CN118082776A

CN118082776A - Method and device for improving deceleration loss and vehicle

Info

Publication number: CN118082776A
Application number: CN202410353298.8A
Authority: CN
Inventors: 余敏; 冯登荣; 谯艳娟
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2024-03-26
Filing date: 2024-03-26
Publication date: 2024-05-28

Abstract

The invention discloses a method and a device for improving deceleration loss and a vehicle, wherein the method is applied to a vehicle controller and comprises the steps of identifying the current running road condition of a vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body, wherein the current running road condition comprises a bumpy road condition causing instability of the vehicle; if the current running road condition is a bumpy road condition causing instability of the vehicle, judging the running state of the vehicle; and controlling the motor feedback torque system and the hydraulic line control and driving system according to the running state and the wheel slip rate of the vehicle and a set control strategy, so that the deceleration of the vehicle is maintained in a preset range, and the loss of the deceleration is improved.

Description

Method and device for improving deceleration loss and vehicle

Technical Field

The invention relates to the technical field of automobiles, in particular to a method and a device for improving deceleration loss and a vehicle.

Background

The electric automobile needs to consider the stability of automobile body under the energy recuperation mode, and under the general circumstances energy recuperation is realized through mutual coordination between hydraulic pressure line accuse braking system and the motor repayment system, and when the hydraulic pressure line accuse braking system judges that the wheel is in the braking locking operating mode promptly, whole car controller starts motor repayment moment of torsion and withdraws from, and hydraulic pressure line accuse braking system produces braking hydraulic torque and supplements. When the feedback torque of the motor is withdrawn too fast and the hydraulic pressure is insufficient due to the fact that the hydraulic pressure is generated by the fluid infusion of the hydraulic pressure control braking system, the vehicle is caused to pass through a deceleration strip or a hollow road surface, the deceleration strip is lost, and accordingly unsafe subjective experience of driving can be brought to a driver.

Disclosure of Invention

One of the purposes of the invention is to provide a method for improving deceleration loss, so as to solve the problem of unsafe driving caused by deceleration loss in the prior art; a second object is to provide a device for improving deceleration loss; a third object is to provide a vehicle.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

A method for improving deceleration loss is applied to a vehicle controller and comprises the steps of identifying the current running road condition of a vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body, wherein the current running road condition comprises a bumpy road condition causing instability of the vehicle; judging the running state of the vehicle if the current running road condition is a bumpy road condition which causes instability of the vehicle; and controlling a motor feedback torque system and a hydraulic line control and driving system according to a set control strategy according to the running state and the wheel slip rate of the vehicle, so that the deceleration of the vehicle is maintained in a preset range.

According to the technical means, the control of the vehicle is moved upwards, namely all control instructions of the vehicle are uniformly sent by the whole vehicle controller, so that the control flexibility is improved, when the current driving road condition is in a jolt road condition causing instability of the vehicle, the whole vehicle controller controls the motor feedback torque system and the hydraulic line control driving system according to the running state and the wheel slip rate of the vehicle and a set control strategy, so that the motor feedback torque system does not withdraw, the deceleration of the vehicle is kept unchanged, the deceleration loss generated in the withdrawing process of the motor feedback torque system is avoided, and the driving experience is improved.

Further, the determining the running state of the vehicle includes: judging whether an accelerator pedal and a brake pedal of the vehicle are triggered or not, and if the accelerator pedal is released and the brake pedal is not triggered, determining that the running state of the vehicle is a first state;

and if the accelerator pedal is released and the brake pedal is triggered, determining that the running state of the vehicle is a second state.

According to the technical means, the running state of the vehicle can be more accurately determined through the brake pedal.

Further, controlling the motor feedback torque system and the hydraulic line control braking system according to the running state and the wheel slip ratio of the vehicle and the set control strategy, so that the deceleration of the vehicle is maintained within the preset range comprises:

When the running state of the vehicle is a first state, if the motor feedback torque system is started and the wheel slip rate is larger than a set threshold value and the hydraulic brake system does not work and does not have braking hydraulic torque, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

According to the technical means, different control is adopted for the vehicle according to different states of the motor feedback torque system, the wheel slip rate and the hydraulic line control braking system, so that the deceleration of the vehicle is controlled to be unchanged more accurately.

When the running state of the vehicle is a first state, if the motor feedback torque system is started and the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value, and the hydraulic brake system does not work and does not have braking hydraulic torque, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

According to the technical means, different control is adopted for the vehicle according to different states of the motor feedback torque system, the wheel slip rate, the hydraulic line control braking system and the yaw angle, so that the deceleration of the vehicle is controlled more accurately and is kept unchanged.

When the running state of the vehicle is a first state, if the motor feedback torque system is started, the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is larger than or equal to a set angle threshold value, and the hydraulic brake system does not work and does not have braking hydraulic torque, the whole vehicle controller sends a second control instruction to the motor feedback torque system so as to control the motor torque of the motor feedback torque system to quickly withdraw, and the motor torque is quickly recovered after the wheels touch the ground, so that the deceleration of the vehicle is maintained in a preset range.

When the running state of the vehicle is the second state, if the depth of the brake pedal is smaller than a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is larger than the set threshold value, and the hydraulic brake system does not work and does not have braking hydraulic torque, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

When the running state of the vehicle is a second state, if the depth of a brake pedal is smaller than a set depth threshold value, when the motor feedback torque system is started and the wheel slip rate is smaller than or equal to the set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value, and the hydraulic brake system does not work and does not have brake hydraulic torque, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

When the running state of the vehicle is the second state, if the depth of the brake pedal is smaller than a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is smaller than or equal to the set threshold value, the yaw angle of the vehicle is larger than or equal to a set angle threshold value, and the hydraulic line control brake system works, the whole vehicle controller sends a third control instruction to the hydraulic line control brake system and the motor feedback torque system, so that the hydraulic line control brake system obtains brake hydraulic torque according to the motor feedback torque withdrawal amount generated by the motor feedback torque system, and the hydraulic line control brake system generates corresponding brake hydraulic torque through a brake pipeline, so that the deceleration of the vehicle is maintained in a preset range.

When the running state of the vehicle is the second state, if the depth of the brake pedal is greater than or equal to a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is greater than a set threshold value, and the hydraulic brake system works, the whole vehicle controller sends a first control instruction to the hydraulic brake system and the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged and the brake hydraulic torque of the hydraulic brake system to be unchanged, so that the deceleration of the vehicle is maintained within a preset range.

When the running state of the vehicle is the second state, if the depth of the brake pedal is greater than or equal to a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is less than or equal to a set threshold value, the yaw angle of the vehicle is less than a set angle threshold value, and the hydraulic line control brake system works, the whole vehicle controller sends a first control instruction to the hydraulic line control brake system and the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged and the brake hydraulic torque of the hydraulic line control brake system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

Further, according to the running state of the vehicle, the whole vehicle controller controls the motor feedback torque system and the hydraulic line control braking system according to a set control strategy according to the running state of the vehicle and the wheel slip rate, so that the deceleration of the vehicle is maintained in a preset range, and the method comprises the following steps:

when the running state of the vehicle is the second state, if the depth of the brake pedal is greater than or equal to a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is less than or equal to a set threshold value, the yaw angle of the vehicle is greater than or equal to a set angle threshold value, and the hydraulic line control brake system works, the whole vehicle controller sends a third control instruction to the hydraulic line control brake system and the motor feedback torque system, so that the hydraulic line control brake system obtains brake hydraulic torque according to the motor feedback torque withdrawal amount generated by the motor feedback torque system, and the hydraulic line control brake system generates corresponding brake hydraulic torque through a brake pipeline, so that the deceleration of the vehicle is maintained in a preset range.

A device for improving deceleration loss, the device being applied to a vehicle control unit, comprising:

The identification module is used for identifying the current running road condition of the vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body, wherein the current running road condition comprises a bumpy road condition causing instability of the vehicle;

the judging module is used for judging the running state of the vehicle if the current running road condition is a bumpy road condition causing instability of the vehicle;

And the control module is used for controlling the motor feedback torque system and the hydraulic line control driving system according to the running state and the wheel slip rate of the vehicle and a set control strategy so as to maintain the deceleration of the vehicle within a preset range.

Further, the judging module is specifically configured to judge whether an accelerator pedal and a brake pedal of the vehicle are triggered, and if the accelerator pedal is released and the brake pedal is not triggered, determine that the running state of the vehicle is a first state; and if the accelerator pedal is released and the brake pedal is triggered, determining that the running state of the vehicle is a second state.

Further, the control module includes: a first control unit;

And the first control unit is used for sending a first control instruction to the motor feedback torque system by the whole vehicle controller when the running state of the vehicle is a first state, if the motor feedback torque system is started and the wheel slip rate is larger than a set threshold value and the hydraulic brake system does not work and does not have braking hydraulic torque, so as to control the motor feedback torque of the motor feedback torque system to be unchanged, and the deceleration of the vehicle is maintained in a preset range.

Further, the control module includes: a second control unit;

And the second control unit is used for sending a first control instruction to the motor feedback torque system by the whole vehicle controller when the running state of the vehicle is a first state, if the motor feedback torque system is started and the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value and the hydraulic brake system does not work and does not have brake hydraulic torque, so as to control the motor feedback torque of the motor feedback torque system to be unchanged, and the deceleration of the vehicle is maintained in a preset range.

Further, the control module includes: a third control unit;

And the third control unit is used for sending a second control instruction to the motor feedback torque system by the whole vehicle controller when the running state of the vehicle is a first state, if the motor feedback torque system is started and the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is larger than or equal to a set angle threshold value and the hydraulic brake system does not work and does not have brake hydraulic torque, so as to control the motor torque of the motor feedback torque system to quickly withdraw, and the motor torque is quickly restored after the wheels touch the ground, so that the deceleration of the vehicle is maintained in a preset range.

Further, the control module includes: a fourth control unit;

And the fourth control unit is used for sending a first control instruction to the motor feedback torque system by the whole vehicle controller when the running state of the vehicle is a second state, if the depth of the brake pedal is smaller than a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is larger than the set threshold value and the hydraulic brake system does not work and does not have braking hydraulic torque, so as to control the motor feedback torque of the motor feedback torque system to be unchanged, and the deceleration of the vehicle is maintained in a preset range.

Further, the control module includes: a fifth control unit;

the fifth control unit is configured to, when the running state of the vehicle is the second state, send a first control instruction to the motor feedback torque system by the vehicle controller if the depth of the brake pedal is less than a set depth threshold value, when the motor feedback torque system is started and the wheel slip rate is less than or equal to the set threshold value, when the yaw angle of the vehicle is less than the set angle threshold value, and when the hydraulic brake system does not work and does not have brake hydraulic torque, so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained within a preset range.

Further, the control module includes: a sixth control unit;

And the sixth control unit is used for sending a third control instruction to the hydraulic line control braking system and the motor feedback torque system by the whole vehicle controller when the vehicle is in a second state if the depth of a brake pedal is smaller than a set depth threshold value, the motor feedback torque system is started and the wheel slip rate is smaller than or equal to the set threshold value, the yaw angle of the vehicle is larger than or equal to the set angle threshold value and the hydraulic line control braking system works, so that the hydraulic line control braking system obtains braking hydraulic torque according to the motor feedback torque withdrawal amount generated by the motor feedback torque system, and the hydraulic line control braking system generates corresponding braking hydraulic torque through a braking pipeline, so that the deceleration of the vehicle is maintained in a preset range.

Further, the control module includes: a seventh control unit;

And the seventh control unit is used for sending a first control instruction to the hydraulic brake system and the motor feedback torque system by the whole vehicle controller when the depth of the brake pedal is larger than or equal to a set depth threshold value, the motor feedback torque system is started and the wheel slip rate is larger than a set threshold value and the hydraulic brake system works when the vehicle is in a second state, so as to control the motor feedback torque of the motor feedback torque system and the brake hydraulic torque of the hydraulic brake system to be unchanged, and the deceleration of the vehicle is maintained within a preset range.

Further, the control module includes: an eighth control unit;

And the eighth control unit is configured to, when the running state of the vehicle is the second state, send a first control instruction to the hydraulic brake system and the motor feedback torque system by using the vehicle controller if the depth of the brake pedal is greater than or equal to a set depth threshold value, the motor feedback torque system is started and the wheel slip rate is less than or equal to a set threshold value, the yaw angle of the vehicle is less than a set angle threshold value, and the hydraulic brake system is operated, so as to control the motor feedback torque of the motor feedback torque system and the brake hydraulic torque of the hydraulic brake system to be unchanged, so that the deceleration of the vehicle is maintained within a preset range.

Further, the control module includes: a ninth control unit;

And the ninth control unit is used for sending a third control instruction to the hydraulic line control braking system and the motor feedback torque system by the whole vehicle controller when the vehicle is in a second state if the depth of a brake pedal is greater than or equal to a set depth threshold value, the motor feedback torque system is started and the wheel slip rate is smaller than or equal to a set threshold value, the vehicle yaw angle is greater than or equal to a set angle threshold value and the hydraulic line control braking system works, so that the hydraulic line control braking system obtains braking hydraulic torque according to the motor feedback torque withdrawal amount generated by the motor feedback torque system, and the hydraulic line control braking system generates corresponding braking hydraulic torque through a braking pipeline, so that the deceleration of the vehicle is maintained in a preset range.

The invention has the beneficial effects that:

Firstly, the current running road condition of the vehicle is identified through the current acceleration of the vehicle and the height data of the current vehicle body, when the current running road condition is in a jolt road condition causing instability of the vehicle, the whole vehicle controller controls the motor feedback torque system and the hydraulic line control braking system according to the running state and the wheel slip rate of the vehicle, so that the motor feedback torque system is not withdrawn, the deceleration of the vehicle is kept unchanged, the deceleration loss generated in the withdrawal process of the motor feedback torque system is avoided, and the driving experience is improved.

Secondly, the control of the vehicle is moved upwards by the embodiment, namely, all control instructions of the vehicle are uniformly sent by the whole vehicle controller, and the motor feedback torque system and the hydraulic line control system execute corresponding actions according to the control instructions of the whole vehicle controller, so that the flexibility of vehicle control is improved.

Drawings

FIG. 1 is an overall flow chart of an embodiment of the present invention for improving deceleration loss;

FIG. 2 is a flow chart of a method of improving deceleration loss according to an embodiment of the present invention;

FIG. 3 is a flow chart of a method of improving deceleration loss in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram showing a state where feedback torque of a motor of a vehicle is unchanged to improve deceleration loss according to an embodiment of the present invention;

FIG. 5 is a flow chart of a method of improving deceleration loss according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a vehicle motor torque feedback exit state for improving deceleration loss according to an embodiment of the present invention;

FIG. 7 is a flow chart of a method of improving deceleration loss according to an embodiment of the invention;

Fig. 8 is a schematic structural view of an apparatus for improving deceleration loss according to an embodiment of the present invention.

Detailed Description

Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.

Referring to fig. 1, an overall flowchart for improving deceleration loss according to an embodiment of the present invention is shown, and specifically includes:

When the current running road condition of the vehicle is a deceleration strip or a pit road condition, wherein the pit road condition refers to the working condition that wheels vacate in the running process of the vehicle, the running state of the vehicle is judged, when the vehicle belongs to a state (a first state) that a throttle pedal is not triggered, whether the wheel slip rate is smaller than a threshold value is detected, if the wheel slip rate is larger than the threshold value, the ABS does not work, and the motor feedback torque of a motor feedback system is kept unchanged to keep the deceleration constant. If the wheel slip rate is smaller than or equal to a threshold value, the ABS works, the yaw angle of the vehicle is further judged, and if the yaw angle of the vehicle is smaller than an angle threshold value, the motor feedback torque of the motor feedback system is kept unchanged to keep the deceleration constant; and if the yaw angle of the vehicle is larger than the angle threshold value, controlling the motor feedback system to quickly back and quickly recover to maintain the constant deceleration.

In practical application, the wheel slip ratio is smaller than or equal to a threshold value, which indicates that the ABS (anti-lock braking system) is in operation, and the wheel slip ratio is larger than the threshold value, which indicates that the ABS (anti-lock braking system) is not in operation.

When the vehicle is in a state of triggering a brake pedal (second state), judging the depth of the brake pedal, if the depth of the brake pedal is smaller than a depth threshold value, detecting whether the wheel slip rate is smaller than the threshold value, and if the wheel slip rate is larger than the threshold value, the ABS does not work, and keeping the motor feedback torque of the motor feedback system unchanged to maintain the constant deceleration. If the wheel slip rate is smaller than or equal to a threshold value, the ABS works, the yaw angle of the vehicle is further judged, and if the yaw angle of the vehicle is smaller than an angle threshold value, the motor feedback torque of the motor feedback system is kept unchanged to keep the deceleration constant; and if the yaw angle of the vehicle is larger than the angle threshold, the motor feedback system and the hydraulic line control and driving system perform torque compensation.

If the depth of the brake pedal is larger than or equal to the depth threshold, detecting whether the wheel slip rate is smaller than the threshold, and if the wheel slip rate is larger than the threshold, the ABS does not work, and the motor feedback torque of the motor feedback system is kept unchanged to keep the deceleration constant. If the wheel slip rate is smaller than the threshold value, the ABS works, the yaw angle of the vehicle is further judged, and if the yaw angle of the vehicle is smaller than the angle threshold value, the motor feedback torque of the motor feedback system is kept unchanged to keep the deceleration constant; if the yaw angle of the vehicle is greater than or equal to the angle threshold value, the motor feedback system and the hydraulic line control braking system perform torque compensation, the vehicle is precisely controlled according to different states of the input signals through relevant input signals acquired by the whole vehicle controller, and therefore deceleration loss generated in the process of withdrawing the motor feedback torque system is avoided, and driving experience is improved.

Based on the above overall flowchart, a method for improving deceleration loss is further described in detail, referring to fig. 2, which shows a method for improving deceleration loss according to an embodiment of the present invention, where the method is applied to a vehicle controller, and specifically includes:

step 201: and identifying the current running road condition of the vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body.

The current running road conditions comprise bumpy road conditions which cause instability of the vehicle. The vehicle control unit acquires the current acceleration of the vehicle and the height data of the current vehicle body, and identifies the current running road condition of the vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body. In specific application, the current acceleration of the vehicle and the height data of the current vehicle body can be acquired in various modes, and the embodiment of the invention can be acquired from the acceleration sensor and the height sensor of the vehicle by the whole vehicle controller, so that the cost of the vehicle can be effectively reduced, and the cost of the whole recognition process is lower.

The overall vehicle controller collects relevant input signals of the vehicle before acquiring current acceleration and current height data of the vehicle.

Wherein the input signal comprises: the method comprises the steps of determining whether vehicle brake pedal depth signal communication is normal, determining whether gear signal communication is normal, determining whether acceleration sensor signal communication is normal, determining whether height sensor signal communication is normal, determining whether wheel speed signal communication is normal, determining whether vehicle yaw angle signal communication is normal, determining whether anti-lock brake system (ABS) signal communication is normal, and determining whether a vehicle running condition is recognized according to current acceleration and current height data when a vehicle is treaded down in a running process under the condition that the vehicle brake pedal depth signal, gear signal, acceleration sensor signal, height sensor signal, wheel speed signal, vehicle yaw angle signal and anti-lock brake system (ABS) signal communication are all normal.

If the vehicle does not press the brake pedal in the running process, the gear signal is D gear, the wheel speed signal is more than 0 and the depth signal of the brake pedal is 0, the vehicle running condition identification system is not started, and the process is ended.

The current running road condition comprises a bumpy road condition causing instability of the vehicle, wherein the bumpy road condition comprises a first road condition or a second road condition, the first road condition is a deceleration strip, the second road condition is a cliff road, or the first road condition is a cliff road, and the second road condition is a deceleration strip.

In the embodiment of the invention, identifying the current running road condition of the vehicle according to the current acceleration and the current height data comprises the steps of calculating an acceleration fluctuation value according to the current acceleration and the acceleration at the last moment; calculating a height fluctuation value according to the current height data and the height data at the previous moment; if the acceleration fluctuation value is not in the first calibration range and the height fluctuation value is not in the second calibration range, judging that the current running road condition of the vehicle is a bumpy road condition causing instability of the vehicle, and if the acceleration fluctuation value is in the first calibration range and the height fluctuation value is in the second calibration range, judging that the current running road condition of the vehicle is a bumpy road condition not causing instability of the vehicle, namely, the current running road condition of the vehicle is a flat road section, and identifying the current running road condition according to the acceleration and the height data of the vehicle so as to ensure the accuracy of identifying the bumpy road surface.

In a specific application, the vehicle acceleration fluctuation value is not in a first calibration range, the height fluctuation value is not in a second calibration range, and when the two conditions are simultaneously satisfied, the condition that the vehicle is currently in a running road condition is identified as a deceleration strip or a broken cliff, and the deceleration strip or the broken cliff are indispensable.

Step 202: and if the current running road condition is a bumpy road condition which causes instability of the vehicle, judging the running state of the vehicle.

As an implementation, step 202 includes the following sub-steps:

Sub-step 2021: judging whether an accelerator pedal and a brake pedal of the vehicle are triggered or not, and if the accelerator pedal is released and the brake pedal is not triggered, determining that the running state of the vehicle is a first state.

Sub-step 2022: and if the accelerator pedal is released and the brake pedal is triggered, determining that the running state of the vehicle is a second state.

Step 203: and controlling a motor feedback torque system and a hydraulic line control and driving system according to a set control strategy according to the running state and the wheel slip rate of the vehicle, so that the deceleration of the vehicle is maintained in a preset range.

In practical application, the current running road condition is a bumpy road condition causing instability of the vehicle, in the prior art, motor feedback torque is withdrawn, a hydraulic line control braking system generates braking hydraulic torque to supplement, but deceleration is lost in the processes of withdrawing motor feedback torque and supplementing the hydraulic line control braking system, so that the deceleration is avoided.

According to the embodiment, the current running road condition of the vehicle is identified through the current acceleration and the current height data of the vehicle, when the current running road condition is in a bumpy road condition which causes instability of the vehicle, the whole vehicle controller controls the motor feedback torque system and the hydraulic line control driving system according to a set control strategy, so that the motor feedback torque system does not exit, the deceleration of the vehicle is maintained unchanged, the deceleration loss generated in the process of exiting of the motor feedback torque system is avoided, and the driving experience is improved.

It should be noted that, according to the deceleration improving method provided by the embodiment of the invention, the function expansion is only required on the basis of the configuration of the hydraulic electric control suspension of the vehicle, the technical scheme can be jointly realized by using related hardware and signals of the hydraulic electric control suspension, a full-decoupling hydraulic line braking system and a motor VCU, and no additional hardware is required, so that the problem that the braking deceleration of the vehicle is lost under a special working condition is solved, and the safety of the vehicle is improved.

Referring to fig. 3, a method for improving deceleration loss according to an embodiment of the present invention is applied to a vehicle controller, and specifically includes:

step 301: and identifying the current running road condition of the vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body, wherein the current running road condition comprises a bumpy road condition causing instability of the vehicle.

Step 302: if the current running road condition is a bumpy road condition causing instability of the vehicle, judging the running state of the vehicle;

step 303: when the running state of the vehicle is the first state, it is determined whether the wheel slip ratio is less than a threshold value, if the wheel slip ratio is greater than the threshold value, step 304 is performed, and if the wheel slip ratio is less than or equal to the threshold value, step 305 is performed.

Step 304: and controlling the motor feedback torque of the motor feedback torque system to be unchanged.

In practical application, when the running state of the vehicle is the first state, it is further required to determine whether the motor feedback system is started, if the motor feedback torque system is started and the wheel slip rate is greater than a set threshold value, and the hydraulic line control braking system does not work without braking hydraulic torque, at this time, the vehicle controller sends a first control instruction to the motor feedback torque system to control the motor feedback torque of the motor feedback torque system to be unchanged, and the hydraulic line control braking system does not generate braking hydraulic torque, so that the deceleration of the vehicle is maintained within a preset range.

Referring to fig. 4, a schematic diagram of a state of a vehicle motor feedback torque unchanged for improving deceleration loss according to an embodiment of the present invention is shown, and the specific process is as follows:

When the vehicle runs, a driver presses a brake pedal 1, a vehicle running condition identification system is started, a motor feedback torque system can meet the requirement of the whole vehicle on braking torque, an ECU (electronic control unit) calculates according to signals of an acceleration sensor 5 and a height sensor 6, when the fact that the vehicle passes through a deceleration strip or a cliff road is identified, a hydraulic line control braking system does not work or a vehicle anti-lock braking system works and the vehicle yaw angle does not exceed a set threshold value under the specific condition, the ECU sends control instructions (shown by arrows in the figure) to the ECU and a VCU, and at the moment, the ECU drives a motor to operate according to the fact that the motor feedback torque is unchanged.

Step 305: whether the yaw angle of the vehicle is smaller than the set angle threshold is determined, if the yaw angle is smaller than the set angle threshold, step 306 is executed, and if the yaw angle is equal to or larger than the set angle threshold, step 307 is executed.

The setting of the angle threshold may be performed by any suitable manner by those skilled in the art, for example, setting the threshold by using manual experience, or setting the threshold for the difference value of the historical data, which is not limited in the present invention.

Step 306: and the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

When the running state of the vehicle is a first state, if the motor feedback torque system is started and the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value, and the hydraulic brake system does not work and does not have brake hydraulic torque, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, and the hydraulic brake system does not generate brake hydraulic torque, so that the deceleration of the vehicle is maintained in a preset range, namely, the deceleration is prevented from being lost in a mode that the motor feedback torque does not exit.

Step 307: and the whole vehicle controller sends a second control instruction to the motor feedback torque system so as to control the motor torque of the motor feedback torque system to quickly withdraw, and the motor torque is quickly recovered after the wheels touch the ground, so that the deceleration of the vehicle is maintained in a preset range.

When the running state of the vehicle is the first state, if the working state, the motor feedback torque system is started, the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is larger than or equal to a set angle threshold value, and the hydraulic brake system does not work, the whole vehicle controller sends a second control instruction to the motor feedback torque system so as to control the motor torque of the motor feedback torque system to quickly withdraw, the motor torque is quickly recovered after the wheels touch the ground, and the hydraulic brake system does not generate braking hydraulic torque, so that the deceleration of the vehicle is maintained in a preset range.

Referring to fig. 5, a method for improving deceleration loss according to an embodiment of the present invention is applied to a vehicle controller, and specifically includes:

step 501: and identifying the current running road condition of the vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body.

The current running road conditions comprise bumpy road conditions causing instability of the vehicle;

Step 502: if the current running road condition is a bumpy road condition causing instability of the vehicle, judging the running state of the vehicle;

Step 503: and when the running state of the vehicle is the second state, judging whether the depth of the brake pedal is smaller than a set depth threshold value.

In practical applications, whether the depth of the brake pedal is smaller than the set depth threshold or the depth of the brake pedal is equal to or larger than the set depth threshold is performed to determine whether the wheel slip ratio is smaller than the threshold.

The depth threshold may be set by those skilled in the art in any suitable manner, such as setting the threshold using manual experience, or setting the threshold for a variance value of historical data, which is not limited in this regard.

Step 504: whether the wheel slip ratio is smaller than the threshold value is determined, if the wheel slip ratio is larger than the threshold value, step 505 is executed, and if the wheel slip ratio is smaller than the threshold value, step 506 is executed.

Step 505: and controlling the motor feedback torque of the motor feedback torque system to be unchanged.

When the running state of the vehicle is the second state, if the depth of the brake pedal is smaller than a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is larger than the set threshold value, and the hydraulic brake system does not work, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, and the hydraulic brake system does not generate brake hydraulic torque, so that the deceleration of the vehicle is maintained in a preset range.

Step 506: whether the yaw angle of the vehicle is smaller than the set angle threshold is determined, if the yaw angle is smaller than the set angle threshold, step 507 is executed, and if the yaw angle is equal to or larger than the set angle threshold, step 508 is executed.

Step 507: and the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

When the running state of the vehicle is a second state, if the depth of a brake pedal is smaller than a set depth threshold value, when the motor feedback torque system is started and the wheel slip rate is smaller than or equal to the set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value and the hydraulic line control braking system does not work and does not have braking hydraulic torque, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, and the hydraulic line control braking system does not generate braking hydraulic torque, so that the deceleration of the vehicle is maintained in a preset range.

Step 508: the vehicle control unit sends a third control instruction to the hydraulic line control braking system and the motor feedback torque system, so that the hydraulic line control braking system obtains braking hydraulic torque according to the motor feedback torque withdrawal amount generated by the motor feedback torque system, and the hydraulic line control braking system generates corresponding braking hydraulic torque through a braking pipeline, so that the deceleration of the vehicle is maintained in a preset range.

In the specific application, the vehicle control unit sends a second control instruction to the hydraulic line control braking system and the motor feedback torque system, after the motor control unit in the motor feedback torque system receives the second control instruction, the motor is driven to carry out motor feedback torque withdrawal operation with the speed reducer, in the motor feedback torque system withdrawal process, the hydraulic line control braking system obtains braking hydraulic torque according to the motor feedback torque withdrawal amount, and the hydraulic line control braking system actively pressurizes the front caliper and the rear EPB caliper through the braking pipeline, so that the front caliper and the rear EPB caliper generate corresponding braking hydraulic torque, and the vehicle deceleration stability is ensured.

Referring to fig. 6, a schematic diagram of a vehicle motor feedback torque exit state for improving deceleration loss according to an embodiment of the present invention is shown, and the specific procedure is as follows:

When the vehicle runs, a driver presses the brake pedal 1, the vehicle running condition recognition system is started, and the motor feedback torque system can meet the braking torque requirement of the whole vehicle. The whole vehicle controller ECU calculates according to the signals of the acceleration sensor 5 and the height sensor 6, when the vehicle is identified to be in an overstepping zone or a cliff, the hydraulic control braking system (comprising the ECU) 2 works under the specific working condition, the vehicle yaw angle exceeds a stable threshold value, and the whole vehicle controller ECU sends control instructions to the hydraulic control braking system ECU and the motor controller VCU, and at the moment, the motor belt reducer 8 is driven to exit according to the motor feedback torque. In the motor feedback torque withdrawal process, the hydraulic pressure control braking system (comprising ECU) 2 equivalently converts required braking hydraulic torque according to motor torque withdrawal amount, and the hydraulic pressure control braking system (comprising ECU) 2 dynamically pressurizes the front caliper 41 and the rear EPB caliper 121 through the brake pipelines 310/11/13, so that the front caliper 41 and the rear EPB caliper 121 generate corresponding braking hydraulic torque, and the vehicle deceleration stability is ensured.

Referring to fig. 7, a method for improving deceleration loss according to an embodiment of the present invention is characterized in that the method is applied to a vehicle controller, and specifically includes:

step 701: and identifying the current running road condition of the vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body.

Step 702: if the current running road condition is a bumpy road condition causing instability of the vehicle, judging the running state of the vehicle;

step 703: when the running state of the vehicle is the second state, it is determined whether the depth of the brake pedal is greater than a set depth threshold, and if so, step 704 is performed.

Step 704: whether the wheel slip ratio is smaller than the threshold value is determined, if the wheel slip ratio is larger than the threshold value, step 705 is executed, and if the wheel slip ratio is smaller than or equal to the threshold value, step 706 is executed.

Step 705: and controlling the motor feedback torque of the motor feedback torque system to be unchanged.

When the running state of the vehicle is the second state, the depth of the brake pedal is larger than or equal to a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is larger than the set threshold value, and the hydraulic brake system works, then the whole vehicle controller sends a first control instruction to the hydraulic brake system and the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged and the brake hydraulic torque of the hydraulic brake system to be unchanged, and the deceleration of the vehicle is maintained in a preset range.

Step 706: whether the yaw angle of the vehicle is smaller than the set angle threshold is determined, and if the yaw angle is smaller than the set angle threshold, step 707 is executed, and if the yaw angle is equal to or larger than the set angle threshold, step 708 is executed.

Step 707: and the whole vehicle controller sends a first control instruction to the hydraulic line control braking system and the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged and the braking hydraulic torque of the hydraulic line control braking system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

Step 708: and the whole vehicle controller controls the motor feedback torque system and the hydraulic line control braking system to carry out hydraulic compensation.

According to the embodiment, the current running road condition of the vehicle is identified through the current acceleration of the vehicle and the height data of the current vehicle body, when the current running road condition is in a jolt road condition causing instability of the vehicle, the whole vehicle controller controls the motor feedback torque system and the hydraulic line control system according to the running state and the wheel slip rate of the vehicle, so that the motor feedback torque system is not withdrawn, the deceleration of the vehicle is kept unchanged, the deceleration loss generated in the withdrawal process of the motor feedback torque system is avoided, and the driving experience is improved.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required for the present invention.

Based on the description of the method embodiments, the present invention further provides corresponding apparatus embodiments to implement the content described in the method embodiments.

Referring to fig. 8, a schematic structural diagram of an apparatus for improving deceleration loss according to an embodiment of the present invention is shown, where the apparatus is applied to a vehicle controller, and the apparatus includes:

The identifying module 801 is configured to identify a current driving road condition of the vehicle according to a current acceleration of the vehicle and height data of a current vehicle body, where the current driving road condition includes a bumpy road condition that causes instability of the vehicle;

A judging module 802, configured to judge a running state of the vehicle if the current running road condition is a bumpy road condition that causes instability of the vehicle;

And the control module 803 is used for controlling the motor feedback torque system and the hydraulic line control braking system according to a set control strategy according to the running state and the wheel slip rate of the vehicle so as to maintain the deceleration of the vehicle within a preset range.

Further, the control module includes: a first control unit;

Further, the control module includes: a second control unit;

Further, the control module includes: a third control unit;

Further, the control module includes: a fourth control unit;

Further, the control module includes: a fifth control unit;

Further, the control module includes: a sixth control unit;

Further, the control module includes: a seventh control unit;

And the seventh control unit is used for sending a first control instruction to the hydraulic brake system and the motor feedback torque system by the whole vehicle controller when the running state of the vehicle is a second state, if the depth of the brake pedal is larger than or equal to a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is larger than a set threshold value and the hydraulic brake system works, so as to control the motor feedback torque of the motor feedback torque system and the brake hydraulic torque of the hydraulic brake system to be unchanged, and the deceleration of the vehicle is maintained within a preset range.

Further, the control module includes: an eighth control unit;

And the eighth control unit is used for sending a first control instruction to the hydraulic line control braking system and the motor feedback torque system by the whole vehicle controller when the running state of the vehicle is a second state, if the depth of a brake pedal is larger than or equal to a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value and the hydraulic line control braking system works, so as to control the motor feedback torque of the motor feedback torque system and the brake hydraulic torque of the hydraulic line control braking system to be unchanged, and the deceleration of the vehicle is maintained in a preset range.

Further, the control module includes: a ninth control unit;

And the ninth control unit is used for sending a third control instruction to the hydraulic line control braking system and the motor feedback torque system by the whole vehicle controller when the vehicle is in a second state if the depth of the brake pedal is larger than or equal to a set depth threshold value, the motor feedback torque system is started and the wheel slip rate is smaller than or equal to a set threshold value, the vehicle yaw angle is larger than or equal to a set angle threshold value and the hydraulic line control braking system works, so that the hydraulic line control braking system obtains braking hydraulic torque according to the motor feedback torque withdrawal amount generated by the motor feedback torque system, and the hydraulic line control braking system generates corresponding braking hydraulic torque through a braking pipeline, so that the deceleration of the vehicle is maintained in a preset range.

Firstly, the present running road condition of the vehicle is identified through the current acceleration of the vehicle and the height data of the current vehicle body, when the current running road condition is in a jolt road condition causing instability of the vehicle, the whole vehicle controller controls the motor feedback torque system and the hydraulic line control braking system according to the running state and the wheel slip rate of the vehicle, so that the motor feedback torque system is not withdrawn, the motor feedback torque of the vehicle is kept unchanged, deceleration loss generated in the withdrawal process of the motor feedback torque system is avoided, and driving experience is improved.

For the device embodiments described above, the description is relatively simple as it is substantially similar to the method embodiments, with reference to the description of the method embodiments shown.

As will be readily appreciated by those skilled in the art: any combination of the above embodiments is possible, and thus is an embodiment of the present invention, but the present specification is not limited by the text.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. The above embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention.

Claims

1. The method for improving deceleration loss is characterized by being applied to a vehicle controller and comprising the following steps of:

Identifying the current running road condition of the vehicle according to the current acceleration of the vehicle and the height data of the current vehicle body, wherein the current running road condition comprises a bumpy road condition causing instability of the vehicle;

if the current running road condition is a bumpy road condition causing instability of the vehicle, judging the running state of the vehicle;

And controlling a motor feedback torque system and a hydraulic line control and driving system according to a set control strategy according to the running state and the wheel slip rate of the vehicle, so that the deceleration of the vehicle is maintained in a preset range.

2. The method of claim 1, wherein the determining the operating state of the vehicle comprises:

judging whether an accelerator pedal and a brake pedal of the vehicle are triggered or not, and if the accelerator pedal is released and the brake pedal is not triggered, determining that the running state of the vehicle is a first state;

3. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

4. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

5. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

6. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

7. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

When the running state of the vehicle is a second state, if the depth of a brake pedal is smaller than a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is smaller than or equal to the set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value, and the hydraulic brake system does not work and does not have braking hydraulic torque, the whole vehicle controller sends a first control instruction to the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

8. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

9. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

When the running state of the vehicle is the second state, if the depth of the brake pedal is greater than or equal to a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is greater than a set threshold value, and the hydraulic brake system works, the whole vehicle controller sends a first control instruction to the hydraulic brake system and the motor feedback torque system so as to control the motor feedback torque of the motor feedback torque system to be unchanged and the brake hydraulic torque of the hydraulic brake system to be unchanged, so that the deceleration of the vehicle is maintained in a preset range.

10. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy based on the running state of the vehicle and the wheel slip ratio such that the deceleration of the vehicle is maintained within the preset range comprises:

11. The method of claim 2, wherein controlling the motor feedback torque system and the hydraulic line control braking system according to the set control strategy by the vehicle controller according to the wheel slip ratio according to the running state of the vehicle so that the deceleration of the vehicle is maintained within the preset range comprises:

12. The device for improving deceleration loss is characterized in that the device is applied to a vehicle controller and comprises:

13. The apparatus of claim 12, wherein the determining module is specifically configured to determine whether an accelerator pedal and a brake pedal of the vehicle are triggered, and determine that the operating state of the vehicle is a first state if the accelerator pedal is released and the brake pedal is not triggered; and if the accelerator pedal is released and the brake pedal is triggered, determining that the running state of the vehicle is a second state.

14. The apparatus of claim 13, wherein the control module comprises: a first control unit;

15. The apparatus of claim 13, wherein the control module comprises: a second control unit;

16. The apparatus of claim 13, wherein the control module comprises: a third control unit;

17. The apparatus of claim 13, wherein the control module comprises: a fourth control unit;

18. The apparatus of claim 13, wherein the control module comprises: a fifth control unit;

And the fifth control unit is used for sending a first control instruction to the motor feedback torque system by the whole vehicle controller when the running state of the vehicle is a second state, if the depth of the brake pedal is smaller than a set depth threshold value, the motor feedback torque system is started, the wheel slip rate is smaller than or equal to a set threshold value, the yaw angle of the vehicle is smaller than a set angle threshold value and the hydraulic line control braking system does not work and does not have braking hydraulic torque, so as to control the motor feedback torque of the motor feedback torque system to be unchanged, and the deceleration of the vehicle is maintained in a preset range.

19. The apparatus of claim 13, wherein the control module comprises: a sixth control unit;

20. The apparatus of claim 13, wherein the control module comprises: a seventh control unit;

21. The apparatus of claim 13, wherein the control module comprises: an eighth control unit;

22. The apparatus of claim 13, wherein the control module comprises: a ninth control unit;