CN115230487B - Pedal-based torque control method, pedal-based torque control device, computer device, and storage medium - Google Patents

Pedal-based torque control method, pedal-based torque control device, computer device, and storage medium Download PDF

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Publication number
CN115230487B
CN115230487B CN202210924081.9A CN202210924081A CN115230487B CN 115230487 B CN115230487 B CN 115230487B CN 202210924081 A CN202210924081 A CN 202210924081A CN 115230487 B CN115230487 B CN 115230487B
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pedal
data
depth data
power output
pedal depth
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CN115230487A (en
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顾进
吴生玉
彭诚
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Hozon New Energy Automobile Co Ltd
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Hozon New Energy Automobile Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application relates to a pedal-based torque control method, a pedal-based torque control device, a pedal-based torque control computer device and a pedal-based torque control storage medium. The method comprises the following steps: acquiring custom pedal configuration information, which comprises power output data corresponding to different pedal depth data; according to the self-defined pedal configuration information, a distribution rule of motor torque data along with pedal depth data is constructed, and the method comprises the following steps: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is steady, and motor torque change data corresponding to speed change driven by pedal depth data change; and acquiring pedal depth data, and adjusting the power output of the motor according to the distribution rule of motor torque data along with the pedal depth data. The application avoids the limitation of torque demand in the existing driving mode, increases the flexibility of the system, has high expansibility and is more humanized.

Description

Pedal-based torque control method, pedal-based torque control device, computer device, and storage medium
Technical Field
The present application relates to the field of vehicle control technology, and in particular, to a pedal-based torque control method, device, computer apparatus, and storage medium.
Background
With the continued sophistication of electric vehicle electronic control systems, automobile enterprises have come to focus on pedal versus torque demand (commonly referred to as Pedal Map) as part of the driving quality of the vehicle.
The electric control system in the prior art stores Pedal Map which is calibrated under the standard condition of the vehicle, however, in the actual working process of the vehicle, because the running condition of the vehicle is complex, different drivers have different torque demands corresponding to the depths of various pedals of the vehicle, for example, some drivers want to obtain larger torque demands when stepping on certain pedals slightly, and some drivers want to obtain larger torque demands when stepping on certain pedals again. At present, most electric control systems of electric vehicles only provide 3-4 fixed driving modes, and under various driving modes, the same pedal depth corresponds to different torque demands, so that the electric control system has poor adaptability to various drivers.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a pedal-based torque control method, apparatus, computer device, and storage medium that can configure different motor torque demands for different drivers.
A pedal-based torque control method applied to an automotive ECU, the torque control method comprising:
Acquiring user-defined pedal configuration information; the user-defined pedal configuration information comprises power output data corresponding to different pedal depth data in the pedal configuration information;
Constructing a distribution rule of the motor torque data along with pedal depth data according to the custom pedal configuration information; wherein, the motor torque data along with pedal depth data's distribution law includes: motor torque data corresponding to various pedal depth data when a vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is stable, and motor torque change data corresponding to speed change driven by pedal depth data change;
after a running control instruction is sent by using a pedal, the pedal depth data is obtained, and the power output of the motor is adjusted according to the distribution rule of the motor torque data along with the pedal depth data.
In one embodiment, prior to obtaining the custom pedal configuration information, including,
Receiving power output data corresponding to at least two groups of pedal depth data input by a user;
utilizing a polynomial fitting linear relation to judge whether the pedal depth data and the power output data are in a linear relation or not;
And when the power output data exceeds the power output threshold, replacing the power output threshold with the power output data, and storing the power output data corresponding to the pedal depth data as the pedal configuration information.
In one embodiment, before obtaining the custom pedal configuration information, the method further includes: when the nonlinear relationship is determined, the prompt re-receives the custom input.
In one embodiment, after obtaining the custom pedal configuration information, further comprising,
And calculating a linear relation constant of the pedal depth data and the power output data, and fitting a linear relation curve of the power output data changing along with the pedal depth data by using the linear relation constant so as to acquire the power output data corresponding to any pedal depth data, thereby acquiring the vehicle speed corresponding to any pedal depth data.
In one embodiment, the power output data includes starting acceleration corresponding to different pedal depth data, stable vehicle speed corresponding to different pedal depth data, and acceleration corresponding to the vehicle speed when the pedal depth data changes to drive the vehicle speed to change.
In one embodiment, the motor torque data distribution rule along with pedal depth data is constructed, and the method further comprises,
Calculating the motor required power P corresponding to the pedal depth data by using the relation (1),
P＝F/η*V……(1)
Wherein F represents the resistance of the whole automobile, eta represents the motor efficiency, and V represents the speed corresponding to the pedal depth data;
calculating motor torque data T using relation (2),
T＝9549*P/n……(2)
Wherein n represents the motor rotation speed;
and fitting a linear curve relation rule of the motor torque data along with the pedal depth data according to the relation formulas (1) and (2).
In one embodiment, the pedal depth data is expressed as a percentage of pedal depth.
A pedal-based torque control device, the device comprising:
the configuration acquisition module is used for acquiring the configuration information of the user-defined pedal; the user-defined pedal configuration information comprises power output data corresponding to different pedal depth data;
The rule calculation module is used for constructing a distribution rule of the motor torque data along with pedal depth data according to the custom pedal configuration information; wherein, the motor torque data along with pedal depth data's distribution law includes: motor torque data corresponding to various pedal depth data when a vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is stable, and motor torque change data corresponding to speed change driven by pedal depth data change;
and the torque execution module is used for acquiring the pedal depth data after a running control instruction is sent by utilizing the pedal, and adjusting the power output of the motor according to the distribution rule of the motor torque data along with the pedal depth data.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring user-defined pedal configuration information; the user-defined pedal configuration information comprises power output data corresponding to different pedal depth data;
According to the self-defined pedal configuration information, a distribution rule of the motor torque data along with pedal depth data is constructed, wherein the distribution rule of the motor torque data along with the pedal depth data comprises: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is steady, and motor torque change data corresponding to speed change driven by pedal depth data change;
after a running control instruction is sent by using a pedal, the pedal depth data is obtained, and the power output of the motor is adjusted according to the distribution rule of the motor torque data along with the pedal depth data.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring user-defined pedal configuration information; the user-defined pedal configuration information comprises power output data corresponding to different pedal depth data;
According to the self-defined pedal configuration information, a distribution rule of the motor torque data along with pedal depth data is constructed, wherein the distribution rule of the motor torque data along with the pedal depth data comprises: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is steady, and motor torque change data corresponding to speed change driven by pedal depth data change;
after a running control instruction is sent by using a pedal, the pedal depth data is obtained, and the power output of the motor is adjusted according to the distribution rule of the motor torque data along with the pedal depth data.
According to the pedal-based torque control method, the pedal-based torque control device, the computer equipment and the storage medium, the pedal configuration information is obtained according to the user definition, and the distribution rule of the required motor torque data along with the pedal depth data of the vehicle in the driving mode is generated, so that the limitation of torque demand selection in the existing driving mode is avoided, the flexibility of the system is higher, and other parameters such as the rising speed of the motor torque, the recovery intensity of braking energy and the like can be expanded and adjusted functionally, so that the system is more humanized.
Drawings
FIG. 1 is a flow chart of a pedal-based torque control method in one embodiment;
FIG. 2 is a schematic illustration of motor torque data for different pedal depths at different speeds in one embodiment;
FIG. 3 is a linear plot of various power output data versus pedal depth data for one embodiment;
FIG. 4 is a flow chart of a method of torque data calculation in one embodiment;
FIG. 5 is a graphical illustration of a change in position of a Pedal Map adjustment front and rear pedal depth profile in one embodiment;
FIG. 6 is a block diagram of a pedal-based torque control in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The torque control method based on the pedal can be applied to an automobile ECU.
The automobile ECU represents an automobile electronic control unit, is a circuit board generic term comprising a Microcontroller (MCU) and related peripheral devices, and is an application system of the microcontroller in an automobile. The microcontroller is a microcomputer integrated on a chip with the CPU as a core of an ECU of the automobile. The automobile ECU can realize functions of rotation, locking, reverse power assistance, over power assistance, power assistance losing and the like of the automobile EPS system, a torque sensor is used for outputting an electric signal to obtain a torque signal and a vehicle speed signal, a processor calculates to obtain a power assistance current, and a motor is controlled to realize different power assistance moments, wherein the motor is an actuating mechanism of the embodiment.
The pedal is an automobile pedal, and comprises a clutch pedal, a brake pedal and an accelerator pedal, and can be understood as an automobile motor control executing mechanism, a position sensor is arranged on each automobile pedal, a driver sends an executing signal to a transmitter controller through the position sensor of the pedal, the engine controller adjusts a motor, and the position sensor feeds back a detected position signal to an ECU (electronic control unit) so as to realize closed-loop control of the automobile pedal.
The embodiment is based on the working principle of the automobile pedal, and further supplements the function of the automobile pedal for realizing the self-defined control of the motor torque.
The torque control method in the present embodiment includes the steps of:
Step S101, obtaining self-defined pedal configuration information; the custom pedal configuration information comprises power output data corresponding to different pedal depth data.
Step S102, according to self-defined pedal configuration information, a distribution rule of motor torque data along with pedal depth data is constructed; wherein, the motor torque data includes along with pedal depth data's distribution law: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is steady, and motor torque change data corresponding to speed change driven by pedal depth data change.
Step S103, after a running control instruction is sent out by using a pedal, pedal depth data are obtained, and the power output of the motor is adjusted according to the distribution rule of motor torque data along with the pedal depth data.
Prior to the acquisition of the custom pedal configuration information at step S101, including,
Step S201, power output data corresponding to at least two groups of pedal depth data input by user definition is received. Wherein, the user-defined input more than two sets of power output data that different footboard degree of depth data correspond.
The power output data in this embodiment includes, but is not limited to, starting acceleration corresponding to different pedal depth data, stable vehicle speed corresponding to different pedal depth data, and acceleration corresponding to the vehicle speed when the pedal depth data changes to drive the vehicle speed to change.
Further illustratively, the pedal depth data in this embodiment is expressed as a percentage of pedal depth. For example, the corresponding starting acceleration under two sets of pedal depth data, 2% of pedal depth data corresponds to starting acceleration 0.08g, and 30% of pedal depth data corresponds to starting acceleration 0.5. For example, the steady vehicle speed corresponding to four sets of pedal depth data, pedal depth data 4% corresponding to steady state speed 20km/h, pedal depth data 10% corresponding to steady state speed 40km/h, pedal depth data 25% corresponding to steady state speed 100km/h, pedal depth data 30% corresponding to steady state speed 120km/h. For example, the four sets of pedal depth data change to drive the corresponding acceleration when the vehicle speed changes, the vehicle speed is 10km/h to be 0.022g/mm, the vehicle speed is 40km/h to be 0.015g/mm, the vehicle speed is 100km/h to be 0.008g/mm, and the vehicle speed is 120km/h to be 0.006g/mm.
In this embodiment, the power output data corresponding to the pedal depth data is input in a self-defined manner, and the pedal-based torque control method is applied to the automobile ECU, so that the automobile driver can input corresponding self-defined input data through the interactive interface connected with the automobile ECU according to the driving requirement.
Step S202, a polynomial fitting linear relation is utilized to judge whether the pedal depth data and the power output data are in a linear relation.
In this embodiment, at least two sets of power output data corresponding to the pedal depth data are input by user definition, so that when configuration information is input, the power output data corresponding to multiple sets of pedal depth data can be input, and when one set of power output data and other multiple sets of power output data are not in the same linear relationship, the power output data can be directly discarded, and input data meeting the linear relationship can be used as configuration information input values.
In step S203, when it is determined that the linear relationship is established, the power output data is compared with a preset power output threshold, and when the power output data exceeds the power output threshold, the power output threshold is replaced with the power output data and stored in correspondence with the pedal depth data as pedal configuration information.
Further, since the motor of each vehicle type has the maximum capacity of the motor, the custom-input pedal configuration information is invalid when the maximum capacity is exceeded. In this embodiment, reliability determination is performed on the power output data, and the power output data is compared with a power output threshold. The power output threshold may be understood as corresponding to the maximum capacity of the motor, and when the power output data exceeds the power output threshold, the input power output data exceeds the motor capacity limit, and in this embodiment, the default power output threshold is the power output data, so as to avoid the motor failure. For example, if the maximum acceleration that the system can reach is 0.8g and the input acceleration is 0.9g, the acceleration corresponding to the pedal depth data in the configuration information is automatically changed to 0.8g.
Before the custom pedal configuration information is obtained, step S203 further includes prompting to re-receive the custom input when the nonlinear relationship is determined. In this step, when it is determined that the pedal depth data and the power output data are in a nonlinear relationship, the input nonlinearity may be prompted, and the input may be repeated.
After the custom pedal configuration information is obtained in step S101, the embodiment further includes calculating a linear relation constant of pedal depth data and power output data, and fitting a linear relation equation of the power output data changing along with the pedal depth data by using the linear relation constant, so as to obtain the power output data corresponding to any pedal depth data, thereby obtaining the vehicle speed corresponding to any pedal depth data. The linear relation constant can be understood as a linear relation constant corresponding to the habit of an operator because of uncertainty of pedal configuration information input, and when the pedal configuration information is input, power output data corresponding to pedal depth data input by different drivers are different, and the calculated linear relation constant is also different.
In this embodiment, a linear relation of the power output data changing with the pedal depth data is fitted, and the method further includes: as shown in FIG. 3, various power output data are plotted as a linear curve of pedal depth data. A pedal depth-starting acceleration curve map as shown in fig. 3 (a) to map a linear relation of pedal depth and starting acceleration; a pedal depth-steady vehicle speed curve map as shown in fig. 3 (b) to map a linear relation of pedal depth and steady vehicle speed; a vehicle speed-system gain (acceleration) curve diagram as shown in fig. 3 (c) is used to map the linear relation between the vehicle speed and the acceleration corresponding to the pedal depth.
Further, the power output data comprises starting acceleration corresponding to different pedal depth data, stable vehicle speed corresponding to different pedal depth data, and acceleration corresponding to the condition that the pedal depth data changes to drive the vehicle speed to change. Further, it is possible to know the vehicle speed corresponding to any pedal depth data.
The vehicle ECU can select corresponding power output data according to the current driving situation, for example, the vehicle ECU judges that the vehicle is in a starting state, and can acquire corresponding starting acceleration according to the pedal depth data so as to calculate and acquire real-time vehicle speed; for example, if the automobile ECU determines that the vehicle is in stable running, the corresponding stable vehicle speed can be obtained according to the pedal depth data; for example, the automobile ECU judges that the automobile is in a speed change (acceleration or deceleration) state, and drives the automobile speed to change according to the change of the pedal depth data, and at the moment, the corresponding acceleration is obtained, so that the real-time automobile speed is calculated and obtained.
In step S102, a distribution rule of motor torque data along with pedal depth data is constructed according to the custom pedal configuration information. The pedal configuration information thus obtained is used to generate a distribution law of the required motor torque data along with pedal depth data for the vehicle in the driving mode.
Further to explain, in step S102, a distribution rule of motor torque data along with pedal depth data is constructed, and further includes calculating motor demand power P corresponding to pedal depth data by using relation (1),
P＝F/η*V……(1)
Wherein F represents the resistance of the whole automobile, eta represents the motor efficiency, and V represents the speed corresponding to the pedal depth data.
Calculating motor torque data T using relation (2),
T＝9549*P/n……(2)
Where n represents the motor speed. And fitting a linear curve relation rule of motor torque data along with pedal depth data according to the relation formulas (1) and (2).
In the running process of the automobile, rolling resistance, air resistance and acceleration resistance are received, software is built in the automobile ECU to calculate the resistance of the whole automobile, a relation curve of the speed and the resistance is built, and the resistance and the speed of the whole automobile are obtained according to the relation curve of the speed and the resistance. Regarding motor efficiency, considering on-vehicle energy storage device, generally there are battery, hydrogen bottle and oil tank, the mode of energy conversion efficiency is different for different institutions, and motor efficiency can understand from on-vehicle energy storage device to the energy conversion efficiency of wheel, and pure electric car is the highest generally, and hydrogen fuel car is the second, and diesel locomotive is the lowest, and according to different vehicle manufacturers from having built-in motor efficiency calculation mode in the automobile ECU, when calculating the motor demand power that the footboard degree of depth corresponds in this embodiment, directly read automobile whole car resistance, motor efficiency and speed from automobile ECU, directly obtain motor demand power with relational expression (1).
According to the linear relation between the pedal depth and the starting acceleration, when the automobile 0 starts, the corresponding automobile speeds of different pedal depths are different, namely the rotating speeds of the motors are different. When the vehicle speed is 0, the motor required power can be considered to be 0, but with the change of the motor rotation speed and the change of the vehicle speed, real-time motor torque data can be obtained by utilizing the relational expression.
Fitting a linear curve relation rule of motor torque data along with pedal depth data according to relation formulas (1) and (2) further comprises:
Fitting a linear curve relation graph of motor torque data along with pedal depth data change when a vehicle starts, fitting a linear curve relation graph of different pedal depths and stable vehicle speed when the vehicle is in a steady state, and fitting motor torque change data corresponding to the pedal depth data change driving vehicle speed change.
In one embodiment, the pedal depth data is 10% apart, that is, the different pedal depths are 10% apart and transition linearly. As shown in fig. 2, the motor torque data corresponding to different pedal depths at different rotational speeds in this embodiment is a schematic diagram, that is, the motor torque data corresponding to different pedal depth data (%) at different rotational speeds of the motor. Further by way of example, after using the pedal-based torque control method in this embodiment, as shown in fig. 3-4, assuming that the driver inputs a start acceleration requirement at several pedal depths, an acceleration (gain requirement) at steady vehicle speed, and a pedal depth corresponding to a final steady vehicle speed value, motor torque data is calculated, so that Pedal Map generated according to several dotted line fits inevitably conforms to customer driving habits. From the schematic illustrations before and after Pedal Map adjustment shown in fig. 5, it can be seen that the position of the different pedal depth curves changes.
The embodiment avoids the limitation of torque demand selection of the existing driving mode, has larger system flexibility, and can expand and adjust other parameters on the function, such as the rising speed of motor torque, the recovery intensity of braking energy and the like, thereby being more humanized.
It should be understood that, although the steps in the flowchart are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps may comprise a plurality of sub-steps or phases, which are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or phases.
In one embodiment, as shown in FIG. 6, there is provided a pedal-based torque control device comprising: a configuration acquisition module 101, a rule calculation module 102, and a torque execution module 103, wherein:
a configuration acquisition module 101 for acquiring pedal configuration information; the custom pedal configuration information comprises power output data corresponding to different pedal depth data.
The rule calculation module 102 is configured to construct a distribution rule of the motor torque data along with pedal depth data according to the custom pedal configuration information; wherein, the motor torque data includes along with pedal depth data's distribution law: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speed corresponding to different pedal depth data when the vehicle is stable, and motor torque change data corresponding to speed change driven by pedal depth data change.
The torque execution module 103 is configured to obtain pedal depth data after a running control instruction is sent by using a pedal, and adjust power output of the motor according to a distribution rule of motor torque data along with the pedal depth data.
Specific limitations regarding the pedal-based torque control means may be found in the above description of the pedal-based torque control method, and will not be repeated here. The various modules in the pedal-based torque control device described above may be implemented in whole or in part in software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is for storing configuration input data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a pedal-based torque control method.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a pedal-based torque control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by persons skilled in the art that the structures presented in this example are block diagrams of only some of the structures associated with the present application and do not constitute a limitation of the computer apparatus to which the present application may be applied, and that a particular computer apparatus may include more or less components than those shown in the figures, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring user-defined pedal configuration information; the user-defined pedal configuration information comprises power output data corresponding to different pedal depth data; according to the self-defined pedal configuration information, a distribution rule of the motor torque data along with pedal depth data is constructed, wherein the distribution rule of the motor torque data along with the pedal depth data comprises: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is steady, and motor torque change data corresponding to speed change driven by pedal depth data change; after a running control instruction is sent by using a pedal, the pedal depth data is obtained, and the power output of the motor is adjusted according to the distribution rule of the motor torque data along with the pedal depth data.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
Acquiring user-defined pedal configuration information; the custom pedal configuration information comprises power output data corresponding to different pedal depth data; according to the self-defined pedal configuration information, a distribution rule of motor torque data along with pedal depth data is constructed, wherein the distribution rule of motor torque data along with pedal depth data comprises: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is steady, and motor torque change data corresponding to speed change driven by pedal depth data change; after a running control instruction is sent by using the pedal, pedal depth data are obtained, and the power output of the motor is adjusted according to the distribution rule of motor torque data along with the pedal depth data.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (7)

1. The pedal-based torque control method is applied to an automobile ECU, and is characterized by comprising the following steps:
Acquiring custom pedal configuration information, wherein the custom pedal configuration information comprises power output data corresponding to different pedal depth data;
constructing a distribution rule of motor torque data along with pedal depth data according to the custom pedal configuration information; wherein, the motor torque data along with pedal depth data's distribution law includes: motor torque data corresponding to various pedal depth data when the vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is steady, and motor torque change data corresponding to speed change driven by pedal depth data change;
After a running control instruction is sent out by using a pedal, acquiring pedal depth data, and adjusting the power output of a motor according to the distribution rule of motor torque data along with the pedal depth data;
Before obtaining the custom pedal configuration information, the method comprises the following steps:
receiving power output data corresponding to at least two groups of pedal depth data input by a user;
utilizing a polynomial fitting linear relation to judge whether the pedal depth data and the power output data are in a linear relation or not;
When the linear relation is judged, comparing the power output data with a preset power output threshold value, and when the power output data exceeds the power output threshold value, replacing the power output threshold value with the power output data and storing the power output data corresponding to the pedal depth data to serve as the pedal configuration information;
Before the user-defined pedal configuration information is obtained, the method further comprises the following steps: prompting to re-receive the custom input when the nonlinear relation is determined;
Wherein after the custom pedal configuration information is obtained, the method further comprises,
And calculating a linear relation constant of the pedal depth data and the power output data, and fitting a linear relation curve of the power output data changing along with the pedal depth data by using the linear relation constant so as to acquire the power output data corresponding to any pedal depth data, thereby acquiring the vehicle speed corresponding to any pedal depth data.
2. The pedal-based torque control method of claim 1, wherein the power output data includes a starting acceleration corresponding to different pedal depth data, a steady vehicle speed corresponding to different pedal depth data, and an acceleration corresponding to a vehicle speed change caused by a pedal depth data change.
3. The pedal-based torque control method according to claim 2, wherein constructing a distribution law of the motor torque data with pedal depth data includes,
Calculating the motor required power P corresponding to the pedal depth data by using the relation (1),
P＝F/η*V……(1)
Wherein F represents the resistance of the whole automobile, eta represents the motor efficiency, and V represents the speed corresponding to the pedal depth data;
calculating motor torque data T using relation (2),
T＝9549*P/n……(2)
Wherein n represents the motor rotation speed;
and fitting a linear curve relation rule of the motor torque data along with the pedal depth data according to the relation formulas (1) and (2).
4. The pedal-based torque control method of claim 1, wherein the pedal depth data is expressed as a percentage of pedal depth.
5. A pedal-based torque control device, characterized in that the torque control device comprises:
the configuration acquisition module is used for acquiring the configuration information of the user-defined pedal; the user-defined pedal configuration information comprises power output data corresponding to different pedal depth data;
The rule calculation module is used for constructing a distribution rule of motor torque data along with pedal depth data according to the custom pedal configuration information, wherein the distribution rule of the motor torque data along with the pedal depth data comprises the following steps: motor torque data corresponding to various pedal depth data when a vehicle starts, stable vehicle speeds corresponding to different pedal depth data when the vehicle is stable, and motor torque change data corresponding to speed change driven by pedal depth data change;
the torque execution module is used for acquiring the pedal depth data after a running control instruction is sent by utilizing the pedal, and adjusting the power output of the motor according to the distribution rule of the motor torque data along with the pedal depth data;
Before obtaining the custom pedal configuration information, the method comprises the following steps:
receiving power output data corresponding to at least two groups of pedal depth data input by a user;
utilizing a polynomial fitting linear relation to judge whether the pedal depth data and the power output data are in a linear relation or not;
When the linear relation is judged, comparing the power output data with a preset power output threshold value, and when the power output data exceeds the power output threshold value, replacing the power output threshold value with the power output data and storing the power output data corresponding to the pedal depth data to serve as the pedal configuration information;
Before the user-defined pedal configuration information is obtained, the method further comprises the following steps: prompting to re-receive the custom input when the nonlinear relation is determined;
Wherein after the custom pedal configuration information is obtained, the method further comprises,
And calculating a linear relation constant of the pedal depth data and the power output data, and fitting a linear relation curve of the power output data changing along with the pedal depth data by using the linear relation constant so as to acquire the power output data corresponding to any pedal depth data, thereby acquiring the vehicle speed corresponding to any pedal depth data.
6. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
CN202210924081.9A 2022-08-02 2022-08-02 Pedal-based torque control method, pedal-based torque control device, computer device, and storage medium Active CN115230487B (en)

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CN114684136A (en) * 2020-12-29 2022-07-01 深圳臻宇新能源动力科技有限公司 Accelerator curve generation method and device of automobile and automobile with accelerator curve generation device

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CN110667398A (en) * 2018-12-29 2020-01-10 长城汽车股份有限公司 Drive control method and system for electric vehicle
WO2021110023A1 (en) * 2019-12-03 2021-06-10 长城汽车股份有限公司 Method and apparatus for controlling new-energy vehicle, and new-energy vehicle and storage medium
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