CN113232519B - Vehicle control method, device and system, vehicle and readable storage medium - Google Patents
Vehicle control method, device and system, vehicle and readable storage medium Download PDFInfo
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- CN113232519B CN113232519B CN202110510193.5A CN202110510193A CN113232519B CN 113232519 B CN113232519 B CN 113232519B CN 202110510193 A CN202110510193 A CN 202110510193A CN 113232519 B CN113232519 B CN 113232519B
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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
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- 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
- B60R16/023—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 transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- 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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- 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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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a vehicle control method, a device, a system, a vehicle and a readable storage medium, wherein the method comprises the following steps: the control method is applied to a motor controller of the vehicle, and includes the steps of: acquiring driving information of the vehicle through a vehicle controller, and converting the driving information into current vehicle speed according to the information of the wheel rotating speed detected by a motor rotating transformer in the vehicle; calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed; and converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work. The method provided by the invention reduces the information transmission time of the whole system, so that the torque of the vehicle is controlled more timely, and the stability of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method, apparatus, system, vehicle, and readable storage medium.
Background
At present, a plurality of automobiles drive wheels by adopting a driving motor to run, such as electric automobiles, hybrid automobiles and the like. The automobile driven by the driving motor has smaller environmental influence than the traditional automobile, and has lower oil consumption and wide prospect.
In the prior art, an automobile driven by a driving motor adopts a centralized control system, that is, after a vehicle control unit VCU acquires data from each part of the automobile through a CAN bus, the vehicle control unit VCU judges the data and makes a control decision for a power system or a brake system, and then sends the corresponding control decision to the corresponding control part through the CAN bus.
The centralized control system needs to acquire data from each component and distribute the decision to each component for execution, and the transmission and distribution of the data and the decision are time-consuming, and for an automobile which is in driving at any moment, the transmission delay can cause large torque control errors of a power system of the automobile.
Disclosure of Invention
The invention mainly aims to provide a vehicle control method, a vehicle control device, a vehicle control system, a vehicle and a readable storage medium, and aims to reduce the transmission time of vehicle internal information so as to reduce torque control errors.
To achieve the above object, the present invention provides a vehicle control method including the steps of:
the driving information of the vehicle is obtained through the vehicle control unit, and the current vehicle speed is converted according to the wheel rotating speed information detected by a motor rotating transformer in the vehicle;
calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed;
and converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work.
Optionally, the driving information includes gear and accelerator pedal opening information, and the step of calculating the target driving torque of the vehicle according to the driving information and the current vehicle speed includes:
and calculating the target driving torque of the vehicle according to the gear, the opening information of the accelerator pedal and the current vehicle speed.
Optionally, the control method comprises the following steps:
when braking, obtaining the regenerative braking torque of the vehicle through a braking controller, wherein the regenerative braking torque of the vehicle is obtained by the braking controller through calculation according to the opening information of a brake pedal and the current vehicle speed;
and controlling a driving motor in the vehicle to brake according to the regenerative braking torque.
Optionally, after the step of converting the target driving torque of the vehicle into the target driving torque of the motor and controlling the driving motor in the vehicle to perform corresponding operations, the method further includes:
acquiring actual execution torque when the motor is executed;
and sending the actual execution torque to the vehicle control unit so that the vehicle control unit compares and verifies the actual execution torque and a verification driving torque to judge whether the vehicle has a fault, wherein the verification driving torque is obtained by the integral controller through calculation according to the driving information and the current vehicle speed.
In order to achieve the above object, the present invention also provides a vehicle control device, comprising: a memory, a motor controller and a computer program stored on the memory and executable on the motor controller, the computer program when executed by the processor implementing the steps as described above.
In addition, in order to achieve the above object, the present invention further provides a vehicle control system, characterized in that the vehicle control system comprises a vehicle control unit, a motor controller, a driving motor for driving wheels to rotate, and a resolver for detecting a rotational speed of the driving motor,
the vehicle control unit is used for acquiring driving information of the vehicle and sending the driving information to the motor controller;
the motor controller is used for converting the wheel rotating speed information detected by the motor rotating transformer in the vehicle into the current vehicle speed; calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed; and converting the vehicle target driving torque into a motor target driving torque, and controlling the driving motor to perform corresponding work.
Optionally, the vehicle control system further comprises a brake controller, wherein the brake controller is used for detecting the opening degree information of a brake pedal and calculating the target brake torque of the vehicle according to the brake information obtained by the opening degree of the brake pedal and the current vehicle speed;
the brake controller calculates regenerative braking torque according to the opening information of the brake pedal and the current vehicle speed, and sends the regenerative braking torque to the motor controller;
the motor controller is also used for controlling a driving motor in the vehicle to brake according to the regenerative braking torque.
Optionally, the motor controller is further configured to obtain an actual execution torque when the motor executes; sending the actual execution torque to the vehicle control unit;
and the vehicle controller is also used for comparing and verifying the actual execution torque and the verification driving torque to judge whether the vehicle breaks down, wherein the verification driving torque is obtained by the vehicle controller through calculation according to the driving information and the current vehicle speed sent by the brake controller.
In addition, to achieve the above object, the present invention also provides a vehicle characterized by including the vehicle control system as described above.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle control method as described above.
The embodiment of the invention provides a vehicle control method, a device, a system, a vehicle and a readable storage medium, wherein a motor controller in the vehicle acquires driving information of the vehicle through a vehicle control unit, and acquires the current vehicle speed according to the information that a motor rotary transformer in the vehicle detects the rotating speed of a wheel; calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed; and converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work. Through the mode, the motor controller is used for calculating the motor target driving torque, the vehicle control unit is not used for calculating the motor driving target torque, the process that in the traditional processing mode, the vehicle speed information is obtained by the brake controller and then is sent to the vehicle control unit, the vehicle control unit calculates the target torque of the vehicle according to the vehicle speed and the driving information and then converts the target torque into the motor target driving torque to send to the motor controller is reduced, and therefore the information transmission time of the whole system is shortened, the vehicle torque is controlled more timely, and the improvement of the vehicle stability is facilitated.
Drawings
FIG. 1 is a schematic diagram of a vehicle control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flowchart of a first embodiment of a vehicle control method of the invention;
FIG. 3 is a schematic diagram of an electric vehicle control system according to the present invention;
FIG. 4 is a vehicle speed-vehicle drive torque MAP schematic for the electric vehicle control system of the present invention;
FIG. 5 is a schematic diagram of a calculated composite current for use in the control system of an electric vehicle according to the present invention;
FIG. 6 is a schematic diagram showing the relationship between the actual torque, the current and the electrical angle of the motor used in the control system of the electric vehicle according to the present invention;
FIG. 7 is a schematic diagram of a vehicle braking torque-brake pedal opening relationship for use in the control system of an electric vehicle according to the present invention;
FIG. 8 is a schematic diagram of vehicle speed-vehicle brake torque distribution used in the control system of an electric vehicle according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the prior art, a brake controller ECB in a vehicle is responsible for detecting the wheel speed to calculate the vehicle speed and sending a vehicle control unit VCU, the vehicle control unit VCU calculates the driving torque demand of the vehicle according to the vehicle speed and the detected opening information of an accelerator pedal, and the torque execution is a motor controller MCU; since the information between the controllers is transmitted through the CAN bus, there is a time delay (about 10 ms) in the transmission of the information, and the vehicle speed is dynamically changed. The brake controller ECB sends the vehicle speed information delay to the vehicle control unit VCU, and the vehicle control unit VCU sends the torque information delay to the motor controller MCU, so that the actual vehicle speed corresponding to the moment when the motor controller MCU executes the torque is not the vehicle speed for theoretical calculation, but is more than 20ms (two transmission delays are accumulated) later than the vehicle speed for theoretical calculation, and the vehicle torque control error is large due to the delay, and the stability of the vehicle is also poor.
The main solution of the embodiment of the invention is as follows: a motor controller MCU in a vehicle acquires driving information of the vehicle through a VCU (vehicle control unit), and acquires current vehicle speed according to the information that a motor rotary transformer in the vehicle detects the rotating speed of wheels; calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed; and converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work.
According to the invention, the motor controller is used for calculating the motor target driving torque, the vehicle control unit is not used for calculating the motor target driving torque, the process that the vehicle control unit obtains the vehicle speed information and then sends the vehicle speed information to the vehicle control unit, the vehicle control unit calculates the target torque of the vehicle according to the vehicle speed and the driving information and converts the target torque into the motor target driving torque to send the motor controller in the traditional processing mode is reduced, and therefore, the information transmission time of the whole system is reduced, the vehicle torque is controlled more timely, and the improvement of the vehicle stability is facilitated.
As shown in fig. 1, fig. 1 is a schematic diagram of a hardware configuration of a vehicle control apparatus provided in each embodiment of the present invention.
The vehicle control device includes a communication module 1001, a memory 1002, a processor 1003, and the like. Those skilled in the art will appreciate that the vehicle control apparatus illustrated in FIG. 1 may also include more or fewer components than illustrated, or some of the components may be combined, or a different arrangement of components. The processor 1003 is connected to the memory 1002 and the communication module 1001 respectively, and the memory 1002 stores a computer program, which is executed by the processor 1003 at the same time.
The communication module 1001 may be connected to an external device via a network. The communication module 1001 may receive data sent by an external device, and may also send data, instructions, and information to the external device, where the external device may be an electronic device such as a vehicle-mounted sensor, a data management terminal, a mobile phone, a tablet computer, a notebook computer, and a desktop computer.
The memory 1002 may be used to store software programs and various data. The memory 1002 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (a target sub-process, a first monitoring sub-process, and a shared file corresponding to the instruction are created based on a parent process), and the like; the storage data area may store data or information created according to the use of the vehicle control apparatus, or the like. Further, the memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 1003, which may be a control center of the vehicle control apparatus in the present invention, specifically, a motor controller, connects various parts of the entire vehicle by using various interfaces and lines, and performs various functions of the vehicle control apparatus and processes data by operating or executing software programs and/or modules stored in the memory 1002 and calling data stored in the memory 1002, thereby performing overall monitoring of the vehicle control apparatus. The processor 1003 may include one or more processing units. Although not shown in fig. 1, the vehicle control apparatus may further include other modules to ensure the normal operation of other components.
Those skilled in the art will appreciate that the vehicle control arrangement illustrated in FIG. 1 does not constitute a limitation of vehicle controls and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
In the present embodiment, the vehicle control device includes: a memory 1002, a processor 1003 and a computer program stored on the memory 1003 and operable on the processor 1002, wherein the processor 1003, when calling the computer program stored in the memory 1002, performs the following operations:
acquiring driving information of the vehicle through a vehicle controller, and converting the driving information into current vehicle speed according to the information of the wheel rotating speed detected by a motor rotating transformer in the vehicle;
calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed;
and converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work.
Further, the processor 1003 may call the computer program stored in the memory 1002, and further perform the following operations:
the driving information includes gear and accelerator pedal opening information, and the step of calculating the target driving torque of the vehicle according to the driving information and the current vehicle speed includes:
and calculating the target driving torque of the vehicle according to the gear, the opening information of the accelerator pedal and the current vehicle speed.
Further, the processor 1003 may call the computer program stored in the memory 1002, and further perform the following operations:
when braking, obtaining the regenerative braking torque of the vehicle through a braking controller, wherein the regenerative braking torque of the vehicle is obtained by the braking controller through calculation according to the opening information of a brake pedal and the current vehicle speed;
and controlling a driving motor in the vehicle to brake according to the regenerative braking torque.
Further, the processor 1003 may call the computer program stored in the memory 1002, and further perform the following operations:
acquiring actual execution torque when the motor is executed;
and sending the actual execution torque to the vehicle controller so that the vehicle controller compares and verifies the actual execution torque and a verification driving torque to judge whether the vehicle breaks down, wherein the verification driving torque is obtained by the vehicle controller through calculation according to the driving information and the current vehicle speed.
The specific embodiment of the present invention using the vehicle control method apparatus is substantially the same as the following embodiments of the vehicle control method, and will not be described herein again.
Various embodiments of the method of the present invention are presented in terms of the above-described hardware architecture.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a vehicle control method according to the present invention. A first embodiment of the invention provides a vehicle control method including:
step S100, acquiring driving information of the vehicle through a vehicle controller, and acquiring current vehicle speed according to the information that a motor rotary transformer in the vehicle detects the rotating speed of wheels;
the present invention is applied to a vehicle with a motor drive, such as an electric vehicle, a hybrid vehicle, and the like, and the vehicle system architecture may refer to fig. 3, and a general vehicle system may include: the vehicle-mounted controller comprises a VCU (vehicle control unit), a motor controller MCU (microprogrammed control unit), a brake controller ECB (electronic control unit), a driving motor, a power battery BAT (battery management station), wheels and a rotary transformer, wherein wheel speed sensors are installed at corresponding positions near the wheels, and the controllers are connected through a CAN (controller area network) bus so that data CAN be transmitted with high reliability.
After the vehicle is started, the vehicle control unit VCU may obtain driving information of the vehicle, for example, obtain a current gear of the vehicle, and an opening degree of an accelerator pedal or a brake pedal stepped by a user, the vehicle control unit VCU sends the obtained driving information to the motor controller MCU, and the motor controller MCU detects a rotation speed of a wheel through a resolver in the motor, so as to obtain a current speed of the vehicle according to the rotation speed of the wheel, where the current speed may be any value from 0 to a maximum speed of the vehicle.
Step S200, calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed;
after obtaining the driving information sent by the vehicle control unit VCU, the motor controller MCU calculates a target driving torque of the vehicle according to the driving information and the current vehicle speed, specifically, when the driving information includes information of a gear and an opening degree of an accelerator pedal, step S200 may include: and calculating the target driving torque of the vehicle according to the gear, the opening information of the accelerator pedal and the current vehicle speed.
When a user steps on an accelerator pedal (commonly called an accelerator), the vehicle control unit VCU obtains the opening degree of the accelerator pedal, the vehicle control unit VCU sends information of a gear and the opening degree of the accelerator pedal to the motor control unit MCU, and then the motor control unit MCU calculates a target torque of the vehicle according to the gear, the opening degree of the accelerator pedal, and a current speed.
Further, in order to increase the calculation speed, the present embodiment may further obtain the target driving torque of the vehicle by looking up a table, specifically, each driving gear is provided with a vehicle speed-vehicle driving torque MAP corresponding to the gear, the driving gear may include, but is not limited to, S (moving gear), D (forward gear), and R (reverse gear), taking the accelerator opening as 90%, the vehicle control unit VCU detects an accelerator opening signal =90% and transmits the driving signal to the motor controller MCU, the motor controller MCU obtains the rotation speed of the driving motor from the resolver and converts the rotation speed into the current vehicle speed, and takes the current vehicle speed as the current vehicle speed
=60Km/h for example. Assuming that the vehicle is in the D range at this time, the vehicle speed-vehicle driving torque MAP is as shown in fig. 4, and the motor controller MCU accelerates the opening =90% according to the driving signal and the current vehicle speed
And the motor controller MCU controls the driving motor to output the motor target driving torque of 100Nm by searching the vehicle speed-vehicle driving torque MAP by 60Km/h to obtain the vehicle target driving torque =1000Nm and dividing the vehicle target driving torque by the reduction ratio of the reducer, taking the reduction ratio =10 as an example. The reduction ratio of the speed reducer can be a fixed reduction ratio of one gear or a multi-gear reduction ratio. In other embodiments, the motor may also perform the function of adjusting the output torque of the driving motor without a speed reducer, and the vehicle target driving torque is directly converted and output as the motor target driving torque without the participation of the speed reducer.
Step S300, converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work;
after obtaining the target driving torque of the vehicle, the motor controller MCU converts the target driving torque of the vehicle into a target driving torque of the driving motor, and then controls the driving motor in the vehicle to perform corresponding operations, including acceleration and deceleration.
Specifically, as shown in fig. 5 and 6, the motor controller MCU obtains a current value and an electrical angle of the driving motor through the current sensor and the resolver, calculates the d and q axis components id and iq of the driving motor according to the current value and the electrical angle of the driving motor and the target driving torque of the vehicle, calculates a synthesized current I according to the current components id and iq and the electrical angle, and searches the current-electrical angle MAP to obtain the actual driving torque of the motor.
In the embodiment, the driving information of the vehicle is acquired through the vehicle controller VCU by the motor controller MCU in the vehicle, and the current vehicle speed is acquired according to the wheel rotating speed information detected by the motor rotary transformer in the vehicle; calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed; and converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work. Through the mode, the motor torque is calculated through the motor controller MCU, the vehicle control unit is not used for calculating the target driving torque of the motor, the process that the vehicle control unit obtains the vehicle speed information and then sends the vehicle speed information to the vehicle control unit, the vehicle control unit calculates the target torque of the vehicle according to the vehicle speed and the driving information and converts the target torque into the target driving torque of the motor and sends the target driving torque of the motor to the motor control unit in the traditional processing mode is reduced, and therefore the information transmission time of the whole system is shortened, the torque of the vehicle is controlled more timely, and the stability of the vehicle is improved.
Further, during braking (braking), the control method comprises the following steps:
when braking, obtaining regenerative braking torque of the vehicle through a brake controller ECB, wherein the regenerative braking torque of the vehicle is obtained by calculating the brake controller ECB according to the opening information of a brake pedal and the current vehicle speed;
and controlling a driving motor in the vehicle to brake according to the regenerative braking torque.
When a user steps on a brake pedal (commonly called as a brake), a brake controller ECB obtains the opening of the brake pedal, the brake controller ECB obtains the current running speed (current speed) of the vehicle through a wheel sensor, then the brake controller calculates the total braking torque and the regenerative braking torque according to the opening of the brake pedal and the current speed, namely the current braking torque is known to be the mechanical braking torque and the regenerative braking torque of a motor according to the calculation result, then the regenerative braking torque is sent to a motor controller MCU, after the motor controller MCU receives the regenerative braking torque, the regenerative braking torque which can be executed at present is judged according to the performance of the motor and the performance of a battery and is fed back to the brake controller ECB, and the brake controller ECB controls the braking oil pressure and the opening and closing of an oil pipe according to the regenerative braking torque and the total braking torque which are fed back to realize mechanical braking; the motor controller controls the motor to execute corresponding regenerative braking according to the regenerative braking torque. Further, the braking energy generated by regenerative braking can be input into a power battery or an auxiliary battery for energy storage.
As shown in fig. 7 and 8, when the brake pedal is pressed, the brake controller ECB obtains the wheel rotation speed from the wheel speed sensor and converts the wheel rotation speed into the current vehicle speed, and the brake controller ECB searches the relationship between the vehicle brake torque and the brake pedal opening degree according to the brake signal, that is, the opening degree of the brake pedal and the current vehicle speed, and obtains the magnitude of the vehicle total brake torque. The relationship graph of the vehicle braking torque and the opening degree of the brake pedal meets the following condition, when the opening degree of the brake pedal is less than 20%, the braking intention of a driver is small, and the vehicle braking torque is small in increase. When the opening degree of the brake pedal is larger than 20% and smaller than 80%, the braking willingness of a driver is moderate, and the braking torque of the vehicle is increased linearly. When the opening degree of the brake pedal is larger than 80%, the braking will of the driver is strong, and the braking torque of the vehicle is increased rapidly.
Meanwhile, a corresponding regenerative braking torque is obtained according to a relation graph of vehicle speed-vehicle braking torque distribution, the braking controller ECB sends the regenerative braking torque to the motor controller MCU, and the motor controller MCU controls the driving motor to execute regenerative braking. The relation graph of the vehicle speed and the vehicle braking torque distribution meets the following condition that when the braking torque is small, all regenerative braking is carried out, the regenerative braking torque is increased along with the increase of the vehicle braking torque, and the regenerative braking torque is increased until the maximum value is reached. As the vehicle speed continues to decrease, at a vehicle speed of 10km/h, regenerative braking is cancelled.
In other embodiments, the brake controller ECB may also derive the vehicle brake torque from a mathematical model characterizing the relationship between the vehicle brake torque and the brake pedal opening or from an artificial intelligence neural network trained from the vehicle brake torque and the brake pedal opening as parameters. In other embodiments, the brake controller ECB may also derive the regenerative braking torque from a mathematical model characterizing the relationship between vehicle speed and vehicle brake torque split or an artificial intelligent neural network trained from vehicle speed and vehicle brake torque split as parameters.
Further, the vehicle control method may further include the steps of:
acquiring actual execution torque when the motor is executed;
and sending the actual execution torque to the VCU so that the VCU compares and verifies the actual execution torque and a verification driving torque to judge whether the vehicle has a fault, wherein the verification driving torque is obtained by calculating the VCU according to the driving information and the current vehicle speed.
The VCU also can obtain the current speed of the vehicle from the ECB, the ECB obtains the wheel speed from the wheel speed sensor and converts the wheel speed into the current speed, the VCU searches a vehicle speed-vehicle driving torque MAP according to the driving signal and the current speed to obtain the verification driving torque of the vehicle, converts the verification driving torque into the verification driving torque of the motor, and obtains the actual driving torque of the motor from the MCU to compare with the verification driving torque. If the difference between the actual driving torque of the motor and the verified driving torque exceeds 10%, it is indicated that the actual execution torque of the driving motor is small and the wheels cannot be sufficiently driven due to the occurrence of a vehicle control system fault, or the actual execution torque of the driving motor is large and the fault needs to be timely reported for maintenance; and if the difference between the actual driving torque and the verified driving torque of the motor does not exceed 10%, indicating that the driving is normal.
In addition, an embodiment of the present invention further provides a vehicle control apparatus including: a memory, a motor controller MCU and a computer program stored on said memory and executable on said motor controller MCU, said computer program when executed by said processor implementing the steps as described in any of the above embodiments.
In addition, the embodiment of the invention also provides a vehicle control system, which comprises a vehicle control unit VCU, a motor controller MCU, a driving motor for driving wheels to rotate and a rotary transformer for detecting the rotating speed of the driving motor,
the VCU is used for acquiring the driving information of the vehicle and sending the driving information to the MCU;
the motor controller MCU is used for converting the wheel rotating speed information detected by the motor rotary transformer in the vehicle into the current vehicle speed; calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed; and converting the vehicle target driving torque into a motor target driving torque, and controlling the driving motor to perform corresponding work.
The vehicle control system further comprises a brake controller ECB, wherein the brake controller ECB is used for detecting the opening information of a brake pedal and calculating the target brake torque of the vehicle according to the opening information of the brake pedal and the current vehicle speed;
the brake controller ECB calculates regenerative braking torque according to the opening information of the brake pedal and the current vehicle speed, and sends the regenerative braking torque to the motor controller MCU;
and the motor controller MCU is also used for controlling a driving motor in the vehicle to brake according to the regenerative braking torque.
The motor controller MCU is also used for acquiring the actual execution torque when the motor is executed; sending the actual execution torque to the VCU;
and the VCU is also used for comparing and verifying the actual execution torque and the verification driving torque to judge whether the vehicle has a fault, wherein the verification driving torque is obtained by calculating according to the driving information and the current vehicle speed sent by the ECB.
The specific embodiment of the vehicle control system is substantially the same as the embodiments of the vehicle control method, and is not described herein again.
In addition, the embodiment of the invention also provides a vehicle, and the vehicle comprises the vehicle control system.
The specific embodiment of the vehicle of the present invention is basically the same as the embodiments of the vehicle control system, and is not described herein again.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the vehicle control method as described above.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the vehicle control method described above, and is 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising 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 description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method 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 control method of a vehicle, characterized by being applied to a motor controller of the vehicle, the control method comprising:
the driving information of the vehicle is obtained through the vehicle control unit, and the current vehicle speed is converted according to the wheel rotating speed information detected by a motor rotating transformer in the vehicle;
calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed, wherein the driving information comprises information of a gear and an opening degree of an accelerator pedal of the vehicle, and the step of obtaining the target driving torque of the vehicle further comprises:
determining a vehicle speed-vehicle driving torque MAP corresponding to the gear;
in the vehicle speed-vehicle driving torque MAP, obtaining a target driving torque of the vehicle according to the current vehicle speed and the accelerator opening information;
converting the target driving torque of the vehicle into a motor target driving torque, and controlling a driving motor in the vehicle to perform corresponding work, wherein after the step of converting the target driving torque of the vehicle into the motor target driving torque and controlling the driving motor in the vehicle to perform corresponding work, the method further comprises the following steps:
acquiring actual execution torque when the motor is executed;
and sending the actual execution torque to the vehicle control unit so that the vehicle control unit compares and verifies the actual execution torque and a verification driving torque to judge whether the vehicle has a fault, wherein the verification driving torque is obtained by calculating the vehicle control unit according to the driving information and the current vehicle speed.
2. The vehicle control method according to claim 1, characterized in that the driving information includes gear position and accelerator pedal opening degree information, and the step of calculating the target driving torque of the vehicle based on the driving information and the current vehicle speed includes:
and calculating the target driving torque of the vehicle according to the gear, the opening information of the accelerator pedal and the current vehicle speed.
3. The vehicle control method according to claim 1, characterized by comprising the steps of:
when braking, obtaining the regenerative braking torque of the vehicle through a braking controller, wherein the regenerative braking torque of the vehicle is obtained by the braking controller through calculation according to the opening information of a brake pedal and the current vehicle speed;
and controlling a driving motor in the vehicle to brake according to the regenerative braking torque.
4. A vehicle control apparatus, characterized by comprising: memory, a motor controller and a computer program stored on the memory and executable on the motor controller, which computer program, when executed by a processor, carries out the steps of any of claims 1 to 3.
5. A vehicle control system is characterized by comprising a vehicle control unit, a motor controller, a driving motor for driving wheels to rotate, a rotary transformer for detecting the rotating speed of the driving motor and a brake controller for sending the current speed of a vehicle;
the vehicle control unit is used for acquiring driving information of the vehicle and sending the driving information to the motor controller;
the motor controller is used for converting the wheel rotating speed information detected by the motor rotating transformer in the vehicle into the current vehicle speed; calculating a target driving torque of the vehicle according to the driving information and the current vehicle speed; converting the vehicle target driving torque into a motor target driving torque, and controlling the driving motor to perform corresponding work;
the motor controller is also used for acquiring the actual execution torque when the motor is executed; sending the actual execution torque to the vehicle control unit;
and the vehicle controller is also used for comparing and verifying the actual execution torque and the verification driving torque to judge whether the vehicle breaks down, wherein the verification driving torque is obtained by calculating the vehicle controller according to the driving information and the current vehicle speed sent by the brake controller.
6. The vehicle control system of claim 5, wherein the brake controller is further configured to detect a brake pedal opening information and calculate a target braking torque of the vehicle based on the brake pedal opening information and a current vehicle speed;
the brake controller calculates regenerative braking torque according to the opening information of the brake pedal and the current vehicle speed and sends the regenerative braking torque to the motor controller;
the motor controller is also used for controlling a driving motor in the vehicle to brake according to the regenerative braking torque.
7. A vehicle characterized in that the vehicle includes the vehicle control system according to any one of claims 5 to 6.
8. A computer-readable storage medium, characterized in that a computer program is stored thereon which, when being executed by a processor, carries out the steps of a vehicle control method according to any one of claims 1 to 3.
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| CN110154784B (en) * | 2019-06-02 | 2020-05-19 | 吉林大学 | Driver demand driving torque online determination method |
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