CN113232518B - Vehicle power distribution control method, device, equipment and storage medium - Google Patents

Vehicle power distribution control method, device, equipment and storage medium Download PDF

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Publication number
CN113232518B
CN113232518B CN202110478223.9A CN202110478223A CN113232518B CN 113232518 B CN113232518 B CN 113232518B CN 202110478223 A CN202110478223 A CN 202110478223A CN 113232518 B CN113232518 B CN 113232518B
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vehicle
current
output power
power
road
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CN113232518A (en
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黄秋生
尹孝源
施志杰
许在文
赵卫
苏松林
宋义刚
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/033—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
    • 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
    • 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
    • B60L2240/427—Voltage
    • 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
    • B60L2240/429—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a vehicle power distribution control method, a device, equipment and a storage medium, which comprises the steps of obtaining road information of a current running road of a vehicle, and determining the output power of an upper motor of the vehicle according to the road information; acquiring current position information of a vehicle, and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle; acquiring power allowance and a current voltage value of a high-voltage electric appliance of the vehicle, and determining a current working current according to output power of a driving motor, output power of an upper-mounted motor, power allowance of the high-voltage electric appliance and the current voltage value; when the current working current is less than or equal to the preset current, the output power of the driving motor and the output power of the upper motor are kept unchanged, the technical problem of inaccurate power distribution of the vehicle in the prior art is solved, and the technical effect of accurately distributing the power according to the position information of the vehicle and the information of the running road is achieved.

Description

Vehicle power distribution control method, device, equipment and storage medium
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling vehicle power split.
Background
The existing vehicle power distribution scheme aims at improving the power economy of the whole vehicle, improving the utilization rate of electric energy, preventing the motor from being over-temperature and the like, and a strategy for distributing the power of the motor is formulated. However, the precondition for carrying the double motors is that the power supply for providing energy for the double motors and the power distribution system thereof have the capability of covering the maximum output power requirement of all working conditions of the double motors. At present, direct-current charging voltage which can be provided for an electric vehicle by domestic charging pile facilities is basically below 750V, so that the highest voltage of a domestic electric vehicle power battery does not exceed 750V (otherwise, no charging pile capable of charging exists), and considering that the working voltage of a single battery cell of the power battery is generally between 2.5 and 3.65V, the rated voltage of an electric vehicle power battery system is generally lower than 650V. The required main circuit current exceeds 300A to meet the output of the double-motor parallel connection and 200kW rated power. Industrial grade connectors and power distribution systems are required, greatly increasing the cost of the vehicle and reducing safety.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle power distribution control method, a vehicle power distribution control device, vehicle power distribution control equipment and a storage medium, and aims to solve the technical problem that vehicle power distribution is inaccurate in the prior art.
In order to achieve the above object, the present invention provides a vehicle power split control method, including the steps of:
acquiring road information of a current running road of a vehicle, and determining the output power of an upper motor of the vehicle according to the road information;
acquiring current position information of the vehicle, and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle;
acquiring the power allowance and the current voltage value of a high-voltage electric appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper motor, the power allowance of the high-voltage electric appliance and the current voltage value;
and when the current working current is less than or equal to the preset current, keeping the output power of the driving motor and the output power of the upper-mounted motor unchanged.
Optionally, the obtaining current position information of the vehicle and determining the output power of the driving motor of the vehicle according to the current position information and the target vehicle speed of the vehicle includes:
reading the current position coordinates of the vehicle from the current position information of the vehicle, and searching historical driving roads in a historical driving database of the vehicle according to the current position coordinates;
when the historical driving road corresponding to the current position coordinate is found, determining the gradient parameter of the current driving road of the vehicle according to the found historical driving road;
and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target vehicle speed of the vehicle.
Optionally, after the step of reading the current position coordinates of the vehicle from the current position information of the vehicle and searching the historical driving roads in the historical driving database of the vehicle according to the current position coordinates, the method further includes:
when the historical driving road corresponding to the current position coordinate is not found, acquiring a gradient parameter of the current driving road of the vehicle through a gradient sensor;
and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target vehicle speed of the vehicle.
Optionally, the acquiring road information of a current driving road of a vehicle and determining output power of an upper mounted motor of the vehicle according to the road information includes:
acquiring road information of a current driving road of a vehicle, and reading road surface condition information of the current driving road from the road information;
and searching corresponding working power in a mapping relation table according to the road surface condition information, and taking the searched working power as the output power of the upper motor of the vehicle.
Optionally, after the step of obtaining the power headroom and the current voltage value of the high-voltage electric appliance of the vehicle and determining the current working current according to the output power of the driving motor, the output power of the upper-mounted motor, the power headroom of the high-voltage electric appliance and the current voltage value, the method further includes:
when the current working current is larger than a preset current, matching the target vehicle speed with the road surface condition according to a preset working mode table, and determining the current working mode of the vehicle according to a matching result;
determining a target working mode of the vehicle according to the current working mode, the preset working mode table and a preset rule;
and when the target working current corresponding to the target working mode is less than or equal to the preset current, adjusting the working mode of the vehicle from the current working mode to the target working mode.
Optionally, the determining the output power of the driving motor of the vehicle according to the gradient parameter and the target vehicle speed of the vehicle comprises:
and determining the output power of a driving motor of the vehicle according to the target speed of the vehicle, the gradient parameter and a whole vehicle stress balance formula.
Optionally, after the step of keeping the output power of the driving motor and the output power of the upper-mounted motor unchanged when the current working current is less than or equal to a preset current, the method further includes:
when overcurrent fault early warning occurs in a main loop of the vehicle and the time length of the overcurrent fault early warning is greater than a preset time length threshold value, searching a preset working mode table according to the target vehicle speed and the road information to determine the current working mode of the vehicle;
and adjusting the working mode of the vehicle according to the current working mode, a preset working mode table and a preset rule.
Further, to achieve the above object, the present invention also proposes a vehicle power split control apparatus, comprising:
the first determining module is used for acquiring road information of a current running road of a vehicle and determining the output power of an upper motor of the vehicle according to the road information;
the second determination module is used for acquiring current position information of the vehicle and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle;
the third determining module is used for acquiring the power allowance and the current voltage value of the high-voltage electric appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper electric appliance, the power allowance and the current voltage value of the high-voltage electric appliance;
and the maintaining module is used for maintaining the output power of the driving motor and the output power of the upper-mounted motor unchanged when the current working current is less than or equal to a preset current.
Further, to achieve the above object, the present invention also proposes a vehicle power split control apparatus including: a memory, a processor and a vehicle power split control program stored on the memory and executable on the processor, the vehicle power split control program configured to implement the steps of the vehicle power split control method as described above.
Further, to achieve the above object, the present invention also proposes a storage medium having a vehicle power split control program stored thereon, which when executed by a processor, implements the steps of the vehicle power split control method as described above.
The method comprises the steps of obtaining road information of a current running road of a vehicle, and determining output power of an upper motor of the vehicle according to the road information; acquiring current position information of the vehicle, and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle; acquiring the power allowance and the current voltage value of a high-voltage electric appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper motor, the power allowance and the current voltage value of the high-voltage electric appliance; when the current working current is less than or equal to the preset current, the output power of the driving motor and the output power of the upper motor are kept unchanged.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle power split control apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a vehicle power split control method according to the present invention;
fig. 3 is a schematic diagram of a vehicle high-voltage architecture according to an embodiment of the vehicle power split control method of the invention;
FIG. 4 is a schematic flow chart of a second embodiment of a vehicle power split control method of the present invention;
FIG. 5 is a schematic flow chart of a third embodiment of a vehicle power split control method of the present invention;
fig. 6 is a block diagram showing the configuration of the first embodiment of the vehicular power split control apparatus of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle power split control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle power split control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the vehicle power split control apparatus, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a vehicle power split control program.
In the vehicle power distribution control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle power split control apparatus of the invention may be provided in the vehicle power split control apparatus that calls the vehicle power split control program stored in the memory 1005 through the processor 1001 and executes the vehicle power split control method provided by the embodiment of the invention.
An embodiment of the present invention provides a vehicle power split control method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the vehicle power split control method according to the present invention.
In this embodiment, the vehicle power split control method includes the steps of:
step S10: the method comprises the steps of obtaining road information of a current running road of a vehicle, and determining output power of an upper motor of the vehicle according to the road information.
It should be noted that the execution subject of the embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle power split control device, which can implement the above functions. The present embodiment and each of the following embodiments will be described below by taking the vehicle power split control apparatus as an example.
It is to be understood that the vehicle power split control device can be applied to vehicles such as electric motor sweeper vehicles and electric automobiles, and the present embodiment is described by taking the application to the electric motor sweeper vehicle as an example, and does not constitute a limitation to the present embodiment.
It can be understood that, referring to the schematic diagram of the whole vehicle high-voltage architecture of fig. 3, the power battery of the electric sweeper is composed of a plurality of battery packs connected in series and in parallel, and the distribution box 1 is responsible for dividing the current output by the power battery into two branches, one branch is provided for the upper-mounted motor, and the other branch is provided for the distribution box 2. In addition, the distribution box 1 also contains a charging circuit, an insulation monitoring module and the like. The distribution box 2 is used exclusively for distributing power to the chassis, wherein power distribution is understood to be the conversion of direct current to alternating current, or high voltage direct current to low voltage direct current, or the conversion of a single branch to a double branch. And the chassis high-voltage electric appliances are simultaneously configured with a safety device and a relay for control, and comprise an electric steering pump, an electric inflating pump, an electric air conditioner, a PTC (positive temperature coefficient), a DCDC (direct current DC), a driving motor and the like. The high-power electric appliance with the motor is distributed by the distribution box 1 instead of the distribution box 2, so that the load of the distribution box 2 is lightened, and the difficulty in realizing the distribution box 2 due to the excessively complex internal structure is avoided.
It is understood that the road information includes road surface cleanliness of the road, road surface type of the road, and road congestion degree, and the vehicle power split control device may determine the output power of the upper motor based on the road information, and may record the output power of the upper motor as P 1 。
Step S20: and acquiring the current position information of the vehicle, and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle.
It can be understood that the target vehicle speed is a vehicle speed planned by the intelligent driving module of the electric sweeper according to the external environment, and the position information can be obtained by the positioning module of the electric sweeper.
It should be appreciated that the grade of the road on which the vehicle is traveling may be determined based on the position information of the electric sweeping vehicleThe intelligent driving module of the electric sweeper determines the output power of the driving motor according to the gradient parameter and the target speed, and the output power of the driving motor can be recorded as P 2 。
Step S30: and acquiring the power allowance and the current voltage value of the high-voltage electric appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper motor, the power allowance and the current voltage value of the high-voltage electric appliance.
It can be understood that the power margin of the high-voltage electric appliance is reserved for an air conditioner, a steering device, an inflating pump and a DCDC (direct current DC), is generally within 10kW, is smaller than the output power of an upper motor and the power of a driving motor, and can be marked as P 3 。
It should be understood that the current operating current may be determined by the following equation:
Figure BDA0003045075630000071
wherein I is the current working current, P 1 For top-mounted motor output power, eta 1 For the efficiency of the upper motor, P 2 Output power of eta for driving motor 2 For the efficiency of the drive motor, P 3 The power margin of the high-voltage electric appliance is U, and the current voltage is U.
Step S40: and when the current working current is less than or equal to the preset current, keeping the output power of the driving motor and the output power of the upper-mounted motor unchanged.
It can be understood that the preset current is the highest tolerant current of the vehicle power distribution system, and when the current working current of the vehicle is less than or equal to the preset current, the output power of the upper-mounted motor and the power of the driving motor can be reasonably divided, and the output power of the upper-mounted motor and the output power of the driving motor are kept unchanged at the moment.
Further, in order to improve the accuracy of vehicle power splitting, the step S10 includes: acquiring road information of a current driving road of a vehicle, and reading road surface condition information of the current driving road from the road information; and searching corresponding working power in a mapping relation table according to the road surface condition information, and taking the searched working power as the output power of the upper motor of the vehicle.
It is understood that the road surface condition information is the cleaning condition information of the road surface, and the vision recognition module of the electric sweeper can recognize the cleaning condition of the road surface and determine the cleaning level of the road surface, for example, the cleaning degree of the road surface can be divided into 5 levels from low to high, which are respectively represented by the numbers 1, 2, 3, 4 and 5.
It should be understood that there is a corresponding relationship between the cleaning level and the working power of the road surface in the mapping relationship table, for example, the cleaning degree of the road surface is 1 level, and the working power corresponding to the cleaning degree 1 level is found in the mapping relationship table as P 1 Then P will be 1 The output power of the motor arranged on the sweeper is used.
It can be understood that, in the mapping relation table, the grades of the road surface cleanliness degrees are different, the working power is also different, and the lower the road surface cleanliness degree is, the higher the corresponding working power is.
The method comprises the steps of obtaining road information of a current running road of a vehicle, and determining output power of an upper motor of the vehicle according to the road information; acquiring current position information of the vehicle, and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle; acquiring the power allowance and the current voltage value of a high-voltage electric appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper motor, the power allowance and the current voltage value of the high-voltage electric appliance; when the current working current is less than or equal to the preset current, the output power of the driving motor and the output power of the upper mounting motor are kept unchanged.
Referring to fig. 4, fig. 4 is a flowchart illustrating a vehicle power split control method according to a second embodiment of the present invention.
Based on the first embodiment described above, in the present embodiment, the step S20 includes:
step S201: and reading the current position coordinates of the vehicle from the current position information of the vehicle, and searching historical driving roads in a historical driving database of the vehicle according to the current position coordinates.
It is understood that the historical travel database stores information of historical travel roads of the vehicle, the information of the historical travel roads including position information of the historical travel roads, gradient parameter information of the historical travel roads and the like, and current position coordinates of the vehicle can be read from the current position information of the vehicle, and the historical travel roads of the vehicle can be searched in the historical travel database according to the position coordinates.
Step S202: and when the historical driving road corresponding to the current position coordinate is found, determining the gradient parameter of the current driving road of the vehicle according to the found historical driving road.
It can be understood that when the historical driving road is found in the historical driving database, the slope parameter of the current vehicle driving road can be determined according to the found historical driving road, which indicates that the current driving road is an old road, i.e. the current driving road is driven on the old road.
Step S203: and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target speed of the vehicle.
It will be appreciated that after the grade parameter of the current road on which the vehicle is traveling and the target vehicle speed are determined, it may then be determined how much drive motor output power is required by the drive motor to pass the grade of the current road at the target vehicle speed, and thus determine the drive motor output power.
Further, in order to accurately determine the gradient parameter of the current running road, after the step S201, the method further includes, when the historical running road corresponding to the current position coordinate is not found, obtaining the gradient parameter of the current running road of the vehicle through a gradient sensor; and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target speed of the vehicle.
It can be understood that when the historical driving road corresponding to the current position coordinate is not found in the historical driving database, it indicates that the current driving road is the first driving, and at this time, the gradient parameter of the current driving road of the electric cleaning vehicle can be obtained through the gradient sensor of the vehicle.
Further, in order to accurately determine the output power of the driving motor of the vehicle, the determining the output power of the driving motor of the vehicle according to the gradient parameter and the target vehicle speed of the vehicle comprises: and determining the output power of a driving motor of the vehicle according to the target speed of the vehicle, the gradient parameter and a whole vehicle stress balance formula.
It can be understood that the formula of the force balance of the whole vehicle can be determined by the following formula:
P·η·3600/u a ＝mg·sinα+mg·f·cosα+C D Au a 2
wherein, P is the output power of the driving motor; eta is transmission efficiency; u. of a A target vehicle speed; m is the mass of the whole vehicle; g is the acceleration of gravity; alpha is a gradient parameter; f is the ground friction coefficient; c D Is the wind resistance coefficient; a is the windward area.
The embodiment reads the current position coordinates of the vehicle from the current position information of the vehicle, and searches the historical driving road in the historical driving database of the vehicle according to the current position coordinates; when the historical driving road corresponding to the current position coordinate is found, determining the gradient parameter of the current driving road of the vehicle according to the found historical driving road; the output power of the driving motor of the vehicle is determined according to the gradient parameter and the target speed of the vehicle, and because the gradient parameter of the current running road is determined according to the road information of the historical running road when the historical running road is searched in the historical running database of the vehicle through the current position coordinate of the vehicle, and the output power of the driving motor is determined according to the gradient parameter and the target speed, the technical effect of accurately determining the output power of the driving motor of the vehicle is realized.
Referring to fig. 5, fig. 5 is a flowchart illustrating a vehicle power split control method according to a third embodiment of the present invention.
Based on the foregoing embodiments, in this embodiment, after the step of obtaining the power headroom and the current voltage value of the high-voltage electrical appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper electrical appliance, the power headroom of the high-voltage electrical appliance, and the current voltage value, the method further includes:
step S301: and when the current working current is larger than the preset current, matching the target vehicle speed and the road surface condition according to a preset working mode table, and determining the current working mode of the vehicle according to a matching result.
It can be understood that when the current working current is larger than the preset current, it indicates that the output power of the upper mounting motor and the output power of the driving motor are unreasonable, and at this time, the two powers need to be shunted again.
In a particular implementation, the preset operating mode table may be represented by a table similar to table 1:
TABLE 1 Preset operating mode Table
Figure BDA0003045075630000101
For example, if the target vehicle speed is 15km/h and the cleaning degree is 1 level, the current working mode is a high-speed-1 level cleaning working mode.
Step S302: and determining a target working mode of the vehicle according to the current working mode, the preset working mode table and a preset rule.
It can be understood that the preset rule may be preset according to an actual usage scenario, and may also be adjusted according to a usage situation, in this embodiment, the preset rule may be a rule that the working mode of the vehicle is adjusted to the target working mode based on the current working mode, for example, taking table 1 as an example, the current working mode is a high-speed-1 level cleaning working mode, and is adjusted longitudinally downward to a medium-speed-1 level cleaning working mode, and is then adjusted laterally rightward to a medium-speed-2 level cleaning working mode.
Step S303: and when the target working current corresponding to the target working mode is less than or equal to the preset current, adjusting the working mode of the vehicle from the current working mode to the target working mode.
In a specific implementation, referring to table 1, for example, the target vehicle speed is 15km/h, the vision recognition module recognizes that the road surface cleanliness is level 1, and at this time, the high-speed-1 level cleaning mode needs to be started, but the target working current exceeds the preset current, the working mode of the vehicle is adjusted longitudinally and downwards to the medium-speed-1 level cleaning mode, and if the target working current still exceeds the preset current, the working mode is adjusted transversely and rightwards, and the medium-speed-2 level cleaning mode is adopted according to the vehicle speed. And if the target working current still exceeds the preset current, adjusting the working mode of the vehicle longitudinally downwards and transversely rightwards. The numerical values in table 1 represent the score of the degree of cleaning of the road surface after the cleaning by the electric sweeper, and are set for convenience of explanation, and do not limit the present embodiment. It is understood that the lower the travel speed, the greater the washing capacity, the higher the score of the degree of cleaning of the road surface, but the smaller the working area per unit time, and the lower the working efficiency.
Further, in order to ensure the safety of the whole vehicle circuit, after the step of keeping the output power of the driving motor and the output power of the upper motor unchanged when the current working current is less than or equal to the preset current, the method further comprises: when overcurrent fault early warning occurs in a main loop of the vehicle and the time length of the overcurrent fault early warning is greater than a preset time length threshold value, searching a preset working mode table according to the target vehicle speed and the road information to determine the current working mode of the vehicle; and adjusting the working mode of the vehicle according to the current working mode, a preset working mode table and a preset rule.
It can be understood that when the overcurrent fault early warning occurs in the main loop, the fault early warning is sent when the current of the main loop exceeds the preset current, in specific use, the current of the main loop may suddenly become large due to instability of a vehicle system and the main loop returns to normal in a very short time, in order to eliminate the influence of the situation, a preset time threshold is set according to the actual situation of the vehicle, when the time of the overcurrent fault early warning is greater than the preset time threshold, the current working mode of the vehicle is determined, and then the working mode of the vehicle is adjusted according to the current working mode, the preset working mode table and the preset rule, so that the safety of the vehicle is ensured.
Further, in order to accurately realize power distribution, when overcurrent early warning occurs in the main loop, the current of the main loop is set to be I, and the maximum current allowed by the main loop is set to be I MAX The gradient is α. Power splitting is performed according to the strategy in table 2.
TABLE 2 Power Split strategy for early warning of Primary Loop
Figure BDA0003045075630000111
In the embodiment, when the current working current is greater than the preset current, the target vehicle speed and the road surface condition are matched according to a preset working mode table, and the current working mode of the vehicle is determined according to a matching result; determining a target working mode of the vehicle according to the current working mode, the preset working mode table and a preset rule; and when the target working current corresponding to the target working mode is less than or equal to the preset current, adjusting the working mode of the vehicle from the current working mode to the target working mode. According to the embodiment, the current working mode of the vehicle is determined firstly when the current working current is larger than the preset current, then the target working mode of the vehicle is determined according to the current working mode, the preset working mode table and the preset rule, and the vehicle is adjusted to the target working mode when the target working current is smaller than or equal to the preset current, so that the cleaning effect of cleaning the road surface is ensured on the premise of ensuring the electricity safety.
Furthermore, an embodiment of the present invention further provides a storage medium, where a vehicle power split control program is stored, and the vehicle power split control program, when executed by a processor, implements the steps of the vehicle power split control method as described above.
Referring to fig. 6, fig. 6 is a block diagram showing a configuration of a first embodiment of a vehicle power split control apparatus according to the present invention.
As shown in fig. 6, a vehicle power split control apparatus according to an embodiment of the present invention includes: a first determination module 10, a second determination module 20, a third determination module 30 and a holding module 40.
The first determining module 10 is configured to obtain road information of a current driving road of a vehicle, and determine output power of an upper mounted motor of the vehicle according to the road information;
the second determining module 20 is configured to obtain current position information of the vehicle, and determine output power of a driving motor of the vehicle according to the current position information and a target vehicle speed of the vehicle;
the third determining module 30 is configured to obtain a power margin and a current voltage value of a high-voltage electrical appliance of the vehicle, and determine a current operating current according to the output power of the driving motor, the output power of the upper-mounted motor, the power margin of the high-voltage electrical appliance, and the current voltage value;
the maintaining module 40 is configured to maintain the output power of the driving motor and the output power of the upper-mounted motor unchanged when the current working current is less than or equal to a preset current.
In the embodiment, the road information of the current running road of the vehicle is obtained through a first determining module 10, and the output power of an upper motor of the vehicle is determined according to the road information; the second determining module 20 acquires current position information of the vehicle and determines the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle; the third determining module 30 obtains the power margin and the current voltage value of the high-voltage electric appliance of the vehicle, and determines the current working current according to the output power of the driving motor, the output power of the upper electric appliance, the power margin of the high-voltage electric appliance and the current voltage value; the keeping module 40 keeps the output power of the driving motor and the output power of the upper motor unchanged when the current working current is smaller than or equal to the preset current, because the output power of the upper motor of the vehicle is determined by the vehicle running road information in the embodiment, the output power of the driving motor of the vehicle is determined by the position information of the vehicle and the target vehicle speed, and the output power of the upper motor and the output power of the driving motor are kept when the working current of the vehicle is smaller than or equal to the preset current, the technical problem of inaccurate power distribution of the vehicle in the prior art is solved, and the technical effect of accurately distributing power according to the vehicle position information and the running road information is realized.
A second embodiment of the vehicle power split control apparatus of the invention is proposed based on the first embodiment of the vehicle power split control apparatus of the invention.
In this embodiment, further, in order to improve the accuracy of vehicle power splitting, the first determining module 10 is further configured to obtain road information of a current driving road of a vehicle, and read road surface condition information of the current driving road from the road information; and searching corresponding working power in a mapping relation table according to the road surface condition information, and taking the searched working power as the output power of the upper motor of the vehicle.
Further, in order to accurately determine the output power of the vehicle driving motor, the second determining module 20 is further configured to read the current position coordinates of the vehicle from the current position information of the vehicle, and search the historical driving road in the historical driving database of the vehicle according to the current position coordinates; when the historical driving road corresponding to the current position coordinate is found, determining the gradient parameter of the current driving road of the vehicle according to the found historical driving road; and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target speed of the vehicle.
Further, in order to accurately determine the gradient parameter of the current driving road, the second determining module 20 is further configured to obtain the gradient parameter of the current driving road of the vehicle through a gradient sensor when the historical driving road corresponding to the current position coordinate is not found; and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target vehicle speed of the vehicle.
Further, in order to ensure the cleaning effect of cleaning the road surface on the premise of ensuring the safety of power consumption, the third determining module 30 is further configured to match the target vehicle speed and the road surface condition according to a preset working mode table when the current working current is greater than a preset current, and determine the current working mode of the vehicle according to a matching result; determining a target working mode of the vehicle according to the current working mode, the preset working mode table and a preset rule; and when the target working current corresponding to the target working mode is less than or equal to the preset current, adjusting the working mode of the vehicle from the current working mode to the target working mode.
Further, in order to ensure the safety of the whole vehicle circuit, the holding module 40 is further configured to search a preset working mode table according to the target vehicle speed and the road information to determine the current working mode of the vehicle when the overcurrent fault early warning occurs in the main circuit of the vehicle and the time length of the overcurrent fault early warning is greater than a preset time length threshold; and adjusting the working mode of the vehicle according to the current working mode, a preset working mode table and a preset rule.
Other embodiments or specific implementation manners of the vehicle power split control device of the invention can refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (such as a rom/ram, a magnetic disk, and an optical disk), and includes several instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.

Claims (8)

1. A vehicle power split control method, characterized in that the method comprises:
acquiring road information of a current running road of a vehicle, and determining the output power of an upper motor of the vehicle according to the road information;
acquiring current position information of the vehicle, and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle;
acquiring the power allowance and the current voltage value of a high-voltage electric appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper motor, the power allowance and the current voltage value of the high-voltage electric appliance;
when the current working current is less than or equal to a preset current, keeping the output power of the driving motor and the output power of the upper-mounted motor unchanged;
the acquiring of the road information of the current running road of the vehicle and the determining of the output power of the upper motor of the vehicle according to the road information comprises the following steps:
acquiring road information of a current driving road of a vehicle, and reading road surface condition information of the current driving road from the road information;
searching corresponding working power in a mapping relation table according to the road surface condition information, and taking the searched working power as the output power of an upper motor of the vehicle;
after the step of obtaining the power margin and the current voltage value of the high-voltage electric appliance of the vehicle and determining the current working current according to the output power of the driving motor, the output power of the upper-mounted motor, the power margin of the high-voltage electric appliance and the current voltage value, the method further comprises the following steps:
when the current working current is larger than a preset current, matching the target vehicle speed with the road surface condition according to a preset working mode table, and determining the current working mode of the vehicle according to a matching result;
determining a target working mode of the vehicle according to the current working mode, the preset working mode table and a preset rule;
and when the target working current corresponding to the target working mode is less than or equal to the preset current, adjusting the working mode of the vehicle from the current working mode to the target working mode.
2. The method of claim 1, wherein the obtaining current position information of the vehicle and determining a drive motor output power of the vehicle based on the current position information and a target vehicle speed of the vehicle comprises:
reading the current position coordinates of the vehicle from the current position information of the vehicle, and searching historical driving roads in a historical driving database of the vehicle according to the current position coordinates;
when the historical driving road corresponding to the current position coordinate is found, determining the gradient parameter of the current driving road of the vehicle according to the found historical driving road;
and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target speed of the vehicle.
3. The method of claim 2, wherein after the step of reading the current position coordinates of the vehicle from the current position information of the vehicle and searching the historical travel roads in the historical travel database of the vehicle according to the current position coordinates, the method further comprises:
when the historical driving road corresponding to the current position coordinate is not found, acquiring a gradient parameter of the current driving road of the vehicle through a gradient sensor;
and determining the output power of a driving motor of the vehicle according to the gradient parameter and the target vehicle speed of the vehicle.
4. The method of claim 3, wherein said determining a drive motor output power of the vehicle based on the grade parameter and a target vehicle speed of the vehicle comprises:
and determining the output power of a driving motor of the vehicle according to the target speed of the vehicle, the gradient parameter and a whole vehicle stress balance formula.
5. The method of any one of claims 1 to 4, wherein after the step of maintaining the drive motor output power and the upper motor output power constant when the present operating current is less than or equal to a preset current, the method further comprises:
when overcurrent fault early warning occurs in a main loop of the vehicle and the time length of the overcurrent fault early warning is greater than a preset time length threshold value, searching a preset working mode table according to the target vehicle speed and the road information to determine the current working mode of the vehicle;
and adjusting the working mode of the vehicle according to the current working mode, a preset working mode table and a preset rule.
6. A vehicle power split control apparatus, characterized in that the apparatus comprises:
the first determining module is used for acquiring road information of a current running road of a vehicle and determining the output power of an upper motor of the vehicle according to the road information;
the second determination module is used for acquiring current position information of the vehicle and determining the output power of a driving motor of the vehicle according to the current position information and the target speed of the vehicle;
the third determining module is used for acquiring the power allowance and the current voltage value of the high-voltage electric appliance of the vehicle, and determining the current working current according to the output power of the driving motor, the output power of the upper electric appliance, the power allowance and the current voltage value of the high-voltage electric appliance;
the maintaining module is used for maintaining the output power of the driving motor and the output power of the upper-mounted motor unchanged when the current working current is less than or equal to a preset current;
the first determining module is further configured to obtain road information of a current driving road of a vehicle, and read road surface condition information of the current driving road from the road information;
searching corresponding working power in a mapping relation table according to the road surface condition information, and taking the searched working power as the output power of an upper mounted motor of the vehicle;
the third determining module is further configured to, when the current working current is greater than a preset current, match the target vehicle speed and the road surface condition according to a preset working mode table, and determine a current working mode of the vehicle according to a matching result; determining a target working mode of the vehicle according to the current working mode, the preset working mode table and a preset rule; and when the target working current corresponding to the target working mode is less than or equal to the preset current, adjusting the working mode of the vehicle from the current working mode to the target working mode.
7. A vehicle power split control apparatus, characterized in that the apparatus comprises: memory, a processor and a vehicle power split control program stored on the memory and executable on the processor, the vehicle power split control program being configured to implement the steps of the vehicle power split control method according to any one of claims 1 to 5.
8. A storage medium having a vehicle power split control program stored thereon, the vehicle power split control program, when executed by a processor, implementing the steps of the vehicle power split control method according to any one of claims 1 to 5.
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