CN114670659A - Vehicle torque control method and device and electric vehicle - Google Patents
Vehicle torque control method and device and electric vehicle Download PDFInfo
- Publication number
- CN114670659A CN114670659A CN202110308664.4A CN202110308664A CN114670659A CN 114670659 A CN114670659 A CN 114670659A CN 202110308664 A CN202110308664 A CN 202110308664A CN 114670659 A CN114670659 A CN 114670659A
- Authority
- CN
- China
- Prior art keywords
- accelerator pedal
- signal
- vehicle
- torque
- driving intention
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000008859 change Effects 0.000 claims abstract description 72
- 230000003044 adaptive effect Effects 0.000 claims description 23
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000004044 response Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60L2240/421—Speed
-
- 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
-
- 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
- B60L2240/48—Drive Train control parameters related to transmissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a vehicle torque control method, a vehicle torque control device and an electric vehicle, and relates to the technical field of electric vehicle control, wherein the vehicle torque control method is used for acquiring the current driving state information of a vehicle, and the driving state information comprises the following steps: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal; calculating the self-adaptive adjustment change rate according to the driving intention; acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal; and calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal and the gear signal. According to the scheme of the invention, the vehicle torque can be adaptively adjusted according to the driving intention of the driver, and the use experience of the driver is improved.
Description
Technical Field
The invention belongs to the technical field of electric automobile control, and particularly relates to a vehicle torque control method and device and an electric automobile.
Background
With the development of new energy automobile technology, especially pure electric vehicles technology, the performance of experience and experience for a driver is gradually improved, the driving mode is divided into a sport driving mode, a comfortable driving mode and an economic driving mode, the driving gears can be divided into an advancing gear, a power gear and the like, and under the conditions of different driving modes and different driving gears, the control of the output torque of the existing vehicle cannot meet the driving intention of the driver, namely the output torque of the vehicle cannot be adjusted in a self-adaptive mode according to the driving intention.
Disclosure of Invention
The embodiment of the invention aims to provide a vehicle torque control method and device and an electric vehicle, so as to solve the problem of how to adaptively control the vehicle torque according to the driving state in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a vehicle torque control method including:
acquiring current driving state information of a vehicle, wherein the driving state information comprises: an accelerator pedal opening signal and a gear signal;
identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal;
calculating the self-adaptive adjustment change rate according to the driving intention;
Acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal;
and calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal and the gear signal.
Optionally, identifying the driver's current driving intention according to the accelerator pedal opening degree signal and the gear signal comprises:
when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain an accelerator pedal change interval;
identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of accelerator pedal quick depression, accelerator pedal quick release, accelerator pedal gentle depression, accelerator pedal gentle release, and accelerator pedal opening degree maintenance.
Optionally, when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain an accelerator pedal change interval, including:
Comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal variation interval comprises at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval and a zero negative interval.
Optionally, calculating an adaptive adjustment rate of change according to the driving intent, comprising:
and accumulating the calibration values corresponding to the driving intention in each preset period, and calculating the self-adaptive adjustment change rate.
Optionally, obtaining a driving intention recognition strategy coefficient according to the adaptive adjustment of the change rate and the accelerator pedal opening signal includes:
acquiring a driving intention identification strategy coefficient corresponding to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal according to a pre-stored driving intention identification strategy coefficient corresponding relation table; the driving intention identification strategy coefficient corresponding relation table comprises different accelerator opening degree signals and driving intention identification strategy coefficients corresponding to adaptive adjustment change rate combinations.
Optionally, the driving state information further includes: at least one of a motor speed signal, a motor maximum allowable torque, and a battery maximum available discharge power.
Optionally, calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator pedal opening degree signal and the gear signal comprises:
acquiring the current driving intention of the vehicle and identifying gear torque according to the accelerator pedal opening degree signal and the motor rotating speed signal;
acquiring the current gear torque of the vehicle according to the accelerator pedal opening degree signal, the motor rotating speed signal and the gear signal;
and calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the driving intention identification gear torque and the gear torque.
Optionally, calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the driving intention identification gear torque and the gear torque comprises:
the current output torque of the vehicle is calculated according to the following formula:
the output torque is the driving intent recognition gear torque x driving intent recognition strategy coefficient + gear torque x (1-driving intent recognition strategy coefficient).
Optionally, the method further comprises:
comparing the output torque with the maximum allowable torque of the motor, and respectively comparing the output power corresponding to the output torque with the maximum available discharge power of the battery;
and when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery, controlling to output the output torque.
The embodiment of the invention also provides a vehicle torque control method and device, which comprises the following steps:
the vehicle driving state information acquisition device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current driving state information of a vehicle, and the driving state information comprises: an accelerator pedal opening signal and a gear signal;
the identification module is used for identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal;
the first calculation module is used for calculating the self-adaptive adjustment change rate according to the driving intention;
the second acquisition module is used for acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal;
and the second calculation module is used for calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal and the gear signal.
The embodiment of the invention also provides an electric automobile which comprises the vehicle torque control device.
The technical scheme of the invention at least has the following beneficial effects:
in the above scheme, the vehicle torque control method obtains current driving state information of the vehicle, where the driving state information includes: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal; calculating the self-adaptive adjustment change rate according to the driving intention; acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal; according to the driving intention identification strategy coefficient, the accelerator pedal opening degree signal and the gear signal, the current output torque of the vehicle is calculated, and the driving intention identification of a driver is better realized, so that the accurate control of the torque response adjustment of the driving state information identification is realized, and the driving use experience of the vehicle is improved.
Drawings
FIG. 1 is a flow chart of a vehicle torque control method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a vehicle torque control method according to an embodiment of the present invention;
FIG. 3 is a second flowchart of a vehicle torque control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a vehicle torque control apparatus of an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a vehicle torque control method and device and an electric vehicle, aiming at the problem of how to adaptively control the vehicle torque according to the driving state in the prior art.
As shown in fig. 1, an embodiment of the present invention provides a vehicle torque control method including:
here, as shown in fig. 2, the accelerator pedal opening degree signal is obtained by communicating with a vehicle control unit through a CAN (controller area network) bus; and communicating with the electronic gear shifting mechanism through a CAN bus to acquire the gear signal.
It should be noted that, the embodiment of the present invention is compatible with the architecture system vehicle that transmits the above signals, and has strong versatility.
it should be noted that, in the embodiment of the present invention, the adaptive adjustment change rate can be accurately calculated according to the driving intention, and the adaptive adjustment change rate can be accurately calibrated for different vehicle types to obtain the corresponding adaptive adjustment change rate, where the range of the adaptive adjustment change rate is 0 to 1.
104, acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal;
and 105, calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal and the gear signal.
The embodiment of the invention acquires the current driving state information of a vehicle, wherein the driving state information comprises the following steps: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal; calculating the self-adaptive adjustment change rate according to the driving intention; acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal; according to the driving intention identification strategy coefficient, the accelerator pedal opening degree signal and the gear signal, the current output torque of the vehicle is calculated, and the driving intention identification of a driver is better realized, so that the accurate control of the torque response adjustment of the driving state information identification is realized, and the driving use experience of the vehicle is better improved under the condition of ensuring that the external characteristics of a vehicle motor are not changed.
It should be noted that the vehicle torque control method provided by the embodiment of the invention accurately controls the torque response adjustment for realizing the driving intention recognition, meets the acceleration and deceleration requirements of the driver, is applicable to different driving modes and different gears, and has the condition of mass production of the whole vehicle.
Optionally, step 102, identifying the current driving intention of the driver according to the accelerator opening signal and the gear signal, includes:
when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain an accelerator pedal change interval;
identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of a quick depression of an accelerator pedal, a quick release of the accelerator pedal, a slow depression of the accelerator pedal, a slow release of the accelerator pedal, and a holding of an opening degree of the accelerator pedal.
Here, taking the preset shift position as a D (forward) shift position as an example, in the D shift position, the accelerator pedal variation interval is obtained by comparing the accelerator pedal opening degree signal of each preset period with the accelerator pedal opening degree signal of the previous preset period, so as to identify the driving intention according to the preset corresponding condition.
Optionally, when the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain an accelerator pedal change interval, including:
comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal variation interval comprises at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval and a zero negative interval.
It should be noted that the preset interval range is set according to calibration, the interval range corresponding to the difference value is compared with the preset interval range, and the accelerator pedal change interval corresponding to the difference value is determined to be one of the above six items, so that the driving intention is determined according to the accelerator pedal change interval.
It should be further noted that, when the accelerator pedal variation interval is a large positive interval, the driving intention is to quickly step on the accelerator pedal; when the accelerator pedal change interval is a large negative interval, the driving intention is to loosen the accelerator pedal quickly; when the accelerator pedal change interval is a small positive interval, the driving intention is to slowly step on the accelerator pedal; when the accelerator pedal change interval is a small negative interval, the driving intention is to loosen the accelerator pedal slowly; when the accelerator pedal change interval is a zero positive interval or a zero negative interval, the driving intention is to maintain the accelerator pedal opening.
Optionally, step 103, calculating an adaptive adjustment change rate according to the driving intention, includes:
and accumulating the calibration values corresponding to the driving intention in each preset period, and calculating the self-adaptive adjustment change rate.
Here, the preset period is 5ms, the adaptive adjustment change rate is calculated based on a driving intention, that is, the adaptive adjustment change rate is calculated based on the accelerator pedal change interval, an initial value is given first, and if the driving intention is quick stepping or quick loosening, that is, the accelerator pedal change interval is a large positive interval or a large negative interval, the adaptive adjustment change rate is incremented with a standard value of 0.1 per preset period, and the maximum value is 1; if the driving intention is to be slowly stepped or slowly released, namely the change interval of the accelerator pedal is a small positive interval or a small negative interval, the self-adaptive adjustment change rate is decreased with the calibration value of each preset period as-0.01, and the minimum value is 0; if the driving intention is that the opening degree of the accelerator is kept, the adaptive adjustment change rate is 0 by the calibration value of each preset period, namely the adaptive adjustment change rate is kept unchanged.
Optionally, in step 104, obtaining a driving intention identification strategy coefficient according to the adaptive adjustment change rate and the accelerator pedal opening degree signal, including:
Acquiring a driving intention identification strategy coefficient corresponding to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal according to a pre-stored driving intention identification strategy coefficient corresponding relation table; the driving intention identification strategy coefficient corresponding relation table comprises different accelerator opening degree signals and driving intention identification strategy coefficients corresponding to adaptive adjustment change rate combinations.
It should be noted that, in order to further accurately identify the driving intention of the driver, the driving intention identification strategy coefficient correspondence table is calibrated in advance, and the adaptive adjustment change rate is actually coupled with the accelerator pedal opening degree signal to obtain the driving intention identification strategy coefficient.
It should be noted that, since the driving intention identification strategy coefficient varies with the driving intention of the driver, the vehicle torque control method according to the embodiment of the invention may adaptively adjust the driving intention identification strategy coefficient according to the acceleration response demand and the accelerator opening degree of the driver, so as to effectively identify the driving intention and improve the power response when the driving mode is not switched.
Optionally, the driving state information further includes: at least one of a motor speed signal, a motor maximum allowable torque, and a battery maximum available discharge power.
It should be noted that, as shown in fig. 2, the motor speed signal, the maximum allowable torque of the motor, and the maximum available discharge power of the battery are obtained through communication with a motor controller via a CAN bus.
Optionally, step 105, calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening signal and the gear signal, includes:
acquiring the current driving intention of the vehicle and identifying gear torque according to the accelerator pedal opening degree signal and the motor rotating speed signal;
acquiring the current gear torque of the vehicle according to the accelerator pedal opening degree signal, the motor rotating speed signal and the gear signal;
and calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the driving intention identification gear torque and the gear torque.
Here, after calculating the current output torque of the vehicle, the vehicle control unit outputs a torque control command to the motor controller.
Optionally, calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the driving intention identification gear torque and the gear torque comprises:
The current output torque of the vehicle is calculated according to the following formula:
the output torque is the driving intent recognition gear torque x driving intent recognition strategy coefficient + gear torque x (1-driving intent recognition strategy coefficient).
The above formula is applied to calculation of the output torque when the driver does not switch the driving mode.
Optionally, the method further comprises:
comparing the output torque with the maximum allowable torque of the motor, and respectively comparing the output power corresponding to the output torque with the maximum available discharge power of the battery;
and when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery, controlling to output the output torque.
It should be noted that the calculated output torque also needs to be arbitrated according to the maximum allowable torque of the motor and the maximum available discharge power of the battery, so as to achieve driving intention and improve power response.
As shown in fig. 3, a specific example of the vehicle torque control method of the present invention will be described:
respectively acquiring an opening degree signal of an accelerator pedal, a rotating speed signal of a motor and a gear signal; determining driving intention recognition gear torque according to an accelerator pedal opening degree signal and a motor rotating speed signal; determining gear torque according to the motor rotating speed signal, the accelerator pedal opening degree signal and the gear signal; according to the formula: calculating an output torque, where the output torque is the driving intention recognition gear torque × driving intention recognition strategy coefficient + gear torque × (1-driving intention recognition strategy coefficient); arbitrating the calculated output torque according to the maximum allowable motor torque output by the motor controller, wherein the output torque needs to be smaller than the maximum allowable motor torque, and finally outputting a torque control command to the motor controller by the vehicle control unit.
As shown in fig. 4, an embodiment of the present invention further provides a vehicle torque control method apparatus, including:
a first obtaining module 401, configured to obtain current driving state information of a vehicle, where the driving state information includes: an accelerator pedal opening signal and a gear signal;
the identification module 402 is used for identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal;
a first calculating module 403, configured to calculate an adaptive adjustment change rate according to the driving intention;
a second obtaining module 404, configured to obtain a driving intention identification strategy coefficient according to the adaptive adjustment change rate and the accelerator pedal opening degree signal;
and a second calculating module 405, configured to calculate a current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal, and the gear signal.
The embodiment of the invention acquires the current driving state information of a vehicle, wherein the driving state information comprises the following steps: an accelerator pedal opening signal and a gear signal; identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal; calculating the self-adaptive adjustment change rate according to the driving intention; acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal; according to the driving intention identification strategy coefficient, the accelerator pedal opening degree signal and the gear signal, the current output torque of the vehicle is calculated, and the driving intention identification of a driver is better realized, so that the accurate control of the torque response adjustment of the driving state information identification is realized, and the driving use experience of the vehicle is improved.
Optionally, the identifying module 402 includes:
the first identification unit is used for comparing the accelerator pedal opening degree signal of each preset period with the accelerator pedal opening degree signal of the previous preset period when the gear signal is a preset gear to obtain an accelerator pedal change interval;
the second identification unit is used for identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of accelerator pedal quick depression, accelerator pedal quick release, accelerator pedal gentle depression, accelerator pedal gentle release, and accelerator pedal opening degree maintenance.
Optionally, the first identification unit is specifically configured to:
comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal variation interval comprises at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval and a zero negative interval.
Optionally, the first calculating module 403 is specifically configured to:
and accumulating the calibration values corresponding to the driving intention in each preset period, and calculating the self-adaptive adjustment change rate.
Optionally, the second obtaining module 404 is specifically configured to:
acquiring a driving intention identification strategy coefficient corresponding to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal according to a pre-stored driving intention identification strategy coefficient corresponding relation table; the driving intention identification strategy coefficient corresponding relation table comprises different accelerator opening degree signals and driving intention identification strategy coefficients corresponding to adaptive adjustment change rate combinations.
Optionally, the driving state information further includes: at least one of a motor speed signal, a motor maximum allowable torque, and a battery maximum available discharge power.
Optionally, the second calculation module 405 includes:
the first calculation unit is used for calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal and the gear signal, and comprises the following steps:
the second calculation unit is used for acquiring the current driving intention recognition gear torque of the vehicle according to the accelerator pedal opening degree signal and the motor rotating speed signal;
the third calculation unit is used for acquiring the current gear torque of the vehicle according to the accelerator pedal opening degree signal, the motor rotating speed signal and the gear signal;
And the fourth calculation unit is used for calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the driving intention identification gear torque and the gear torque.
Optionally, the fourth calculating unit is specifically configured to:
the current output torque of the vehicle is calculated according to the following formula:
the output torque is the driving intent recognition gear torque x driving intent recognition strategy coefficient + gear torque x (1-driving intent recognition strategy coefficient).
Optionally, the apparatus further comprises:
the comparison module is used for comparing the output torque with the maximum allowable torque of the motor and comparing the output power corresponding to the output torque with the maximum available discharge power of the battery respectively;
and the control module is used for controlling the output torque to be output when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery.
The embodiment of the invention also provides an electric automobile which comprises the vehicle torque control device.
The electric automobile provided by the embodiment of the invention comprises the vehicle torque control device, and all the embodiments of the vehicle torque control device are suitable for the electric automobile and can achieve the same or similar beneficial effects.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. A vehicle torque control method, characterized by comprising:
acquiring current driving state information of a vehicle, wherein the driving state information comprises: an accelerator pedal opening signal and a gear signal;
identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal;
calculating the self-adaptive adjustment change rate according to the driving intention;
acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal;
and calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal and the gear signal.
2. The vehicle torque control method according to claim 1, wherein identifying a driver's current driving intention from the accelerator opening signal and the gear signal includes:
When the gear signal is a preset gear, comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain an accelerator pedal change interval;
identifying the current driving intention of the driver according to the accelerator pedal change interval; wherein the driving intention includes at least one of a quick depression of an accelerator pedal, a quick release of the accelerator pedal, a slow depression of the accelerator pedal, a slow release of the accelerator pedal, and a holding of an opening degree of the accelerator pedal.
3. The vehicle torque control method according to claim 2, wherein when the shift signal is a preset shift, comparing the accelerator pedal opening degree signal of each preset period with the accelerator pedal opening degree signal of a previous preset period to obtain an accelerator pedal variation interval, comprises:
comparing the accelerator pedal opening signal of each preset period with the accelerator pedal opening signal of the previous preset period to obtain a difference value;
acquiring an accelerator pedal change interval corresponding to the difference value according to a preset interval range; wherein the accelerator pedal variation interval comprises at least one of a large positive interval, a large negative interval, a small positive interval, a small negative interval, a zero positive interval and a zero negative interval.
4. The vehicle torque control method according to claim 1, characterized in that calculating an adaptive adjustment change rate according to the driving intention includes:
and accumulating the calibration values corresponding to the driving intention in each preset period, and calculating the self-adaptive adjustment change rate.
5. The vehicle torque control method according to claim 1, wherein obtaining a driving-intention recognition strategy coefficient based on the adaptive adjustment change rate and the accelerator-pedal opening degree signal includes:
acquiring a driving intention identification strategy coefficient corresponding to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal according to a pre-stored driving intention identification strategy coefficient corresponding relation table; the driving intention identification strategy coefficient corresponding relation table comprises different accelerator opening degree signals and driving intention identification strategy coefficients corresponding to adaptive adjustment change rate combinations.
6. The vehicle torque control method according to claim 1, characterized in that the driving state information further includes: at least one of a motor speed signal, a motor maximum allowable torque, and a battery maximum available discharge power.
7. The vehicle torque control method according to claim 6, wherein calculating a current output torque of a vehicle based on the driving intent recognition strategy coefficient, the accelerator pedal opening signal, and the gear signal comprises:
acquiring the current driving intention of the vehicle and identifying gear torque according to the accelerator pedal opening degree signal and the motor rotating speed signal;
acquiring the current gear torque of the vehicle according to the accelerator pedal opening degree signal, the motor rotating speed signal and the gear signal;
and calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the driving intention identification gear torque and the gear torque.
8. The vehicle torque control method according to claim 7, wherein calculating a current output torque of a vehicle based on the driving intent identification strategy coefficients, the driving intent identification range torque, and the range torque comprises:
the current output torque of the vehicle is calculated according to the following formula:
the output torque is the driving intent recognition gear torque x driving intent recognition strategy coefficient + gear torque x (1-driving intent recognition strategy coefficient).
9. The vehicle torque control method according to claim 6, characterized by further comprising:
comparing the output torque with the maximum allowable torque of the motor, and respectively comparing the output power corresponding to the output torque with the maximum available discharge power of the battery;
and when the output torque is smaller than the maximum allowable torque of the motor and the output power corresponding to the output torque is smaller than the maximum available discharge power of the battery, controlling to output the output torque.
10. A vehicle torque control method device characterized by comprising:
the vehicle driving state information acquisition device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current driving state information of a vehicle, and the driving state information comprises: an accelerator pedal opening signal and a gear signal;
the identification module is used for identifying the current driving intention of the driver according to the opening degree signal and the gear signal of the accelerator pedal;
the first calculation module is used for calculating the self-adaptive adjustment change rate according to the driving intention;
the second acquisition module is used for acquiring a driving intention identification strategy coefficient according to the self-adaptive adjustment change rate and the accelerator pedal opening degree signal;
And the second calculation module is used for calculating the current output torque of the vehicle according to the driving intention identification strategy coefficient, the accelerator opening degree signal and the gear signal.
11. An electric vehicle characterized by comprising the vehicular torque control apparatus according to claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110308664.4A CN114670659B (en) | 2021-03-23 | 2021-03-23 | Vehicle torque control method and device and electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110308664.4A CN114670659B (en) | 2021-03-23 | 2021-03-23 | Vehicle torque control method and device and electric automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114670659A true CN114670659A (en) | 2022-06-28 |
| CN114670659B CN114670659B (en) | 2024-02-20 |
Family
ID=82069645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110308664.4A Active CN114670659B (en) | 2021-03-23 | 2021-03-23 | Vehicle torque control method and device and electric automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114670659B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115716413A (en) * | 2022-11-28 | 2023-02-28 | 成都赛力斯科技有限公司 | Torque control method, device, equipment and storage medium |
| CN116278816A (en) * | 2023-03-02 | 2023-06-23 | 华中科技大学 | Speed limiting control method for new energy automobile |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8710842D0 (en) * | 1986-05-09 | 1987-06-10 | Hitachi Ltd | Condition control method for i c engines |
| CN104210383A (en) * | 2014-09-18 | 2014-12-17 | 上海工程技术大学 | Four-wheel independently driven electric vehicle torque distribution control method and system |
| CN106585426A (en) * | 2016-12-23 | 2017-04-26 | 潍柴动力股份有限公司 | Motor torque control method and apparatus |
| CN111016679A (en) * | 2019-11-28 | 2020-04-17 | 珠海格力电器股份有限公司 | Automobile control method and device, storage medium and automobile |
-
2021
- 2021-03-23 CN CN202110308664.4A patent/CN114670659B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8710842D0 (en) * | 1986-05-09 | 1987-06-10 | Hitachi Ltd | Condition control method for i c engines |
| CN104210383A (en) * | 2014-09-18 | 2014-12-17 | 上海工程技术大学 | Four-wheel independently driven electric vehicle torque distribution control method and system |
| CN106585426A (en) * | 2016-12-23 | 2017-04-26 | 潍柴动力股份有限公司 | Motor torque control method and apparatus |
| CN111016679A (en) * | 2019-11-28 | 2020-04-17 | 珠海格力电器股份有限公司 | Automobile control method and device, storage medium and automobile |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115716413A (en) * | 2022-11-28 | 2023-02-28 | 成都赛力斯科技有限公司 | Torque control method, device, equipment and storage medium |
| CN115716413B (en) * | 2022-11-28 | 2024-04-26 | 重庆赛力斯凤凰智创科技有限公司 | Torque control method, device, equipment and storage medium |
| CN116278816A (en) * | 2023-03-02 | 2023-06-23 | 华中科技大学 | Speed limiting control method for new energy automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114670659B (en) | 2024-02-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2620313B1 (en) | Accelerator pedal device for vehicle and pedal reaction force control method | |
| CN114670659A (en) | Vehicle torque control method and device and electric vehicle | |
| US8214096B2 (en) | Apparatus and method for controlling an accelerator for electric vehicles | |
| CN112428995B (en) | New energy automobile constant-speed cruising and active speed-limiting intelligent driving control method | |
| CN109398108B (en) | Torque filtering method and device for electric automobile | |
| CN110154775B (en) | Regenerative braking energy recovery control method for electric automobile | |
| GB2499657A (en) | Automatic vehicle speed control having predetermined upper and lower limits. | |
| CN110562046A (en) | Driving characteristic-adjustable hydrogen energy automobile real-time interaction system and control method thereof | |
| CN113401137B (en) | Energy management method and system under intelligent driving and cruising working conditions | |
| CN104627024B (en) | Improve the control method of pure electric vehicle driving | |
| US11505071B2 (en) | Regenerative braking control method and regenerative braking control device | |
| CN112477609B (en) | Electric vehicle and electric vehicle sliding energy recovery method and recovery system | |
| CN111516688B (en) | Vehicle torque control method and device and electric automobile | |
| CN111873972A (en) | Motor braking method and system based on brake pedal feeling | |
| CN111391672A (en) | Self-adaptive energy recovery method for pure electric vehicle | |
| CN111376717B (en) | Power output control method and system | |
| CN112092641A (en) | Control method and device for new energy vehicle, new energy vehicle and storage medium | |
| CN113119742A (en) | Method and system for determining required torque of vehicle and vehicle | |
| CN111434545A (en) | Cruise control method and system of vehicle and vehicle | |
| CN113022319A (en) | Electric vehicle self-adaptive energy recovery control method and electric vehicle | |
| CN113386578A (en) | Torque output control method and device, vehicle and equipment | |
| CN115009277A (en) | Downhill control method and system for automobile adaptive cruise system | |
| CN113306406B (en) | Motor torque control device and method and automobile | |
| US20110060512A1 (en) | Cruise control device having a shutoff unit dependent on the operating speed of the gas pedal | |
| CN113635779B (en) | Electric vehicle driving control method, whole vehicle controller and electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |