle Control Unit (VCU) immediately sends a working command to a Motor Control Unit (MCU) for controlling a rotation state of the Motor according to the command of the VCU), so that the Motor controller responds to a torque request of the Vehicle Control Unit, and the Motor controller enters a torque Control mode.
However, the control method of immediately generating and sending the work command once the vehicle controller detects that the electric vehicle is in a specific state and in a specific gear may not meet the actual condition of the vehicle during actual control, and in addition, the method of immediately sending the work command may greatly increase the energy consumption of the whole vehicle.
One of the core ideas of the embodiment of the invention is to determine the current driving intention of a user when detecting that an electric vehicle is in a specific state (which may refer to a high-voltage ready state and a drivable state), that is, by determining whether the current working parameters of the vehicle under the current driving intention of the user meet the conditions of entering or exiting a torque mode, and generating and sending an exit instruction when determining that the current driving intention of the user is the vehicle stopping intention, so that a motor controller in a torque mode is controlled to exit the torque mode under the working conditions of road congestion, temporary stopping and the like in the driving process of the vehicle, and the effects of reducing the energy consumption of the whole vehicle and improving the driving range are achieved.
Referring to fig. 1, a flowchart illustrating steps of a first embodiment of a method for controlling a vehicle according to the present invention is shown, where the method relates to a vehicle controller and a motor controller, where the motor controller includes a motor controller in a torque mode on state, and specifically includes the following steps:
in one embodiment of the invention, the electric automobile mainly drives wheels through the motor to realize vehicle running, before the motor is driven, the current state of the vehicle can be detected, and the motor can be controlled under the condition that the vehicle is determined to be in normal operation.
The condition that the vehicle is in normal operation can mean that the vehicle is in a high-pressure ready state and enters a travelable state, wherein the high-pressure ready state means that each high-pressure accessory is in a normal working state under the condition that a high-pressure circuit in the electric automobile vehicle is communicated; the drivable state required to be entered can be a READY state, if the vehicle is in the READY state, the powered-on of the electric vehicle is completed, and the driving condition is met, wherein the mode of judging whether the vehicle is in the REDAY state can be determined by a READY indicator lamp in a vehicle instrument for prompting a vehicle user.
In practical application, when the vehicle is determined to be in normal operation, the motor is controlled, which can be mainly characterized in that the vehicle controller is used for controlling the motor controller, in order to avoid the phenomenon that the vehicle controller immediately generates a working instruction and sends the working instruction to the motor controller once detecting that the vehicle is in a specific state and in a specific gear, firstly, the vehicle controller is required to judge the current driving intention of a user, so that the motor controller is controlled after the current driving intention of the user is determined.
Specifically, the current working parameters of the vehicle can be acquired through the vehicle control unit, and the current driving intention of the user is judged according to the acquired current working parameters of the vehicle, that is, whether the current state meets the condition of entering or exiting the torque mode is judged according to the current working parameters of the vehicle, so as to determine the current driving intention of the user.
In one embodiment of the present invention, step 101 may comprise the following sub-steps:
a substep S11 of judging whether the current working parameters of the vehicle meet the following preset first conditions;
the current working parameters acquired by the vehicle control unit may include at least one of a current state of the vehicle, a gear of the vehicle, a motor speed of the vehicle, a depth of a brake pedal of the vehicle, and the like.
The preset first condition to be met by the current working parameter of the vehicle may include that the current state of the vehicle is in a whole vehicle high-voltage off state, or when the gear of the vehicle is in a preset first gear, the motor speed of the vehicle is less than a preset first threshold, or when the gear of the vehicle is in a preset second gear and the depth of a brake pedal of the vehicle is greater than a preset second threshold, the motor speed of the vehicle is less than the preset first threshold.
And a substep S12, determining the current driving intention of the user as the vehicle parking intention if the current operating parameter of the vehicle meets one of the preset first conditions.
The preset first gear may refer to an N gear (Nope), the preset second gear may refer to a D/R gear (i.e., a driving gear/a reverse gear), and the preset first threshold value that the rotation speed of the vehicle motor needs to be smaller than may refer to a back electromotive force that needs to be lower than a working voltage of the power battery or the motor at the current rotation speed of the vehicle motor when the gear of the vehicle is engaged in the neutral gear, or when the gear of the vehicle is engaged in the driving gear/the reverse gear and the depth of the brake pedal of the vehicle is greater than the preset second threshold value; the preset second threshold value, which the brake pedal depth of the vehicle needs to be greater than, may be an avoidance value that turns off the creep function of the vehicle.
Specifically, when the current operating parameter of the vehicle meets one of the preset first conditions, it may be determined that the current driving intention of the user may be a vehicle parking intention. The vehicle parking intention herein does not refer to a case where the vehicle is not in a driving mode (e.g., the vehicle is normally powered or parked to charge the vehicle), and the vehicle parking intention may include a specific case in the driving mode, such as a road jam, a temporary parking, and the like.
and 103, sending the quit instruction to the motor controller in the torque mode starting state through the vehicle control unit, so that the motor controller in the torque mode starting state responds to the quit instruction and quits the torque mode.
In an embodiment of the present invention, when the motor controller is in the torque control mode, an Insulated Gate Bipolar Transistor (IGBT) is controlled to be in an on state, and power is additionally consumed in the on state compared to the off state of the IGBT.
When the current driving intention of the user is determined to be the vehicle stopping intention, an exit instruction aiming at the torque control mode can be generated by the vehicle controller so as to control the motor controller in the torque mode opening state to exit the torque mode.
Specifically, the vehicle control unit may send the generated exit instruction for the torque control mode to the motor controller, and the motor controller may respond to the exit instruction sent by the vehicle control unit, that is, a torque exit request, so that the motor controller exits the torque control mode.
In the embodiment of the invention, the vehicle control unit can comprehensively judge the current driving intention of a user according to the current gear of the vehicle, the current rotating speed of the motor, the depth of the brake pedal and the like, and send a working instruction to the motor controller after the conditions are met, wherein the working instruction refers to sending an exit instruction to the motor controller after one of preset first conditions is met.
In a preferred embodiment, before the current driving intention of the user is judged by the vehicle controller, the judgment of the driving mode condition may be added, that is, when the vehicle user selects the vehicle to run in the economy mode (after the mode is started, the vehicle-mounted terminal of the vehicle gives priority to reducing energy consumption for vehicle running), the driving intention recognition function of the user, which may be a function for comprehensively judging the current driving intention of the user, of the vehicle controller is reactivated.
Specifically, the current driving mode of the vehicle may be determined, and if the current driving mode of the vehicle is the economic driving mode, the driving intention recognition function of the user of the vehicle control unit may be started. Then, the step of determining the current driving intention of the user through the vehicle control unit may include determining the driving intention in the current working state of the vehicle by using a driving intention recognition function of the user of the vehicle control unit when the current driving intention of the user is determined through the vehicle control unit.
Referring to fig. 2, which is a schematic flow chart illustrating that the vehicle controller controls the motor controller to exit the torque mode in the embodiment of the present invention, the vehicle controller may comprehensively determine the driving intention of the driver according to the current gear, the current rotating speed of the motor, the depth of the brake pedal, and the like, mainly provide a condition for controlling the motor controller to exit the torque mode according to the current gear, the rotating speed of the motor, the depth of the brake pedal, and the like of the vehicle, and in the whole driving control process, the exiting torque mode is prioritized. In the embodiment of the invention, when any one of the following conditions is met, the vehicle parking requirement can be identified (namely, the current driving intention of the user is determined as the vehicle parking intention), the motor controller is controlled to exit the torque mode:
(1) the high voltage of the whole vehicle is cut off; (2) when the gear is in the N gear, the rotating speed of the motor is reduced to be below N1; (3) when the gear is in the D/R gear, the depth of a brake pedal is larger than k, and the rotating speed of the motor is reduced to be lower than n 1.
The motor is assumed to have a rotating speed n, and the rotating speed n is higher than the rotating speed n of the motor, so that the rotating speed n of the motor can be higher than the rotating speed n of the motor, and the rotating speed n of the motor can be higher than the rotating speed n of the motor. The method for obtaining the motor speed n can be obtained by a curve relation between the motor speed and the counter electromotive force and then according to the current working voltage, namely by comparing the working voltage of the battery with the counter electromotive force in the current motor speed state.
In order to control the motor controller to exit the torque mode, the motor speed n1 may be a preset first threshold value which makes the back electromotive force lower than the working voltage of the power battery or the motor, that is, the motor speed needs to be lower than the preset first threshold value n 1; and the pure electric vehicle can have a crawling/crawling function, when the stepping depth of the brake pedal reaches a certain threshold value, the crawling function is shielded, and the preset second threshold value K can be an avoidance value for closing the crawling function. It should be noted that K may be determined through actual calibration, K values calibrated by each manufacturer are different, and K values of different vehicle types may also be different, which is not limited in the embodiments of the present invention.
In the embodiment of the invention, the motor controller working mode control method taking the torque quitting mode as priority does not influence the vehicle normal functions such as vehicle crawling function, driving and energy recovery and the like according to the conditions of the current gear, the motor speed, the depth of a brake pedal and the like of the vehicle; when the rotating speed of the motor is high, the working state of a torque mode can be kept, and damage to a vehicle driving system caused by overhigh counter electromotive force when the motor idles is avoided; and whether the current working parameters of the vehicle under the current driving intention of the user meet the condition of exiting the torque mode or not can be judged, and then an exit instruction is sent, so that the duration of the IGBT (insulated gate bipolar translator) open-tube state in the vehicle using process can be effectively shortened, especially under the working conditions of road congestion, temporary parking and the like, the energy consumption of the whole vehicle can be effectively reduced, and the driving range can be increased.
In the embodiment of the invention, the vehicle control unit and the motor controller are involved, wherein the motor controller may include a motor controller in a torque mode, after a vehicle is in a high-voltage ready state and enters a drivable state, a current driving intention of a user may be judged through the vehicle control unit, if the current driving intention of the user is a vehicle stopping intention, a quit instruction may be generated through the vehicle control unit, and the quit instruction is sent to the motor controller in the torque mode, so that the motor controller in the torque mode responds to the quit instruction and quits the torque mode. When the current driving intention of the user is judged to be the vehicle parking intention, the motor controller in the torque mode is controlled to exit the torque mode under the working conditions of road congestion, temporary parking and the like in the driving process of the vehicle, and the effects of reducing the energy consumption of the whole vehicle and improving the driving range are achieved.
Referring to fig. 3, a flowchart illustrating steps of a second embodiment of a method according to the present invention is shown, where the method relates to a vehicle controller and a motor controller, where the motor controller includes a motor controller in a torque mode off state, and specifically includes the following steps:
in one embodiment of the invention, the electric automobile mainly drives wheels through the motor to realize vehicle running, before the motor is driven, the current state of the vehicle can be detected, and the motor can be controlled under the condition that the vehicle is determined to be in normal operation. In the case where the vehicle is in a normal operation, it may mean that the vehicle is in a high-pressure ready state and enters a travelable state.
Under the condition that the vehicle is determined to be in normal operation, the motor can be controlled, specifically, the current working parameters of the vehicle can be obtained through the vehicle control unit, and the current driving intention of the user is judged according to the current working parameters of the vehicle. The obtained current operating parameters may include a current state of the vehicle, a gear of the vehicle, a motor speed of the vehicle, a depth of a brake pedal of the vehicle, and the like.
In one embodiment of the present invention, step 301 may include the following sub-steps:
a substep S21 of determining whether the current operating parameter of the vehicle satisfies a preset second condition as follows;
the preset second condition to be met by the current working parameter of the vehicle may include that the current state of the vehicle is in a full vehicle high-pressure ready state, and when the gear of the vehicle is in a preset first gear or a preset second gear, the rotating speed of the motor of the vehicle is greater than a preset third threshold.
And a substep S22, determining the current driving intention of the user as the driving intention of the vehicle if the current operating parameter of the vehicle meets the preset second condition.
The preset first gear can refer to an N gear (Nope, neutral), the preset second gear can refer to a D/R gear (i.e., a driving gear/a reverse gear), and the preset third threshold value that the rotating speed of the vehicle motor needs to be greater than can refer to that the back electromotive force at the current rotating speed of the vehicle motor needs to be lower than the working voltage of the power battery or the motor.
Specifically, when the current operating parameter of the vehicle meets the preset second condition, it may be determined that the current driving intention of the user may be a vehicle driving intention.
and step 303, sending the entry instruction to the motor controller in the torque mode off state, so that the motor controller in the torque mode off state responds to the entry instruction and enters the torque mode.
In one embodiment of the invention, when it is determined that the current driving intention of the user is the driving intention of the vehicle, an entry instruction for the torque control mode may be generated by the vehicle controller so as to control the motor controller in the torque mode off state to enter the torque mode.
Specifically, the vehicle control unit may send the generated entry instruction for the torque control mode to the motor controller, and the motor controller may respond to the entry instruction sent by the vehicle control unit, that is, a torque entry request, so that the motor controller enters the torque control mode.
In the embodiment of the invention, the vehicle control unit can comprehensively judge the current driving intention of a user according to the current gear of the vehicle, the current rotating speed of the motor, the depth of the brake pedal and the like, and send a working instruction to the motor controller after the condition is met, wherein the working instruction is sent to the motor controller after the preset second condition is met.
In a preferred embodiment, before the current driving intention of the user is judged by the vehicle controller, the judgment of the driving mode condition may be added, that is, when the vehicle user selects the vehicle to run in the economy mode (after the mode is started, the vehicle-mounted terminal of the vehicle gives priority to reducing energy consumption for vehicle running), the driving intention recognition function of the user, which may be a function for comprehensively judging the current driving intention of the user, of the vehicle controller is reactivated.
Specifically, the current driving mode of the vehicle may be determined, and if the current driving mode of the vehicle is the economic driving mode, the driving intention recognition function of the user of the vehicle control unit may be started. Then, the step of determining the current driving intention of the user through the vehicle control unit may include determining the driving intention in the current working state of the vehicle by using a driving intention recognition function of the user of the vehicle control unit when the current driving intention of the user is determined through the vehicle control unit.
Referring to fig. 4, which is a schematic flow chart illustrating a process of controlling a motor controller to enter a torque mode in an embodiment of the present invention, a vehicle controller may comprehensively determine a driving intention of a driver according to a current gear, a current rotating speed of a motor, a depth of a brake pedal, and the like, and mainly provides a condition for controlling the motor controller to enter the torque mode according to conditions of the current gear, the rotating speed of the motor, the depth of the brake pedal, and the like of a vehicle. In the embodiment of the invention, when all the following conditions are met and the driving requirement of the vehicle is identified (namely, the current driving intention of the user is determined as the driving intention of the vehicle), the motor controller is controlled to enter the torque mode:
(1) the whole vehicle is ready under high pressure; (2) the motor speed is greater than N2 when the vehicle gear is in D/R gear or the gear is in N gear.
Here, in order to control the motor controller to enter the torque mode, the motor speed n2 may be a preset third threshold value such that the back electromotive force is lower than the working voltage of the power battery or the motor, i.e. the motor speed needs to be greater than the preset third threshold value n 2.
It should be noted that the rotation speeds n1 and n2 of the motors in the entering torque mode and the exiting torque mode may be the same, but in order to avoid continuously turning on and off the torque mode around the same value of n, in the embodiment of the present invention, n1 and n2 are set to be different, that is, a certain difference exists between n1 and n2, which may be determined according to practical situations, and the embodiment of the present invention is not limited.
In a preferred embodiment, when the driving intention of the driver is comprehensively judged according to the current gear, the current rotating speed of the motor, the depth of the brake pedal and the like, the depth condition of the brake pedal can be replaced by the torque required by the vehicle user, and whether the torque required by the vehicle user is 0 or not can be taken as one of the conditions for the motor controller to enter the torque mode.
In the embodiment of the invention, the motor controller working mode control method taking the torque quitting mode as priority does not influence the vehicle normal functions such as vehicle crawling function, driving and energy recovery and the like according to the conditions of the current gear, the motor speed, the depth of a brake pedal and the like of the vehicle; and when the rotating speed of the motor is higher, the working state of the torque mode can be kept, and the damage to a vehicle driving system caused by overhigh counter electromotive force when the motor idles is avoided.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 5, a block diagram of a control apparatus of a vehicle according to an embodiment of the present invention is shown, where the apparatus relates to a vehicle controller and a motor controller, the motor controller includes a motor controller in a torque mode on state, and may specifically include the following modules:
the driving intention judging module 501 is configured to judge, by the vehicle controller, a current driving intention of a user after the vehicle is in a high-voltage ready state and enters a drivable state;
a quit instruction generating module 502, configured to generate a quit instruction if the current driving intention of the user is a vehicle parking intention;
a quitting instruction sending module 503, configured to send the quitting instruction to the motor controller in the torque mode on state through the vehicle controller, so that the motor controller in the torque mode on state responds to the quitting instruction and quits the torque mode.
In an embodiment of the present invention, the driving intention determining module 501 may include the following sub-modules:
and the driving intention judgment module is used for acquiring the current working parameters of the vehicle through the vehicle control unit and judging the current driving intention of the user according to the current working parameters of the vehicle.
In one embodiment of the invention, the current operating parameter comprises at least one of a current state of the vehicle, a gear of the vehicle, a motor speed of the vehicle and a brake pedal depth of the vehicle.
In an embodiment of the present invention, the driving intention determining submodule may include the following units:
the first driving intention judging unit is used for judging whether the current working parameters of the vehicle meet one of the following preset first conditions: the current state of the vehicle is in a whole vehicle high-voltage disconnection state, or when the gear of the vehicle is in a preset first gear, the rotating speed of a motor of the vehicle is smaller than a preset first threshold value, or when the gear of the vehicle is in a preset second gear and the depth of a brake pedal of the vehicle is larger than a preset second threshold value, the rotating speed of the motor of the vehicle is smaller than the preset first threshold value;
and the vehicle parking intention determining unit is used for determining that the current driving intention of the user is the vehicle parking intention if the current working parameters of the vehicle meet one of the preset first conditions.
In an embodiment of the present invention, the driving intention determining submodule may include the following units:
the second driving intention judging unit is used for judging whether the current working parameters of the vehicle meet the following preset second conditions: the current state of the vehicle is in a finished vehicle high-pressure ready state, and when the gear of the vehicle is in a preset first gear or a preset second gear, the rotating speed of a motor of the vehicle is greater than a preset third threshold value;
and the vehicle driving intention determining unit is used for determining that the current driving intention of the user is the vehicle driving intention if the current working parameters of the vehicle meet the preset second condition.
In one embodiment of the invention, the motor controller comprises a motor controller in a torque mode off state, and the apparatus may further comprise:
and the entering instruction sending module is used for generating an entering instruction through the vehicle control unit and sending the entering instruction to the motor controller in the torque mode closing state if the current driving intention of the user is a vehicle driving intention, so that the motor controller in the torque mode closing state responds to the entering instruction and enters the torque mode.
In one embodiment of the invention, the vehicle control unit has a function of identifying driving intention of a user; before the vehicle control unit judges the current driving intention of the user, the device may further include:
the current driving mode judging module is used for judging the current driving mode of the vehicle, and if the current driving mode of the vehicle is an economic driving mode, a driving intention identifying function of a user of the whole vehicle controller is started;
the driving intention judging module 501 may include the following sub-modules:
and the driving intention identification submodule judges the driving intention in the current working state of the vehicle by adopting the driving intention identification function of the user of the vehicle control unit.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including:
the vehicle control method comprises the vehicle control device, a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the vehicle control method embodiment is realized, the same technical effect can be achieved, and the repeated description is omitted for avoiding repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned control method for a vehicle, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a control method and a control device for a vehicle, which are described in detail above, and the principle and the implementation of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A control method of a vehicle is characterized in that the method relates to a vehicle controller and a motor controller, wherein the motor controller comprises a motor controller in a torque mode starting state; the method comprises the following steps:
after the vehicle is in a high-voltage ready state and enters a drivable state, judging the current driving intention of a user through the vehicle control unit;
if the current driving intention of the user is the vehicle parking intention, generating an exit instruction;
and sending the exit instruction to the motor controller in the torque mode starting state through the vehicle control unit, so that the motor controller in the torque mode starting state responds to the exit instruction and exits the torque mode.
2. The method according to claim 1, wherein the determining, by the vehicle control unit, the current driving intention of the user comprises:
and acquiring the current working parameters of the vehicle through the vehicle control unit, and judging the current driving intention of the user according to the current working parameters of the vehicle.
3. The method of claim 2, wherein the current operating parameters include at least one of a current state of the vehicle, a gear of the vehicle, a motor speed of the vehicle, and a brake pedal depth of the vehicle.
4. The method according to claim 3, wherein the obtaining, by the vehicle control unit, the current operating parameters of the vehicle and determining the current driving intention of the user according to the current operating parameters of the vehicle comprises:
judging whether the current working parameters of the vehicle meet one of the following preset first conditions: the current state of the vehicle is in a whole vehicle high-voltage disconnection state, or when the gear of the vehicle is in a preset first gear, the rotating speed of a motor of the vehicle is smaller than a preset first threshold value, or when the gear of the vehicle is in a preset second gear and the depth of a brake pedal of the vehicle is larger than a preset second threshold value, the rotating speed of the motor of the vehicle is smaller than the preset first threshold value;
and if the current working parameters of the vehicle meet one of the preset first conditions, determining that the current driving intention of the user is a vehicle parking intention.
5. The method according to claim 3, wherein the obtaining, by the vehicle control unit, the current operating parameters of the vehicle and determining the current driving intention of the user according to the current operating parameters of the vehicle comprises:
judging whether the current working parameters of the vehicle meet the following preset second conditions: the current state of the vehicle is in a finished vehicle high-pressure ready state, and when the gear of the vehicle is in a preset first gear or a preset second gear, the rotating speed of a motor of the vehicle is greater than a preset third threshold value;
and if the current working parameters of the vehicle meet the preset second condition, determining that the current driving intention of the user is the driving intention of the vehicle.
6. The method of claim 5, wherein the motor controller comprises a motor controller in a torque mode off state, the method further comprising:
if the current driving intention of the user is a vehicle driving intention, generating an entering instruction through the vehicle control unit, and sending the entering instruction to the motor controller in the torque mode closing state, so that the motor controller in the torque mode closing state responds to the entering instruction and enters the torque mode.
7. The method according to claim 1, characterized in that the vehicle control unit has a user driving intention recognition function; before the current driving intention of the user is judged through the vehicle control unit, the method further comprises the following steps:
judging the current driving mode of the vehicle, and if the current driving mode of the vehicle is an economic driving mode, starting a driving intention recognition function of a user of the vehicle control unit;
the judging of the current driving intention of the user through the vehicle control unit comprises the following steps:
and judging the driving intention of the vehicle in the current working state by adopting the driving intention identification function of the user of the vehicle control unit.
8. A control apparatus of a vehicle, characterized in that the apparatus relates to a vehicle control unit and a motor controller including a motor controller in a torque mode on state, the apparatus comprising:
the vehicle driving intention judging module is used for judging the current driving intention of the user through the vehicle control unit after the vehicle is in a high-voltage ready state and enters a drivable state;
the exit instruction generating module is used for generating an exit instruction if the current driving intention of the user is a vehicle parking intention;
and the exit instruction sending module is used for sending the exit instruction to the motor controller in the torque mode through the vehicle control unit so that the motor controller in the torque mode responds to the exit instruction and exits the torque mode.
9. A vehicle, characterized by comprising: control device of a vehicle according to claim 8, a processor, a memory and a computer program stored on the memory and executable on the processor, which computer program, when being executed by the processor, carries out the steps of the control method of a vehicle according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the control method of the vehicle according to any one of claims 1-7.
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| CN202011149157.2A CN112193082A (en) | 2020-10-23 | 2020-10-23 | Vehicle control method and device |
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| CN202011149157.2A CN112193082A (en) | 2020-10-23 | 2020-10-23 | Vehicle control method and device |
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| CN112193082A true CN112193082A (en) | 2021-01-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115071424A (en) * | 2021-03-01 | 2022-09-20 | 观致汽车有限公司 | Vehicle control method and vehicle |
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