CN114274790A - Power distribution method and system of pure electric vehicle, readable storage medium and vehicle - Google Patents
Power distribution method and system of pure electric vehicle, readable storage medium and vehicle Download PDFInfo
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Abstract
The invention provides a power distribution method, a system, a readable storage medium and a vehicle of a pure electric vehicle, wherein the method comprises the following steps: judging whether the target vehicle is in a starting state or not; if so, acquiring the running data of the target vehicle, and acquiring the current total required torque of the target vehicle according to the gear information, the accelerator opening information and the brake pedal information; respectively acquiring front axle load data and rear axle load data of a target vehicle, and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data; actively responding to the front axle required torque and the rear axle required torque to send control signals to the front axle controller and the rear axle controller respectively. The power distribution method of the pure electric vehicle can distribute power to the front axle and the rear axle of the vehicle as far as possible, thereby improving the adhesion utilization rate of the vehicle, reducing the risk of skidding of the driving wheels of the vehicle and improving the control stability and the safety of the vehicle.
Description
Technical Field
The invention relates to the technical field of pure electric vehicles, in particular to a power distribution method and system of a pure electric vehicle, a readable storage medium and a vehicle.
Background
With the continuous development of science and technology, new energy electric vehicles have become one of the daily vehicles for people to go out, the types of electric vehicles on the market are rich and varied, and in order to improve the vehicle control performance and the off-road escaping capability, a part of vehicles adopt an all-wheel drive (four-wheel drive) driving mode at present, namely all wheels can provide driving force.
In order to realize a four-wheel drive driving mode, an electric vehicle generally adopts a driving system arrangement mode of independent motors of a front shaft and a rear shaft. The power generated by the motor is directly transmitted to the wheels through the speed reducing mechanism and the differential mechanism, the front axle motor is responsible for driving the front wheels, the rear axle motor is responsible for driving the rear wheels, and the front power system and the rear power system run independently.
However, in the prior art, for the electric truck adopting four-wheel drive, the center of mass position of the truck under the empty and full load conditions has a large degree of variation due to certain loading requirements of the truck. For example, the center of mass position of a loaded vehicle moves backward when the vehicle is fully loaded, and the axle load of the rear axle is greatly changed when the vehicle is unloaded. If the front and rear axle power distribution is fixed after the position of the center of mass is changed, the front and rear axle driving force distribution ratio of the automobile is different from the front and rear axle normal reaction force ratio, and further, the wheels under a certain axle slip in advance of the wheels of another axle, so that the vehicle adhesion utilization rate is reduced, and the control stability and the safety of the vehicle are influenced.
Disclosure of Invention
Based on this, the present invention aims to provide a power distribution method, a system, a readable storage medium and a vehicle for an electric-only vehicle, so as to solve at least one of the above problems.
The invention provides a power distribution method of a pure electric vehicle, which is applied to a vehicle driving control system and comprises the following steps:
judging whether the target vehicle is in a starting state or not;
if so, acquiring running data of the target vehicle, wherein the running data comprises gear information, accelerator opening information and brake pedal information, and acquiring the current total required torque of the target vehicle according to the gear information, the accelerator opening information and the brake pedal information;
respectively acquiring front axle load data and rear axle load data of a target vehicle, and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data;
actively responding to the front axle required torque and the rear axle required torque to send control signals to a front axle controller and a rear axle controller respectively.
In summary, according to the power distribution method of the pure electric vehicle, the power distribution of the front axle and the rear axle is adjusted in real time by changing the axle load data of the front axle and the rear axle, so that the adhesion utilization rate of the vehicle is improved, and the driving safety is ensured. The method comprises the steps of firstly judging whether a target vehicle is in a starting state or not to judge whether power distribution control is needed or not, if the target vehicle is in the starting state, obtaining gear information, accelerator opening information and brake pedal information of the target vehicle, accurately calculating total required torque in the current driving state, then actively receiving front axle and rear axle load data of the target vehicle, accurately calculating front axle required torque and rear axle required torque according to the front axle and rear axle load data, then carrying out real-time response according to the required torque of front and rear axles, so as to achieve the purpose of changing according to the position of a mass center, and accordingly carrying out targeted adjustment on power distribution, so as to ensure that the driving force distribution ratio of the front and rear axles is the same as the normal reaction force of the front and rear axles, thereby greatly improving the adhesion utilization rate of the vehicle and ensuring the driving safety of the vehicle.
Further, the step of obtaining the current total required torque of the target vehicle according to the gear information, the accelerator opening information and the brake pedal information comprises:
acquiring a gear signal, and judging the running state of a target vehicle according to the gear signal;
acquiring the accelerator opening degree signal and the brake pedal opening degree signal, and judging the working mode of the target vehicle in the current running state according to the accelerator opening degree signal and the brake pedal opening degree signal;
and inquiring a pre-calibrated output torque mapping table according to the working mode in the current running state so as to obtain the total output torque corresponding to the target vehicle in the current working mode.
Further, the step of acquiring a gear signal and determining the driving state of the target vehicle according to the gear signal includes:
if the vehicle is in a P gear or an N gear, determining that the target vehicle is in a zero power output mode in a running state;
and if the gear is in a D gear or an R gear, judging that the target vehicle is in a forward driving state or a reverse driving state, and acquiring an accelerator pedal opening signal and a brake pedal opening signal at the moment.
Further, the step of determining that the target vehicle is in a forward driving state or a reverse driving state if the shift position is in the D-range or the R-range, and the step of acquiring the accelerator pedal opening degree signal and the brake pedal opening degree signal further includes:
if the opening signal of the accelerator pedal is not zero and the opening signal of the brake pedal is zero, determining that the target vehicle is in an acceleration mode under forward driving;
if the opening signal of the accelerator pedal is zero and the opening signal of the brake pedal is not zero, determining that the target vehicle is in a braking energy recovery mode;
and if the opening degree signal of the accelerator pedal and the opening degree signal of the brake pedal are both zero, judging that the target vehicle is in a sliding energy recovery mode in a running state.
Further, the step of respectively obtaining front axle load data and rear axle load data of the target vehicle, and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data comprises:
judging whether the front axle load data and the rear axle load data are valid or not;
if so, respectively calculating the vertical distance between the vehicle mass center and the front shaft overlooking projection and the vertical distance between the vehicle mass center and the rear shaft overlooking projection according to the front shaft axle load data and the rear shaft axle load;
and respectively calculating the front axle required torque and the rear axle required torque according to the vertical distance between the vehicle center of mass and the top-view projection of the front axle and the vertical distance between the vehicle center of mass and the top-view projection of the rear axle.
Further, if yes, the step of respectively calculating the vertical distance between the vehicle center of mass and the front axle overhead projection and the vertical distance between the vehicle center of mass and the rear axle overhead projection according to the front axle load data and the rear axle load comprises the following steps:
processing the front axle load data and the rear axle load data according to the following formula:
wherein: a represents the vertical distance of the vehicle center of mass from the top projection of the front axle, b represents the vertical distance of the vehicle center of mass from the top projection of the rear axle, mfRepresenting front axle load data, mrRepresenting rear axle load data, mfhAnd mrhUnsprung masses of the front and rear axles, respectively, and L is the wheelbase of the target vehicle.
Further, the step of respectively calculating the front axle required torque and the rear axle required torque according to the vertical distance between the vehicle center of mass and the top view projection of the front axle and the vertical distance between the vehicle center of mass and the top view projection of the rear axle comprises:
processing the vertical distance between the vehicle center of mass and the top projection of the front shaft and the vertical distance between the vehicle center of mass and the top projection of the rear shaft according to the following formula:
wherein: t isfRepresenting front axle requested torque, TrRepresenting the rear axle required torque, T representing the total required torque, a representing the vertical distance of the vehicle centre of mass from the front axle top view projection, b representing the vertical distance of the vehicle centre of mass from the rear axle top view projection.
The power distribution system of the pure electric vehicle is applied to a vehicle driving control system and comprises the following components:
the vehicle self-checking module is used for judging whether the target vehicle is in a starting state or not;
the power acquisition module is used for acquiring the running data of the target vehicle if the running data comprises gear information, accelerator opening information and brake pedal information, and acquiring the current total required torque of the target vehicle according to the gear information, the accelerator opening information and the brake pedal information;
the torque analysis module is used for respectively acquiring front axle load data and rear axle load data of a target vehicle and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data;
and the power distribution execution module is used for actively responding to the front axle required torque and the rear axle required torque so as to respectively send control signals to the front axle controller and the rear axle controller.
Another aspect of the present invention also provides a readable storage medium storing one or more programs that, when executed, implement the power distribution method for an electric-only vehicle as described above.
Another aspect of the present invention also provides a vehicle comprising a memory and a processor, wherein:
the memory is used for storing computer programs;
the processor is configured to implement the power distribution method for the electric-only vehicle as described above when executing the computer program stored in the memory.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a power distribution method for an electric-only vehicle according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a power distribution method for an electric-only vehicle in accordance with a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a power distribution system of an electric-only vehicle according to a third embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a power distribution control method for an electric-only vehicle according to a first embodiment of the present invention is applied to a vehicle driving control system, and the method includes steps S01 to S04, wherein:
step S01: judging whether the target vehicle is in a starting state or not;
it should be noted that, in this embodiment, the starting state actually refers to a "READY" state of the target vehicle, after the target vehicle is powered on, the vehicle performs self-checking to determine whether each module operates normally, and after the target vehicle is confirmed to be correct, the vehicle jumps to the "READY" state, and the state signal is detected by the vehicle drive control system to determine that the target vehicle is currently in the starting state.
Step S02: if so, acquiring running data of the target vehicle, wherein the running data comprises gear information, accelerator opening information and brake pedal information, and acquiring the current total required torque of the target vehicle according to the gear information, the accelerator opening information and the brake pedal information;
it can be understood that each running data of the target vehicle is monitored by a sensor installed at a corresponding position of the vehicle, that is, the vehicle driving control system receives a gear signal monitored by a gear controller, an accelerator opening signal monitored by an accelerator pedal position sensor and a brake pedal opening signal monitored by a brake pedal position sensor, so that the vehicle driving control system can comprehensively evaluate according to the gear signal, the accelerator opening signal and the brake pedal opening signal to obtain the total required torque required by the current target vehicle.
Step S03: respectively acquiring front axle load data and rear axle load data of a target vehicle, and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data;
it should be noted that, in this embodiment, the axle load data actually represents the axle load mass, that is, the vehicle driving control system respectively obtains the axle load signals respectively monitored by the front axle position sensor and the rear axle sensor, so as to accurately obtain the axle load mass of the front axle and the axle load mass of the rear axle.
It can be understood that, since the load force of the target vehicle is the root cause directly causing the change of the position of the center of mass, and the load force of the target vehicle is composed of the front axle load mass and the rear axle load mass, it is necessary to obtain the front axle load mass and the rear axle load mass to adjust the power distribution of the front axle and the rear axle in a targeted manner, so as to ensure that the target vehicle can adjust the power distribution in real time according to the change of the front axle load and the rear axle load mass.
Step S04: actively responding to the front axle required torque and the rear axle required torque to send control signals to a front axle controller and a rear axle controller respectively.
It can be understood that after the vehicle drive control system respectively obtains the required torques required by the front axle and the rear axle, the vehicle drive control system respectively sends response signals to the front-rear controller and the rear-axle controller so as to realize power distribution.
In summary, according to the power distribution method of the pure electric vehicle, the power distribution of the front axle and the rear axle is adjusted in real time by changing the axle load data of the front axle and the rear axle, so that the adhesion utilization rate of the vehicle is improved, and the driving safety is ensured. The method comprises the steps of firstly judging whether a target vehicle is in a starting state or not to judge whether power distribution control is needed or not, if the target vehicle is in the starting state, obtaining gear information, accelerator opening information and brake pedal information of the target vehicle, accurately calculating total required torque in the current driving state, then actively receiving front axle and rear axle load data of the target vehicle, accurately calculating front axle required torque and rear axle required torque according to the front axle and rear axle load data, then carrying out real-time response according to the required torque of front and rear axles, so as to achieve the purpose of changing according to the position of a mass center, and accordingly carrying out targeted adjustment on power distribution, so as to ensure that the driving force distribution ratio of the front and rear axles is the same as the normal reaction force of the front and rear axles, thereby greatly improving the adhesion utilization rate of the vehicle and ensuring the driving safety of the vehicle.
Referring to fig. 2, a power distribution method for an electric-only vehicle according to a second embodiment of the present invention is shown, and the method is applied to the method and includes steps S11 to S18, wherein:
step S11: judging whether the target vehicle is in a starting state or not;
step S12: acquiring a gear signal, and judging the running state of a target vehicle according to the gear signal;
if the vehicle driving control system analyzes that the target vehicle is in a P gear or an N gear according to the gear signal sent by the gear controller, it is determined that the target vehicle is in a zero power output mode in a running state;
and if the gear is in the D gear, determining that the target vehicle is in a forward running state, and if the gear is in the R gear, determining that the target vehicle is in a reverse running state.
Step S13: acquiring the accelerator opening degree signal and the brake pedal opening degree signal, and judging the working mode of the target vehicle in the current running state according to the accelerator opening degree signal and the brake pedal opening degree signal;
specifically, if the accelerator pedal opening signal is not zero and the brake pedal opening signal is zero, it is determined that the target vehicle is in an acceleration mode in the forward driving;
if the opening signal of the accelerator pedal is zero and the opening signal of the brake pedal is not zero, determining that the target vehicle is in a braking energy recovery mode;
and if the opening degree signal of the accelerator pedal and the opening degree signal of the brake pedal are both zero, judging that the target vehicle is in a sliding energy recovery mode in a running state.
Step S14: inquiring a pre-calibrated output torque mapping table according to the working mode in the current running state to obtain the corresponding total output torque of the target vehicle in the current working mode;
it should be noted that, after the working mode of the target vehicle is accurately analyzed according to the gear signal, the accelerator opening signal and the brake pedal opening signal of the target vehicle, the vehicle driving control module calls a pre-calibrated output torque mapping table from the cloud service platform, where the output torque mapping table is composed of the working mode and the total required torque corresponding to the working mode, so that the vehicle driving control system can quickly lock the total required torque currently required by the target vehicle.
Step S15: judging whether the front axle load data and the rear axle load data are valid or not;
specifically, after front axle load data are obtained, whether the front axle load data are within a first preset axle load threshold range is judged, if yes, the front axle load data are judged to be valid, and if not, the front axle load data are invalid;
similarly, after the rear axle load data is obtained, whether the rear axle load data is within a second preset axle load threshold range is judged, if yes, the rear axle load data is judged to be valid, and if not, the rear axle load data is invalid.
It should be noted that, since the first preset axle load threshold range and the second preset axle load threshold range are related to the vehicle type of the target vehicle and the actual use requirement, in this embodiment, the details are not limited.
Further, if the axle load data exceeds the range or a messy code occurs or a signal is lost, the axle load data is judged to be invalid by the vehicle driving control system.
Step S16: if so, respectively calculating the vertical distance between the vehicle mass center and the front shaft overlooking projection and the vertical distance between the vehicle mass center and the rear shaft overlooking projection according to the front shaft axle load data and the rear shaft axle load;
specifically, the front axle load data and the rear axle load data are processed according to the following formula:
wherein: a represents the vertical distance of the vehicle center of mass from the top projection of the front axle, b represents the vertical distance of the vehicle center of mass from the top projection of the rear axle, mfRepresenting front axle load data, mrRepresenting rear axle load data, mfhAnd mrhUnsprung masses of the front and rear axles, respectively, and L is the wheelbase of the target vehicle.
It should be noted that, in the case where the axle load data is invalid, the vertical distance a from the vehicle center of mass to the front axle overhead projection and the vertical distance b from the vehicle center of mass to the rear axle overhead projection are output according to the initial calibration values.
Step S17: respectively calculating to obtain a front axle required torque and a rear axle required torque according to the vertical distance between the vehicle center of mass and the top view projection of the front axle and the vertical distance between the vehicle center of mass and the top view projection of the rear axle;
specifically, the vertical distance between the vehicle center of mass and the front axle overhead projection and the vertical distance between the vehicle center of mass and the rear axle overhead projection are processed according to the following formula:
wherein: t isfRepresenting front axle requested torque, TrRepresenting the rear axle required torque, T representing the total required torque, a representing the vertical distance of the vehicle centre of mass from the front axle top view projection, b representing the vertical distance of the vehicle centre of mass from the rear axle top view projection.
Step S18: actively responding to the front axle required torque and the rear axle required torque to send control signals to a front axle controller and a rear axle controller respectively.
By way of example and not limitation, taking a pure electric vehicle of a certain vehicle type as an example, when the pure electric vehicle is stationary on a road surface, the vehicle wheel base L is 3000mm, the front unsprung mass mfh is 100kg, and the rear unsprung mass mrh is 200 kg. The driver operates the vehicle into a "READY" state.
The axle load mass of the front axle and the axle load mass of the rear axle respectively measured by a front axle load sensor and a rear axle load sensor of the vehicle are 900kg and 1800kg respectively. At the moment, a driver puts the gear into the gear D and steps on an accelerator pedal, namely, the gear information is the gear D, the accelerator opening information is 20%, the driving data is acquired by a gear sensor and an accelerator pedal opening sensor and then is sent to a vehicle driving control system, and the vehicle driving control system converts an analog signal into a digital signal and then obtains the corresponding total required torque T as 60N.m by looking up a table.
And calculating according to a formula to obtain that the distance a between the center of mass and the front shaft is 2000mm, and the distance b between the center of mass and the rear shaft is 1000 mm. And calculating the request torque (front axle demand torque) T of the front motorfAnd a requested torque (rear axle required torque) T of the rear motorr20n.m and 40n.m, respectively, the vehicle drive control system thus distributes power in response to the torque request. And then the vehicle starts to accelerate, the mass center of the whole vehicle moves backwards due to the influence of the acceleration on the mass center of the whole vehicle in the acceleration process, and the front shaft load mf and the rear shaft load mr are respectively changed into 650kg and 2050kg at a certain moment in the acceleration process. At this time, the values according to the above formulas a and b are respectively changed into 2250mm and 750mm, the requested torque Tf of the motor and the requested torque Tr of the rear motor are respectively changed into 15n.m and 45n.m on the premise that the total power request is not changed, so that the power distribution is adjusted, and the next working cycle is started after the power distribution is finished every time, so as to flexibly adjust the power distribution of the front axle and the rear axle according to the information of the whole vehicle in real time.
In summary, according to the power distribution method of the pure electric vehicle, the power distribution of the front axle and the rear axle is adjusted in real time by changing the axle load data of the front axle and the rear axle, so that the adhesion utilization rate of the vehicle is improved, and the driving safety is ensured. The method comprises the steps of firstly judging whether a target vehicle is in a starting state or not to judge whether power distribution control is needed or not, if the target vehicle is in the starting state, obtaining gear information, accelerator opening information and brake pedal information of the target vehicle, accurately calculating total required torque in the current driving state, then actively receiving front axle and rear axle load data of the target vehicle, accurately calculating front axle required torque and rear axle required torque according to the front axle and rear axle load data, then carrying out real-time response according to the required torque of front and rear axles, so as to achieve the purpose of changing according to the position of a mass center, and accordingly carrying out targeted adjustment on power distribution, so as to ensure that the driving force distribution ratio of the front and rear axles is the same as the normal reaction force of the front and rear axles, thereby greatly improving the adhesion utilization rate of the vehicle and ensuring the driving safety of the vehicle.
Referring to fig. 3, a power distribution system for a pure electric vehicle according to a third embodiment of the present invention is applied to a vehicle driving control system, and the system includes:
the vehicle self-checking module 11 is used for judging whether the target vehicle is in a starting state;
the power obtaining module 12 is configured to obtain running data of the target vehicle if the target vehicle is in a normal running state, where the running data includes gear information, accelerator opening information, and brake pedal information, and obtain a current total required torque of the target vehicle according to the gear information, the accelerator opening information, and the brake pedal information;
further, the power extraction module 12 further includes:
the gear judging unit is used for acquiring a gear signal and judging the running state of the target vehicle according to the gear signal;
further, the gear determination unit further includes:
a first state determination subunit configured to determine that the target vehicle is in a zero power output mode in a running state if the vehicle is in a P range or an N range;
and the second state judgment subunit is used for judging that the target vehicle is in a forward driving state or a reverse driving state if the gear is in a D gear or an R gear, and acquiring an accelerator pedal opening signal and a brake pedal opening signal at the moment.
The working mode analysis unit is used for acquiring the accelerator opening degree signal and the brake pedal opening degree signal and judging the working mode of the target vehicle in the current running state according to the accelerator opening degree signal and the brake pedal opening degree signal;
and the torque acquisition unit is used for inquiring a pre-calibrated output torque mapping table according to the working mode in the current running state so as to acquire the corresponding total output torque of the target vehicle in the current working mode.
Further, the operation mode analysis unit further includes:
a third state determination subunit, configured to determine that the target vehicle is in an acceleration mode in a forward driving state if the accelerator pedal opening degree signal is not zero and the brake pedal opening degree signal is zero;
a fourth state judgment subunit, configured to judge that the target vehicle is in a braking energy recovery mode if the accelerator pedal opening signal is zero and the brake pedal opening signal is not zero;
and the fifth state determination subunit is used for determining that the target vehicle is in a coasting energy recovery mode in the running state if the accelerator pedal opening degree signal and the brake pedal opening degree signal are both zero.
The torque analysis module 13 is configured to obtain front axle load data and rear axle load data of the target vehicle, and calculate a front axle required torque and a rear axle required torque according to the total required torque, the front axle load data, and the rear axle load data;
further, the torque analysis module 13 further includes:
the axle load data analysis unit is used for judging whether the front axle load data and the rear axle load data are valid or not;
the centroid position analysis unit is used for respectively calculating the vertical distance between the vehicle mass center and the front axle overlooking projection and the vertical distance between the vehicle mass center and the rear axle overlooking projection according to the front axle load data and the rear axle load if the vehicle mass center is in the front axle load data;
and the torque calculation unit is used for respectively calculating the front axle required torque and the rear axle required torque according to the vertical distance between the vehicle center of mass and the top-view projection of the front axle and the vertical distance between the vehicle center of mass and the top-view projection of the rear axle.
And the power distribution execution module 14 is used for actively responding to the front axle required torque and the rear axle required torque so as to send control signals to the front axle controller and the rear axle controller respectively.
In summary, according to the power distribution system of the pure electric vehicle, the power distribution of the front axle and the rear axle is adjusted in real time by changing the axle load data of the front axle and the rear axle, so that the adhesion utilization rate of the vehicle is improved, and the driving safety is ensured. The method comprises the steps of firstly judging whether a target vehicle is in a starting state or not to judge whether power distribution control is needed or not, if the target vehicle is in the starting state, obtaining gear information, accelerator opening information and brake pedal information of the target vehicle, accurately calculating total required torque in the current driving state, then actively receiving front axle and rear axle load data of the target vehicle, accurately calculating front axle required torque and rear axle required torque according to the front axle and rear axle load data, then carrying out real-time response according to the required torque of front and rear axles, so as to achieve the purpose of changing according to the position of a mass center, and accordingly carrying out targeted adjustment on power distribution, so as to ensure that the driving force distribution ratio of the front and rear axles is the same as the normal reaction force of the front and rear axles, thereby greatly improving the adhesion utilization rate of the vehicle and ensuring the driving safety of the vehicle.
In another aspect, the present invention also provides a computer readable storage medium, on which one or more programs are stored, which when executed by a processor, implement the power distribution method for an electric-only vehicle described above.
In another aspect, the present invention further provides a vehicle, which includes a memory for storing a computer program and a processor for executing the computer program stored in the memory, so as to implement the power distribution method for an electric-only vehicle described above.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A power distribution method of a pure electric vehicle is characterized by being applied to a vehicle driving control system, and the method comprises the following steps:
judging whether the target vehicle is in a starting state or not;
if so, acquiring running data of the target vehicle, wherein the running data comprises gear information, accelerator opening information and brake pedal information, and acquiring the current total required torque of the target vehicle according to the gear information, the accelerator opening information and the brake pedal information;
respectively acquiring front axle load data and rear axle load data of a target vehicle, and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data;
actively responding to the front axle required torque and the rear axle required torque to send control signals to a front axle controller and a rear axle controller respectively.
2. The power distribution method of an electric-only vehicle according to claim 1, wherein the step of obtaining the current total required torque of the target vehicle based on the gear information, the accelerator opening degree information and the brake pedal information comprises:
acquiring a gear signal, and judging the running state of a target vehicle according to the gear signal;
acquiring the accelerator opening degree signal and the brake pedal opening degree signal, and judging the working mode of the target vehicle in the current running state according to the accelerator opening degree signal and the brake pedal opening degree signal;
and inquiring a pre-calibrated output torque mapping table according to the working mode in the current running state so as to obtain the total output torque corresponding to the target vehicle in the current working mode.
3. The power distribution method of the pure electric vehicle according to claim 2, wherein the step of acquiring a gear signal and determining the driving state of the target vehicle according to the gear signal comprises:
if the vehicle is in a P gear or an N gear, determining that the target vehicle is in a zero power output mode in a running state;
and if the gear is in a D gear or an R gear, judging that the target vehicle is in a forward driving state or a reverse driving state, and acquiring an accelerator pedal opening signal and a brake pedal opening signal at the moment.
4. The power distribution method of the electric-only vehicle according to claim 3, wherein if the shift position is in the D-range or the R-range, the target vehicle is determined to be in a forward driving state or a reverse driving state, and the step of acquiring the accelerator pedal opening degree signal and the brake pedal opening degree signal further comprises the following steps:
if the opening signal of the accelerator pedal is not zero and the opening signal of the brake pedal is zero, determining that the target vehicle is in an acceleration mode under forward driving;
if the opening signal of the accelerator pedal is zero and the opening signal of the brake pedal is not zero, determining that the target vehicle is in a braking energy recovery mode;
and if the opening degree signal of the accelerator pedal and the opening degree signal of the brake pedal are both zero, judging that the target vehicle is in a sliding energy recovery mode in a running state.
5. The power distribution method of the electric vehicle as claimed in claim 1, wherein the step of respectively obtaining front axle load data and rear axle load data of the target vehicle and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data comprises:
judging whether the front axle load data and the rear axle load data are valid or not;
if so, respectively calculating the vertical distance between the vehicle mass center and the front shaft overlooking projection and the vertical distance between the vehicle mass center and the rear shaft overlooking projection according to the front shaft axle load data and the rear shaft axle load;
and respectively calculating the front axle required torque and the rear axle required torque according to the vertical distance between the vehicle center of mass and the top-view projection of the front axle and the vertical distance between the vehicle center of mass and the top-view projection of the rear axle.
6. The power distribution method of the electric vehicle as claimed in claim 5, wherein the step of calculating the vertical distance between the vehicle center of mass and the top-view projection of the front axle and the vertical distance between the vehicle center of mass and the top-view projection of the rear axle according to the front axle load data and the rear axle load respectively if the power distribution method of the electric vehicle is adopted comprises the following steps:
processing the front axle load data and the rear axle load data according to the following formula:
wherein: a represents the vertical distance of the vehicle center of mass from the top projection of the front axle, b represents the vertical distance of the vehicle center of mass from the top projection of the rear axle, mfRepresenting front axle load data, mrRepresenting rear axle load data, mfhAnd mrhUnsprung masses of the front and rear axles, respectively, and L is the wheelbase of the target vehicle.
7. The power distribution method of the electric vehicle as claimed in claim 5, wherein the step of calculating the front axle required torque and the rear axle required torque according to the vertical distance between the vehicle center of mass and the top-view projection of the front axle and the vertical distance between the vehicle center of mass and the top-view projection of the rear axle comprises the steps of:
processing the vertical distance between the vehicle center of mass and the top projection of the front shaft and the vertical distance between the vehicle center of mass and the top projection of the rear shaft according to the following formula:
wherein: t isfRepresenting front axle requested torque, TrRepresenting the rear axle required torque, T representing the total required torque, a representing the vertical distance of the vehicle centre of mass from the front axle top view projection, b representing the vertical distance of the vehicle centre of mass from the rear axle top view projection.
8. A power distribution system for an electric-only vehicle, for use in a vehicle drive control system, the system comprising:
the vehicle self-checking module is used for judging whether the target vehicle is in a starting state or not;
the power acquisition module is used for acquiring the running data of the target vehicle if the running data comprises gear information, accelerator opening information and brake pedal information, and acquiring the current total required torque of the target vehicle according to the gear information, the accelerator opening information and the brake pedal information;
the torque analysis module is used for respectively acquiring front axle load data and rear axle load data of a target vehicle and respectively calculating to obtain front axle required torque and rear axle required torque according to the total required torque, the front axle load data and the rear axle load data;
and the power distribution execution module is used for actively responding to the front axle required torque and the rear axle required torque so as to respectively send control signals to the front axle controller and the rear axle controller.
9. A readable storage medium, comprising: the readable storage medium stores one or more programs which, when executed by a processor, implement the power distribution method for an electric-only vehicle of any of claims 1-7.
10. A vehicle, comprising a memory and a processor, wherein:
the memory is used for storing computer programs;
the processor is configured to implement the power distribution method for a pure electric vehicle according to any one of claims 1 to 7 when executing the computer program stored in the memory.
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