WO2022088175A1 - Vehicle drive control method and apparatus, and vehicle - Google Patents

Vehicle drive control method and apparatus, and vehicle Download PDF

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Publication number
WO2022088175A1
WO2022088175A1 PCT/CN2020/125844 CN2020125844W WO2022088175A1 WO 2022088175 A1 WO2022088175 A1 WO 2022088175A1 CN 2020125844 W CN2020125844 W CN 2020125844W WO 2022088175 A1 WO2022088175 A1 WO 2022088175A1
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WIPO (PCT)
Prior art keywords
vehicle
speed
wheel
motor
driving parameter
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PCT/CN2020/125844
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French (fr)
Chinese (zh)
Inventor
刘琦
孙永朝
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浙江吉利控股集团有限公司
宁波吉利汽车研究开发有限公司
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Priority to PCT/CN2020/125844 priority Critical patent/WO2022088175A1/en
Publication of WO2022088175A1 publication Critical patent/WO2022088175A1/en

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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
    • 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

Definitions

  • the present application relates to the field of new energy vehicles, and in particular, to a vehicle driving control method, device and vehicle.
  • the purpose of the present application is to provide a vehicle driving control method, device and vehicle, which can fully ensure the safety of the vehicle in the over-sill condition.
  • the present application discloses a vehicle driving control method, the method includes the following steps:
  • the driving parameter information includes motor speed, wheel speed and vehicle speed;
  • the motor is controlled to reduce the output torque, and/or the motor is controlled to reduce the wheel speed.
  • the obtaining the calculated value of the vehicle driving parameter based on the driving parameter information includes:
  • the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is obtained.
  • judging whether the vehicle is in a skidding state based on the calculated value of the driving parameter includes:
  • the vehicle When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate exceeds a first preset motor speed change rate, and if so, the vehicle is in a skid state; or
  • the vehicle When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate exceeds a first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; or
  • the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end
  • the vehicle speed at the wheel end determines whether the relative speed difference between the wheel speed and the vehicle speed at the wheel end exceeds a second preset relative speed difference, and if so , the vehicle is in a skidding state in the air.
  • controlling the motor to reduce the torque output includes:
  • the motor When the output torque of the motor is less than the first preset torque, the motor is controlled to output at the first preset torque.
  • controlling the motor to reduce the wheel speed includes:
  • the output torque of the motor is controlled to reduce the wheel speed.
  • controlling the motor to reduce the wheel speed further includes:
  • controlling the motor Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, controlling the motor to drive the wheel speed of the front wheel to be consistent with the wheel speed of the rear wheel;
  • the motor is controlled to drive the wheel speed of the rear wheel to be consistent with the wheel speed of the front wheel.
  • the wheel speed of the rear wheel is driven by the closed-loop control to be consistent with the wheel speed of the front wheel.
  • the vehicle when the vehicle is in a skid state in the air, after controlling the motor to reduce the output torque, and/or controlling the motor to reduce the wheel speed, it includes:
  • the motor output torque is controlled in response to the driver torque request.
  • judging whether the vehicle ends slipping based on the calculated value of the vehicle driving parameter includes:
  • the calculated value of the driving parameter is the motor speed change rate
  • the calculated value of the driving parameter is the wheel speed change rate
  • the method further includes:
  • the motor is controlled to output at the second preset torque.
  • the present application also discloses a vehicle driving control device, the device is set based on the above method, and the device includes:
  • a driving parameter information acquisition module configured to acquire vehicle driving parameter information in real time, the driving parameter information including motor speed, wheel speed and vehicle speed;
  • a driving parameter calculation value obtaining module configured to obtain the vehicle driving parameter calculation value based on the driving parameter information
  • a skid in the air judging module is used to determine whether the vehicle is in a state of skidding in the air based on the calculated value of the driving parameter;
  • the control module is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
  • the present application also discloses a vehicle, the vehicle is a pure electric vehicle or a hybrid electric vehicle, the vehicle includes a motor controller, and the motor controller includes the above-mentioned vehicle driving control device.
  • the vehicle driving control method, device and vehicle described in this application have the following beneficial effects:
  • a vehicle driving control method, device and vehicle described in this application when the vehicle is in overpassing condition, by reducing the output torque on the drive shaft, the landing friction torque on the drive shaft can be reduced, and the whole vehicle can be improved. Institutional stability.
  • the vehicle driving control method, device and vehicle described in the present application improve the safety of the vehicle when crossing the threshold through software improvement, avoid directly strengthening the strength of the drive shaft, and reduce vehicle weight and cost.
  • the vehicle driving control method, device and vehicle described in this application improve the driving control capability of the vehicle and ensure driving safety by controlling the torque output of the vehicle in different working conditions of the vehicle.
  • a vehicle driving control method, device and vehicle described in the present application by reducing the wheel speed after the vehicle is vacated, the friction force when the vehicle is landed is reduced, the occurrence of dangerous working conditions such as slippage is avoided, and the driving experience of the vehicle is improved. .
  • FIG. 1 is a schematic diagram of an electric vehicle transmission system (rear drive) in the embodiment of the present application;
  • FIG. 2 is a schematic diagram of the wheel flying and touching the ground in the embodiment of the present application.
  • FIG. 3 is a step diagram of a vehicle driving control method in an embodiment of the present specification
  • FIG. 4 is a step diagram of the torque output control method in the embodiment of this specification.
  • FIG. 5 is a step diagram of the torque output control method in the embodiment of this specification.
  • FIG. 6 is a step diagram of a vehicle driving control method in some other embodiments of this specification.
  • FIG. 7 is a step diagram of a vehicle driving control method in some other embodiments of this specification.
  • FIG. 8 is a flowchart of a vehicle driving control method in an embodiment of the present specification.
  • FIG. 9 is a flowchart of a vehicle driving control method in an embodiment of the present specification.
  • Fig. 10 is a flowchart of the vehicle driving control method in the embodiment of this specification.
  • FIG. 11 is a structural diagram of a vehicle travel control device in an embodiment of the present specification.
  • the embodiments of the present specification provide a vehicle driving control method.
  • the transmission system is a rear-drive transmission system, which mainly includes a motor 1, an angle sensor 2, a reducer 3, a differential 4, a drive shaft 5, a wheel speed sensor 6 and a wheel 7;
  • the angle sensor 2 is connected to the motor 1 for detecting the rotational speed of the output shaft of the motor 1.
  • the angle sensor 2 is a resolver angle sensor, and the motor 1 outputs torque to the motor 1 through the output shaft.
  • the reducer 3, the reducer 3 outputs torque to the differential 4 according to different transmission paths, and the differential 4 distributes the kinetic energy to the wheels through the drive shaft 5, thereby driving the wheels to drive.
  • the wheel speed sensor 6 is arranged on the wheel 7 for detecting the rotational speed of the wheel 7.
  • the rotational speed of the wheel 7 represents the linear speed of the wheel rotation
  • the vehicle speed represents the speed relative to the ground when the vehicle is running.
  • FIG 2 it is a schematic diagram of the wheel vacated state.
  • the vehicle wheels do not appear to be slipping.
  • the vehicle wheel speed is equal to the vehicle speed, that is, the tangential speed of the wheel is equal to the translational speed of the vehicle.
  • V w*R, where V is the speed of the vehicle, w is the angular velocity of the wheel, and R is the radius of the wheel;
  • V the speed of the vehicle
  • w the angular velocity of the wheel
  • R the radius of the wheel
  • FIG. 3 is a schematic flowchart of a vehicle driving control method provided by an embodiment of the present invention.
  • the operation steps of the method described in the flow chart may include more or less operation steps based on routine or non-creative work.
  • the sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence.
  • an actual system or server product is executed, it can be executed sequentially or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the embodiments or the methods shown in the accompanying drawings.
  • the method may include:
  • the motor speed can be obtained through the angle sensor, and the motor speed is the speed of the output shaft of the motor.
  • the wheel speed is the tangential linear speed of the wheel rotation, and the wheel speed can include the front wheel speed and the rear wheel speed.
  • it can be obtained by arranging two sets of wheel speed sensors on the front wheel and the rear wheel; the vehicle speed is The speed of the vehicle relative to the ground can be obtained directly through the instrument panel or the vehicle controller, and in some other embodiments, through the vehicle positioning system and the like.
  • one of the sensors can be set to obtain the motor speed or wheel speed, for example, only the motor speed, only the wheel speed, the combination of the motor speed and the vehicle speed, and the combination of the wheel speed and the vehicle speed, etc., Different parameters are obtained according to the composition of different vehicle sensors.
  • the vehicle driving parameters can be obtained through the vehicle controller (ECU), and the calculated values of the vehicle driving parameters can be calculated according to the vehicle driving parameters, and then corresponding control instructions are issued to the motor controller.
  • the vehicle driving parameters can also be obtained through the motor controller, and the vehicle driving parameters can be calculated, and the corresponding calculated values of the vehicle driving parameters can be sent to the vehicle controller, and then the vehicle controller can send control instructions;
  • the motor controller can also directly send or obtain the original data of the driving parameters of the vehicle to the vehicle controller, and the vehicle controller can process data and issue instructions.
  • the calculated value of the driving parameter is a value that can be compared after the processing of the driving parameter information, which may be the rate of change of the motor speed, the rate of change of the wheel speed, the relative speed of the motor speed and the vehicle speed at the wheel end The difference or the relative rotational speed difference between the wheel speed and said vehicle speed at the wheel end.
  • the driving parameter information is the motor speed
  • the motor speed change rate can be obtained from the motor speed. Average rate of change within a segment. From the time the wheel is vacated to the ground, the motor speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the vacant to the ground.
  • the driving parameter information is the wheel speed
  • the motor speed change rate can be obtained from the wheel speed. Average rate of change within a segment.
  • the wheel speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel flying to the ground.
  • the driving parameter information is the motor speed and the vehicle speed, which can be obtained by calculating the motor speed and the vehicle speed.
  • the trigger may be the average rotational speed difference between the motor speed and the vehicle speed within a preset time period. From the time the wheel is vacated to the ground, the motor speed is in the stage of rapid increase, and different preset time can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel vacated to the ground.
  • the driving parameter information is the wheel rotational speed and the vehicle speed, which can be obtained by calculating the wheel rotational speed and the vehicle speed.
  • It may be the average rotational speed difference between the wheel rotational speed and the vehicle speed within a preset time period.
  • the wheel speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel flying to the ground.
  • the above at least two sets of calculation values of driving parameters can be arbitrarily selected as the calculation values of driving parameters in actual work, which can improve the accuracy of judgment and reduce the probability of false triggering of functions.
  • S105 Based on the calculated value of the driving parameter, determine whether the vehicle is in a skidding state in the air;
  • the motor speed change rate When the calculated value of the driving parameter is the motor speed change rate, it is determined whether the motor speed change rate exceeds the first preset motor speed change rate, and if so, the vehicle is in a skid state; It is assumed that the motor speed change rate can be 10000rpm/s 2 .
  • the wheel speed change rate When the calculated value of the driving parameter is the wheel speed change rate, it is determined whether the wheel speed change rate exceeds the first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; for example, the first preset The wheel speed change rate may be 1000 rpm/s 2 .
  • the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end
  • the calculated value of the driving parameter is the relative speed difference between the wheel speed and the vehicle speed at the wheel end
  • the embodiment of this specification reduces the output torque of the motor to reduce the rotational torque of the drive shaft. , thereby reducing the torque on the drive bearing, or by reducing the rotational speed of the wheel to reduce the frictional resistance when the wheel touches the ground, or the above two methods are performed simultaneously.
  • a vehicle skidding in the air generally means that the front or rear wheels of the vehicle are in the air, and in some other working conditions, the entire vehicle may be aired out.
  • S7013 Acquire motor output torque information in real time, and determine whether the motor output torque is less than a first preset torque
  • the state of the whole vehicle can be adjusted by reducing the output torque of the motor, so that the torque transmitted by the output shaft of the motor to the drive shaft is also reduced, which can reduce the wheel after the wheel touches the ground. friction torque, thus protecting the drive shaft.
  • FIG. 8 it is a flow chart of protecting the drive shaft by controlling the motor to reduce the output torque in the embodiment of the present specification.
  • the reduction of the motor output torque can be reduced by a preset rule, such as linear reduction, in order to avoid the motor Too low torque affects the normal output of the vehicle, and the first preset torque, that is, the minimum torque, can be set, so that when the motor torque is reduced to the minimum torque, the minimum torque can be maintained for output. In this way, while ensuring the normal output of the vehicle torque, the drive shaft is protected and the safety performance of the vehicle is improved.
  • the embodiments of this specification can also reduce the frictional resistance of the wheel after the wheel touches the ground by reducing the speed of the wheel in the air, which specifically includes the following steps:
  • FIG. 9 a working flow chart of reducing the wheel speed by reducing the output torque of the motor.
  • the wheel speed can be adjusted in a certain proportion according to the actual vehicle speed, such as reaching 100%-200% of the wheel speed, so that the vehicle can be driven when the wheel touches the ground.
  • the fast passing through high sill conditions can optionally be 100%-150%, wherein the preferred values are 120% and 150%.
  • the embodiments of this specification further include:
  • the speed of the vacated wheel is consistent with the speed of the vehicle, after the wheel touches the ground, the tangential linear speed of the wheel rotation can be consistent with the speed of the vehicle, thereby avoiding the driver's feeling of frustration and improving the driving experience.
  • the wheel speed and vehicle speed can be kept consistent through closed-loop control.
  • the torque PI controller can be used to adjust.
  • step S705 includes:
  • S7053 Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, control the wheel speed of the front wheel driven by the motor to be consistent with the wheel speed of the rear wheel;
  • S7057 Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, control the wheel speed of the rear wheel driven by the motor to be consistent with the wheel speed of the front wheel.
  • the front and rear wheels of the vehicle are controlled to have the same rotation speed to avoid the difference in rotation speed between the front and rear wheels when they touch the ground, which reduces the driving experience, avoids driving risks, and improves safety.
  • the motor can drive the front wheel speed to be consistent with the rear wheel speed through closed-loop control; and/or drive the motor to drive the rear wheel speed to be consistent with the front wheel speed through closed-loop control.
  • the motor speed can also be controlled to synchronize with the wheel speed. Specifically, after the front wheel slips in the air, the closed-loop speed controls the speed of the front drive axle motor to synchronize with the speed of the rear wheel. After the rear wheel slips in the air, the closed-loop speed controls the rear drive. The axle motor speed is synchronized with the front wheel speed.
  • some other embodiments may further include the following steps:
  • step S105 judging whether the vehicle has ended skidding is similar to the aforementioned step S105, specifically:
  • the motor speed change rate When the calculated value of the driving parameter is the motor speed change rate, it is judged whether the motor speed change rate is lower than the second preset motor speed change rate, and if so, the vehicle ends slipping, for example, the second preset motor
  • the rotational speed change rate was 3000 rpm/s 2 .
  • the wheel speed change rate it is determined whether the wheel speed change rate is lower than the second preset wheel speed change rate, and if so, the vehicle ends slipping, such as the second preset wheel speed change rate
  • the rotational speed change rate was 300 rpm/s 2 .
  • the calculated value of the driving parameter is the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end. If so, the vehicle ends slipping, for example, the third preset relative speed difference is 25 rpm/s.
  • the calculated value of the driving parameter is the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end. If so, the vehicle ends slipping, for example, the fourth preset relative rotational speed difference is 25 rpm/s.
  • the timing when the vehicle can be normally controlled can be accurately grasped, the smoothness of vehicle control and the sense of driving experience are improved, the control efficiency of the vehicle is improved, and energy consumption is saved.
  • step S105 the following steps may be included:
  • the vehicle controller When the vehicle is in a normal driving state, the vehicle controller sends control commands to the motor controller by receiving the driving demand of the driver, and the motor controller performs torque vector control.
  • PWM pulse width modulation
  • S108 Obtain output torque information in real time, and determine whether the output torque exceeds a second preset torque
  • the vehicle speed In order to ensure the stability of the overall vehicle condition and avoid vehicle speeding or excessive vehicle speed affecting the driving stability of the vehicle, it is necessary to control the vehicle speed. Specifically, it can be controlled by controlling the output torque of the motor, wherein the second preset torque is the maximum torque of the vehicle, which can be Optionally, different second preset torques may be set under different working conditions to ensure normal running of the vehicle.
  • the motor can be controlled to output according to the maximum torque to ensure driving safety.
  • the embodiments of this specification also provide a vehicle driving control device, as shown in Figure 11, the device includes:
  • the driving parameter information acquisition module 10 is used to acquire the driving parameter information of the vehicle in real time, and the driving parameter information includes the motor speed, the wheel speed and the vehicle speed;
  • a driving parameter calculation value obtaining module 20 configured to obtain a vehicle driving parameter calculation value based on the driving parameter information
  • a skid in the air judging module 30 is used to determine whether the vehicle is in a skid in the air based on the calculated value of the driving parameter;
  • the control module 40 is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
  • an embodiment of the present specification further provides a vehicle, the vehicle is a pure electric vehicle or a hybrid electric vehicle, the vehicle includes a motor controller, and the motor controller includes the above-mentioned one Vehicle travel control device.
  • the vehicle driving control method, device and vehicle described in the present application improve the safety of the vehicle when crossing the threshold through software improvement, avoid directly strengthening the strength of the drive shaft, and reduce vehicle weight and cost.
  • the vehicle driving control method, device and vehicle described in this application improve the driving control capability of the vehicle and ensure driving safety by controlling the torque output of the vehicle in different working conditions of the vehicle.
  • a vehicle driving control method, device and vehicle described in this application by reducing the wheel speed after the vehicle is vacated, the frictional force when the vehicle is landed is reduced, the occurrence of dangerous conditions such as slippage is avoided, and the driving experience of the vehicle is improved.

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Abstract

A vehicle drive control method and apparatus, and a vehicle. The vehicle drive control method comprises: acquiring in real time drive parameter information of a vehicle, the drive parameter information of the vehicle comprising electric motor speed, wheel speed and vehicle speed; on the basis of the drive parameter information, acquiring drive parameter calculated values of the vehicle; on the basis of the drive parameter calculated values, determining whether the vehicle is in an airborne skidding state; and when the vehicle is in the airborne skidding state, controlling an electric motor to reduce output torque, and/or controlling the electric motor to reduce the wheel speed; when the vehicle passes over a pothole, reducing the output torque of a drive shaft so as to reduce the friction when the vehicle lands on the ground, thus avoiding the occurrence of dangerous situations such as skidding and improving the vehicle drive experience.

Description

一种车辆行驶控制方法、装置及车辆A vehicle driving control method, device and vehicle 技术领域technical field
本申请涉及新能源汽车领域，特别涉及一种车辆行驶控制方法、装置及车辆。The present application relates to the field of new energy vehicles, and in particular, to a vehicle driving control method, device and vehicle.
背景技术Background technique
面对日益严峻的能源短缺和环境污染问题，新能源车型的研发已经越来越被各大车企作为工作重点，作为三电之一的电驱，更是重中之重。电机驱动与汽车安全息息相关，对于电驱动控制策略的不断优化，让越来越多的新能源车主受益，并更加青睐新能源车型带来的安全舒适的体验。新能源汽车通过将电机的输出扭矩传到减速器、差速器及驱动轴进而带动车轮转动，经过各级减速机构，驱动轴上的承受扭矩相对较大，在一些极限工况下，驱动轴还会额外承受地面摩擦导致的动态扭矩，这对驱动轴的强度提出了很高的要求。In the face of increasingly severe energy shortages and environmental pollution problems, the research and development of new energy vehicles has become more and more important for major car companies, and electric drive, one of the three electric drives, is a top priority. Motor drive is closely related to vehicle safety. The continuous optimization of electric drive control strategies has benefited more and more new energy vehicle owners, and more favored the safe and comfortable experience brought by new energy vehicles. The new energy vehicle drives the wheels to rotate by transmitting the output torque of the motor to the reducer, differential and drive shaft. After all levels of reduction mechanisms, the bearing torque on the drive shaft is relatively large. The dynamic torque caused by ground friction is also subjected to high demands on the strength of the drive shaft.
作为车辆，其行驶环境复杂多变，当车辆快速行驶于装有减速带、低矮硬质障碍物以及非可预见高坎的路面时，车辆会腾空，车辆腾空后，轮胎上的负载骤降，较大的电机驱动力会使电机转速及轮速陡升，轮胎切向速度远大于车身的平动速度，车轮腾空后再接触地面的瞬间会承受与车轮驱动力相同方向的附加摩擦力，该摩擦力会直接叠加电机输出扭矩在驱动轴上。车轮切向速度与车辆平动速度相差得越大，接触地面时的摩擦力就会越大，过大的附加摩擦扭矩叠加电机驱动扭矩后可能会超过驱动轴的屈服极限导致驱动轴断裂，对驾驶员及乘客造成伤害。As a vehicle, its driving environment is complex and changeable. When the vehicle is running fast on a road with speed bumps, low hard obstacles and unpredictable high ridges, the vehicle will vacate. After the vehicle is vacated, the load on the tires will drop sharply. , the larger motor driving force will cause the motor speed and wheel speed to rise sharply, the tangential speed of the tire is much greater than the translational speed of the body, and the moment the wheel is in the air and then touches the ground, it will bear additional friction in the same direction as the wheel driving force. This frictional force will directly superimpose the motor output torque on the drive shaft. The greater the difference between the tangential speed of the wheel and the translational speed of the vehicle, the greater the friction force when contacting the ground. The excessive additional friction torque superimposed on the motor drive torque may exceed the yield limit of the drive shaft and cause the drive shaft to break. Injury to driver and passengers.
为了降低驱动轴断裂的风险，可以直接通过提高驱动轴的屈服极限来避免，但是更高强度的材料，更粗的驱动轴设计都会导致成本及重量的显著增加，进而影响续航里程。因此为了满足车辆轻量化和降低成本的趋势，需要新的技术方案来降低驱动轴断裂的风险。In order to reduce the risk of drive shaft breakage, it can be avoided directly by increasing the yield limit of the drive shaft, but higher strength materials and thicker drive shaft designs will lead to a significant increase in cost and weight, which in turn affects the cruising range. Therefore, in order to meet the trend of vehicle weight reduction and cost reduction, new technical solutions are required to reduce the risk of drive shaft breakage.
发明内容SUMMARY OF THE INVENTION
针对现有技术的上述问题，本申请的目的在于，提供一种车辆行驶控制方 法、装置及车辆，能充分保证车辆在过坎工况中的安全。In view of the above-mentioned problems in the prior art, the purpose of the present application is to provide a vehicle driving control method, device and vehicle, which can fully ensure the safety of the vehicle in the over-sill condition.
为了解决上述技术问题，本申请的具体技术方案如下：In order to solve the above-mentioned technical problems, the specific technical solutions of the present application are as follows:
一方面，本申请公开了一种车辆行驶控制方法，所述方法包括以下步骤：On the one hand, the present application discloses a vehicle driving control method, the method includes the following steps:
实时获取车辆行驶参数信息，所述行驶参数信息包括电机转速、车轮转速和车速；Obtaining vehicle driving parameter information in real time, the driving parameter information includes motor speed, wheel speed and vehicle speed;
基于所述行驶参数信息，获取车辆行驶参数计算值；based on the driving parameter information, obtain a calculated value of the driving parameter of the vehicle;
基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态；Based on the calculated value of the driving parameter, determine whether the vehicle is in a skidding state in the air;
当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速。When the vehicle is in a skid state in the air, the motor is controlled to reduce the output torque, and/or the motor is controlled to reduce the wheel speed.
进一步地，所述基于所述行驶参数信息，获取车辆行驶参数计算值包括：Further, the obtaining the calculated value of the vehicle driving parameter based on the driving parameter information includes:
根据所述电机转速，获得电机转速变化率；或According to the motor speed, obtain the motor speed change rate; or
根据所述车轮转速，获得车轮转速变化率；或obtain a wheel speed change rate based on the wheel speed; or
跟据所述电机转速和所述车速，获得所述电机转速与所述车速在轮端的相对转速差；或According to the rotational speed of the motor and the speed of the vehicle, obtain the relative rotational speed difference between the rotational speed of the motor and the vehicle speed at the wheel end; or
根据所述车轮转速和所述车速，获得所述车轮转速与所述车速在轮端的相对转速差。According to the wheel rotational speed and the vehicle speed, the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is obtained.
进一步地，所述基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态包括：Further, judging whether the vehicle is in a skidding state based on the calculated value of the driving parameter includes:
当所述行驶参数计算值为电机转速变化率时，判断所述电机转速变化率是否超过第一预设电机转速变化率，若是，则所述车辆处于腾空打滑状态；或When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate exceeds a first preset motor speed change rate, and if so, the vehicle is in a skid state; or
当所述行驶参数计算值为车轮转速变化率时，判断所述车轮转速变化率是否超过第一预设车轮转速变化率，若是，则所述车辆处于腾空打滑状态；或When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate exceeds a first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; or
当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时，判断所述电机转速与所述车速在轮端的相对转速差是否超过第一预设相对转速差，若是，则所述车辆处于腾空打滑状态；或When the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the motor speed and the vehicle speed at the wheel end exceeds a first preset relative speed difference, and if so , the vehicle is skidding in the air; or
当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时，判断所述车轮转速与所述车速在轮端的相对转速差是否超过第二预设相对转速差，若是，则所述车辆处于腾空打滑状态。When the calculated value of the driving parameter is the relative speed difference between the wheel speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the wheel speed and the vehicle speed at the wheel end exceeds a second preset relative speed difference, and if so , the vehicle is in a skidding state in the air.
进一步地，所述当所述车辆处于腾空打滑状态，控制电机降低扭矩输出包括：Further, when the vehicle is in a skid state in the air, controlling the motor to reduce the torque output includes:
当所述车辆处于腾空打滑状态，控制电机降低输出扭矩；When the vehicle is in a skid state in the air, controlling the motor to reduce the output torque;
实时获取电机输出扭矩信息，判断所述电机输出扭矩是否小于第一预设扭矩；Acquiring motor output torque information in real time, and judging whether the motor output torque is less than a first preset torque;
当所述电机输出扭矩小于所述第一预设扭矩，控制所述电机以所述第一预设扭矩输出。When the output torque of the motor is less than the first preset torque, the motor is controlled to output at the first preset torque.
进一步地，所述当所述车辆处于腾空打滑状态，控制电机降低车轮转速包括：Further, when the vehicle is in a skid state in the air, controlling the motor to reduce the wheel speed includes:
当所述车辆处于腾空打滑状态，控制电机输出扭矩，以降低车轮转速。When the vehicle is in a skid state in the air, the output torque of the motor is controlled to reduce the wheel speed.
进一步地，所述当所述车辆处于腾空打滑状态，控制电机降低车轮转速还包括：Further, when the vehicle is in a skid state in the air, controlling the motor to reduce the wheel speed further includes:
当所述车辆的前轮处于腾空打滑状态，获取车辆前轮轮速和车辆后轮轮速；When the front wheel of the vehicle is in a skidding state in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;
基于所述后轮轮速和所述前轮轮速，控制所述电机驱动前轮轮速与所述后轮轮速一致；Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, controlling the motor to drive the wheel speed of the front wheel to be consistent with the wheel speed of the rear wheel;
当所述车辆的后轮处于腾空打滑状态，获取车辆前轮轮速和车辆后轮轮速；When the rear wheel of the vehicle is in a skidding state in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;
基于所述后轮轮速和所述前轮轮速，控制所述电机驱动后轮轮速与所述前轮轮速一致。Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, the motor is controlled to drive the wheel speed of the rear wheel to be consistent with the wheel speed of the front wheel.
作为可选地，通过闭环控制所述电机驱动前轮轮速与所述后轮轮速一致；和Optionally, driving the motor to drive the wheel speed of the front wheel to be consistent with the wheel speed of the rear wheel through closed-loop control; and
通过闭环控制所述电机驱动后轮轮速与所述前轮轮速一致。The wheel speed of the rear wheel is driven by the closed-loop control to be consistent with the wheel speed of the front wheel.
进一步地，所述当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速之后包括：Further, when the vehicle is in a skid state in the air, after controlling the motor to reduce the output torque, and/or controlling the motor to reduce the wheel speed, it includes:
基于所述车辆行驶参数计算值，判断车辆是否结束打滑；judging whether the vehicle ends skidding based on the calculated value of the vehicle driving parameter;
当所述车辆结束打滑，响应驾驶员扭矩请求，控制电机输出扭矩。When the vehicle ends slipping, the motor output torque is controlled in response to the driver torque request.
进一步地，所述基于所述车辆行驶参数计算值，判断车辆是否结束打滑包括：Further, judging whether the vehicle ends slipping based on the calculated value of the vehicle driving parameter includes:
当所述行驶参数计算值为电机转速变化率时，判断所述电机转速变化率是否低于第二预设电机转速变化率，若是，则所述车辆结束打滑；或When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate is lower than the second preset motor speed change rate, and if so, the vehicle ends slipping; or
当所述行驶参数计算值为车轮转速变化率时，判断所述车轮转速变化率是否低于第二预设车轮转速变化率，若是，则所述车辆结束打滑；或When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate is lower than a second preset wheel speed change rate, and if so, the vehicle ends slipping; or
当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差 时，判断所述电机转速与所述车速在轮端的相对转速差是否低于第三预设相对转速差，若是，则所述车辆结束打滑；或When the calculated value of the driving parameter is the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end is lower than a third preset relative rotational speed difference, If so, the vehicle ends skidding; or
当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时，判断所述车轮转速与所述车速在轮端的相对转速差是否低于第四预设相对转速差，若是，则所述车辆结束打滑。When the calculated value of the driving parameter is the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is lower than a fourth preset relative rotational speed difference, If so, the vehicle ends skidding.
作为可选地，基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态之后还包括：Optionally, after judging whether the vehicle is in a skidding state based on the calculated value of the driving parameter, the method further includes:
当所述车辆没有处于腾空打滑状态，响应驾驶员扭矩请求，控制电机输出扭矩；When the vehicle is not in a skid state, controlling the motor output torque in response to the driver's torque request;
实时获取输出扭矩信息，判断所述输出扭矩是否超过第二预设扭矩；Obtaining output torque information in real time, and judging whether the output torque exceeds a second preset torque;
当所述输出扭矩超过所述第二预设扭矩，控制所述电机以所述第二预设扭矩输出。When the output torque exceeds the second preset torque, the motor is controlled to output at the second preset torque.
另一方面，本申请还公开了一种车辆行驶控制装置，所述装置基于上述方法设置，所述装置包括：On the other hand, the present application also discloses a vehicle driving control device, the device is set based on the above method, and the device includes:
行驶参数信息获取模块，用于实时获取车辆行驶参数信息，所述行驶参数信息包括电机转速、车轮转速和车速；a driving parameter information acquisition module, configured to acquire vehicle driving parameter information in real time, the driving parameter information including motor speed, wheel speed and vehicle speed;
行驶参数计算值获取模块，用于基于所述行驶参数信息，获取车辆行驶参数计算值；a driving parameter calculation value obtaining module, configured to obtain the vehicle driving parameter calculation value based on the driving parameter information;
腾空打滑判断模块，用于基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态；A skid in the air judging module is used to determine whether the vehicle is in a state of skidding in the air based on the calculated value of the driving parameter;
控制模块，用于当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速。The control module is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
最后，本申请还公开了一种车辆，所述车辆为纯电动车辆或混合电动车辆，所述车辆包括电机控制器，所述电机控制器包括上述所述的一种车辆行驶控制装置。Finally, the present application also discloses a vehicle, the vehicle is a pure electric vehicle or a hybrid electric vehicle, the vehicle includes a motor controller, and the motor controller includes the above-mentioned vehicle driving control device.
采用上述技术方案，本申请所述的一种车辆行驶控制方法、装置及车辆具有如下有益效果：By adopting the above technical solutions, the vehicle driving control method, device and vehicle described in this application have the following beneficial effects:
1.本申请所述的一种车辆行驶控制方法、装置及车辆，车辆在过坎工况时，通过减小驱动轴上的输出扭矩，可以降低对驱动轴的落地摩擦扭矩，提高了整车机构的稳定性。1. A vehicle driving control method, device and vehicle described in this application, when the vehicle is in overpassing condition, by reducing the output torque on the drive shaft, the landing friction torque on the drive shaft can be reduced, and the whole vehicle can be improved. Institutional stability.
2.本申请所述的一种车辆行驶控制方法、装置及车辆，通过软件的改进提高了车辆在过坎时的安全性，避免了直接加强驱动轴的强度，降低了车重和成本。2. The vehicle driving control method, device and vehicle described in the present application improve the safety of the vehicle when crossing the threshold through software improvement, avoid directly strengthening the strength of the drive shaft, and reduce vehicle weight and cost.
3.本申请所述的一种车辆行驶控制方法、装置及车辆，通过在车辆不同工况状态对车辆扭矩输出的控制，提高了车辆行驶控制能力，保证了行驶的安全性。3. The vehicle driving control method, device and vehicle described in this application improve the driving control capability of the vehicle and ensure driving safety by controlling the torque output of the vehicle in different working conditions of the vehicle.
4.本申请所述的一种车辆行驶控制方法、装置及车辆，通过降低车辆腾空后的轮速，减少了车辆落地时的摩擦力，避免出现滑移等危险工况，提高车辆驾驶体验感。4. A vehicle driving control method, device and vehicle described in the present application, by reducing the wheel speed after the vehicle is vacated, the friction force when the vehicle is landed is reduced, the occurrence of dangerous working conditions such as slippage is avoided, and the driving experience of the vehicle is improved. .
附图说明Description of drawings
为了更清楚地说明本申请的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。In order to illustrate the technical solutions of the present application more clearly, the following will briefly introduce the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.
图1本申请实施例中电动汽车传动***(后驱)示意图；1 is a schematic diagram of an electric vehicle transmission system (rear drive) in the embodiment of the present application;
图2本申请实施例中车轮腾空触地示意图；FIG. 2 is a schematic diagram of the wheel flying and touching the ground in the embodiment of the present application;
图3本说明书实施例中车辆行驶控制方法的步骤图；FIG. 3 is a step diagram of a vehicle driving control method in an embodiment of the present specification;
图4本说明书实施例中扭矩输出控制方法步骤图；FIG. 4 is a step diagram of the torque output control method in the embodiment of this specification;
图5本说明书实施例中扭矩输出控制方法步骤图；FIG. 5 is a step diagram of the torque output control method in the embodiment of this specification;
图6本说明书一些其他实施例中车辆行驶控制方法步骤图；FIG. 6 is a step diagram of a vehicle driving control method in some other embodiments of this specification;
图7本说明书一些其他实施例中车辆行驶控制方法步骤图；FIG. 7 is a step diagram of a vehicle driving control method in some other embodiments of this specification;
图8本说明书实施例中车辆行驶控制方法的流程图；FIG. 8 is a flowchart of a vehicle driving control method in an embodiment of the present specification;
图9本说明书实施例中车辆行驶控制方法的流程图；FIG. 9 is a flowchart of a vehicle driving control method in an embodiment of the present specification;
图10本说明书实施例中车辆行驶控制方法的流程图；Fig. 10 is a flowchart of the vehicle driving control method in the embodiment of this specification;
图11本说明书实施例中车辆行驶控制装置的结构图。FIG. 11 is a structural diagram of a vehicle travel control device in an embodiment of the present specification.
图中附图标记：1-电动机，2-角度传感器，3-减速器，4-差速器，5-驱动轴，6-轮速传感器，7-车轮。Reference numerals in the figure: 1-motor, 2-angle sensor, 3-reducer, 4-differential, 5-drive shaft, 6-wheel speed sensor, 7-wheel.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、装置、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, apparatus, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.
实施例1Example 1
随着新能源车辆的快速发展，在车辆行驶过程中，由于行驶环境复杂多变，当车辆快速行驶于装有减速带、低矮硬质障碍物以及非可遇见高坎的路面时，车辆会腾空，车辆腾空后，轮胎上的负载骤降，较大的电机驱动力会使电机转速及轮速陡升，轮胎切向速度远大于车身的平动速度，车轮腾空后再接触地面的瞬间会承受与车轮驱动力相同方向的附加摩擦力，该摩擦力会直接叠加电机输出扭矩在驱动轴上。车轮切向速度与车辆平动速度相差得越大，接触地面时的摩擦力就会越大，过大的附加摩擦扭矩叠加电机驱动扭矩后可能会超过驱动轴的屈服极限导致驱动轴断裂，对驾驶员及乘客造成伤害。With the rapid development of new energy vehicles, during the driving process of the vehicle, due to the complex and changeable driving environment, when the vehicle is rapidly driving on the road with speed bumps, low hard obstacles and high ridges that cannot be met, the vehicle will In the air, after the vehicle is in the air, the load on the tire drops sharply. The larger motor driving force will cause the motor speed and wheel speed to rise sharply. The tangential speed of the tire is much greater than the translational speed of the vehicle body. Bearing additional friction in the same direction as the driving force of the wheel, the friction will directly superimpose the output torque of the motor on the drive shaft. The greater the difference between the tangential speed of the wheel and the translational speed of the vehicle, the greater the friction force when contacting the ground. The excessive additional friction torque superimposed on the motor drive torque may exceed the yield limit of the drive shaft and cause the drive shaft to break. Injury to driver and passengers.
为了解决上述问题，本说明书实施例提供一种车辆行驶控制方法，为了更好的说明本说明书实施例提供的方法，如图1为本说明书实施例提供的一种传动***的结构示意图，可以应用在纯电动汽车或混合电动汽车，所述传动***为后驱传动***，主要包括电动机1、角度传感器2、减速器3、差速器4、驱动轴5、轮速传感器6和车轮7；所述角度传感器2与所述电动机1连接，用于检测所述电动机1输出轴转速，作为优选地，所述角度传感器2为旋变式角度传感器，所述电动机1通过输出轴输出扭矩到所述减速器3，所述减速器3根据不同的传动路径将扭矩输出到差速器4，所述差速器4将动能通过驱动轴5分配到车轮，从而带动车轮传动。其中所述轮速传感器6设置在所述车轮7上，用 于检测所述车轮7的转速。所述车轮7的转速表示车轮转动的线速度，而车速则表示车辆行驶时相对地面的速度。In order to solve the above problems, the embodiments of the present specification provide a vehicle driving control method. In order to better illustrate the methods provided by the embodiments of the present specification, as shown in FIG. In a pure electric vehicle or a hybrid electric vehicle, the transmission system is a rear-drive transmission system, which mainly includes a motor 1, an angle sensor 2, a reducer 3, a differential 4, a drive shaft 5, a wheel speed sensor 6 and a wheel 7; The angle sensor 2 is connected to the motor 1 for detecting the rotational speed of the output shaft of the motor 1. Preferably, the angle sensor 2 is a resolver angle sensor, and the motor 1 outputs torque to the motor 1 through the output shaft. The reducer 3, the reducer 3 outputs torque to the differential 4 according to different transmission paths, and the differential 4 distributes the kinetic energy to the wheels through the drive shaft 5, thereby driving the wheels to drive. The wheel speed sensor 6 is arranged on the wheel 7 for detecting the rotational speed of the wheel 7. The rotational speed of the wheel 7 represents the linear speed of the wheel rotation, and the vehicle speed represents the speed relative to the ground when the vehicle is running.
如图2所示，为车轮腾空状态的示意图，在正常行驶时，车辆车轮没有出现打滑状态，如A状态，车辆车轮转速和车速相等，即车轮的切向速度等于整车的平动速度，具体为，V＝w*R，其中V为车速，w为车轮角速度，R为车轮半径；当车辆遇到减速带等过坎时，如B状态，车轮转动所受摩擦力突然减少，在电动机的带动下车轮转速迅速提升，这样车轮转速就不等于车速，即车轮的切向速度要大于整车的平动速度，具体为，V＜w*R；当车辆腾空之后再触地时，如C状态，车轮转速逐渐降低并退出打滑状态，在退出打滑状态的过程中车轮与地面接触，轮胎上摩擦力恢复，等待车轮完全接触地面，其受到的摩擦力恢复腾空前的状态，此时车轮转速与车速相等，即车轮的切向速度等于整车的平动速度，具体为，V＝w*R。As shown in Figure 2, it is a schematic diagram of the wheel vacated state. During normal driving, the vehicle wheels do not appear to be slipping. For example, in state A, the vehicle wheel speed is equal to the vehicle speed, that is, the tangential speed of the wheel is equal to the translational speed of the vehicle. Specifically, V=w*R, where V is the speed of the vehicle, w is the angular velocity of the wheel, and R is the radius of the wheel; when the vehicle encounters a speed bump and other overhangs, such as the B state, the friction force on the wheel rotation suddenly decreases, and the motor The speed of the wheel increases rapidly under the driving force of the speed, so that the speed of the wheel is not equal to the speed of the vehicle, that is, the tangential speed of the wheel is greater than the translational speed of the whole vehicle, specifically, V<w*R; when the vehicle is in the air and then touches the ground, such as In state C, the speed of the wheel gradually decreases and the slipping state is exited. During the process of exiting the slipping state, the wheel contacts the ground, and the friction force on the tire recovers. Waiting for the wheel to fully contact the ground, the friction force it receives returns to the state before it was vacated. At this time, the wheel The rotational speed is equal to the vehicle speed, that is, the tangential speed of the wheel is equal to the translational speed of the vehicle, specifically, V=w*R.
为了更好的实现精确判断的过程，以下介绍本发明车辆行驶控制方法的具体实施例，图3是本发明实施例提供的一种车辆行驶控制方法的流程示意图，本说明书提供了如实施例或流程图所述的方法操作步骤，但基于常规或者无创造性的劳动可以包括更多或者更少的操作步骤。实施例中列举的步骤顺序仅仅为众多步骤执行顺序中的一种方式，不代表唯一的执行顺序。在实际中的***或服务器产品执行时，可以按照实施例或者附图所示的方法顺序执行或者并行执行(例如并行处理器或者多线程处理的环境)。具体的如图3所示，所述方法可以包括：In order to better realize the process of accurate judgment, the following describes specific embodiments of the vehicle driving control method of the present invention. FIG. 3 is a schematic flowchart of a vehicle driving control method provided by an embodiment of the present invention. The operation steps of the method described in the flow chart may include more or less operation steps based on routine or non-creative work. The sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence. When an actual system or server product is executed, it can be executed sequentially or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the embodiments or the methods shown in the accompanying drawings. Specifically, as shown in Figure 3, the method may include:
S101：实时获取车辆行驶参数信息，所述行驶参数信息包括电机转速、车轮转速和车速；S101: Obtain vehicle driving parameter information in real time, where the driving parameter information includes motor speed, wheel speed, and vehicle speed;
可以理解为，在车辆正常行驶过程中，可以通过角度传感器获得电机转速，电机转速为电机输出轴的转速，优选地，通过旋变式角度传感器获得电机转速，车轮转速通过安装在车轮上的轮速传感器获得，所述车轮转速为车轮转动的切向线速度，所述车轮转速可以包括前轮转速和后轮转速，具体可以通过在前轮和后轮设置两组轮速传感器获得；车速即为车辆行驶相对地面的速度，可以直接通过仪表盘或车辆控制器，在一些其他实施例中，还可以通过车载定位***等方式获得。It can be understood that in the normal driving process of the vehicle, the motor speed can be obtained through the angle sensor, and the motor speed is the speed of the output shaft of the motor. The wheel speed is the tangential linear speed of the wheel rotation, and the wheel speed can include the front wheel speed and the rear wheel speed. Specifically, it can be obtained by arranging two sets of wheel speed sensors on the front wheel and the rear wheel; the vehicle speed is The speed of the vehicle relative to the ground can be obtained directly through the instrument panel or the vehicle controller, and in some other embodiments, through the vehicle positioning system and the like.
在实际工作中，为了降低成本，可以设置其中一个传感器获得电机转速或车轮转速，比如，只获得电机转速、只获得车轮转速、获得电机转速和车速的组合以及获得车轮转速和车速的组合等，根据不同车辆传感器组成获得不同的参数。In practical work, in order to reduce the cost, one of the sensors can be set to obtain the motor speed or wheel speed, for example, only the motor speed, only the wheel speed, the combination of the motor speed and the vehicle speed, and the combination of the wheel speed and the vehicle speed, etc., Different parameters are obtained according to the composition of different vehicle sensors.
S103：基于所述行驶参数信息，获取车辆行驶参数计算值；S103: Based on the driving parameter information, obtain a calculated value of the driving parameter of the vehicle;
在实际工作中，可以通过整车控制器(ECU)获得车辆行驶参数，并根据所述车辆行驶参数计算车辆行驶参数计算值，然后向电机控制器下发相应的控制指令，在一些其他实施例中，还可以通过电机控制器获得车辆行驶参数，并可以对车辆行驶参数进行计算，并将相应的车辆行驶参数计算值发送给整车控制器，进而由整车控制器发送控制指令；所述电机控制器还可以直接将或得到车辆行驶参数原始数据发送给整车控制器，由整车控制器进行数据处理和指令的下发。In actual work, the vehicle driving parameters can be obtained through the vehicle controller (ECU), and the calculated values of the vehicle driving parameters can be calculated according to the vehicle driving parameters, and then corresponding control instructions are issued to the motor controller. In some other embodiments The vehicle driving parameters can also be obtained through the motor controller, and the vehicle driving parameters can be calculated, and the corresponding calculated values of the vehicle driving parameters can be sent to the vehicle controller, and then the vehicle controller can send control instructions; The motor controller can also directly send or obtain the original data of the driving parameters of the vehicle to the vehicle controller, and the vehicle controller can process data and issue instructions.
在本说明书实施例中，所述行驶参数计算值为所述行驶参数信息经处理后可比较的值，可以为电机转速变化率、车轮转速变化率、电机转速与所述车速在轮端的相对转速差或车轮转速与所述车速在轮端的相对转速差。具体地，In the embodiment of this specification, the calculated value of the driving parameter is a value that can be compared after the processing of the driving parameter information, which may be the rate of change of the motor speed, the rate of change of the wheel speed, the relative speed of the motor speed and the vehicle speed at the wheel end The difference or the relative rotational speed difference between the wheel speed and said vehicle speed at the wheel end. specifically,
当所述行驶参数计算值为电机转速变化率时，所述行驶参数信息为电机转速，通过电机转速可以获得电机转速变化率，作为优选地，为了避免功能误触发，可以是电机在预设时间段内的平均变化率。在车轮腾空到触地之间，电机转速为迅速增加阶段，可以根据不同车速段标定不同的预设时间，所述预设时间低于车轮腾空到触地的时间。When the calculated value of the driving parameter is the motor speed change rate, the driving parameter information is the motor speed, and the motor speed change rate can be obtained from the motor speed. Average rate of change within a segment. From the time the wheel is vacated to the ground, the motor speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the vacant to the ground.
当所述行驶参数计算值为车轮转速变化率时，所述行驶参数信息为车轮转速，通过车轮转速可以获得电机转速变化率，作为优选地，为了避免功能误触发，可以是车轮在预设时间段内的平均变化率。在车轮腾空到触地之间，车轮转速为迅速增加阶段，可以根据不同车速段标定不同的预设时间，所述预设时间低于车轮腾空到触地的时间。When the calculated value of the driving parameter is the wheel speed change rate, the driving parameter information is the wheel speed, and the motor speed change rate can be obtained from the wheel speed. Average rate of change within a segment. During the time between the wheel flying and the ground contact, the wheel speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel flying to the ground.
当所述行驶参数计算值为电机转速与所述车速在轮端的相对转速差时，所述行驶参数信息为电机转速和车速，可以通过电机转速和车速计算获得，作为优选地，为了避免功能误触发，可以是电机转速与所述车速在预设时间段内的平均转速差。在车轮腾空到触地之间，电机转速为迅速增加阶段，可以根据不 同车速段标定不同的预设时间，所述预设时间低于车轮腾空到触地的时间。When the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end, the driving parameter information is the motor speed and the vehicle speed, which can be obtained by calculating the motor speed and the vehicle speed. Preferably, in order to avoid functional errors The trigger may be the average rotational speed difference between the motor speed and the vehicle speed within a preset time period. From the time the wheel is vacated to the ground, the motor speed is in the stage of rapid increase, and different preset time can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel vacated to the ground.
当所述行驶参数计算值为车轮转速与车速在轮端的相对转速差时，所述行驶参数信息为车轮转速和车速，可以通过车轮转速和车速计算获得，作为优选地，为了避免功能误触发，可以是车轮转速与所述车速在预设时间段内的平均转速差。在车轮腾空到触地之间，车轮转速为迅速增加阶段，可以根据不同车速段标定不同的预设时间，所述预设时间低于车轮腾空到触地的时间。When the calculated value of the driving parameter is the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end, the driving parameter information is the wheel rotational speed and the vehicle speed, which can be obtained by calculating the wheel rotational speed and the vehicle speed. Preferably, in order to avoid false triggering of the function, It may be the average rotational speed difference between the wheel rotational speed and the vehicle speed within a preset time period. During the time between the wheel flying and the ground contact, the wheel speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel flying to the ground.
需要说明的是，在实际工作中，可以任意选择上述至少两组行驶参数计算值作为实际工作的行驶参数计算值，这样能提高判断的精确度，降低了功能的误触发几率。It should be noted that, in actual work, the above at least two sets of calculation values of driving parameters can be arbitrarily selected as the calculation values of driving parameters in actual work, which can improve the accuracy of judgment and reduce the probability of false triggering of functions.
S105：基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态；S105: Based on the calculated value of the driving parameter, determine whether the vehicle is in a skidding state in the air;
可以理解为，根据不同的形式参数计算值，采取不同的判断标准，具体为：It can be understood that different judgment standards are adopted according to the calculated values of different formal parameters, specifically:
当所述行驶参数计算值为电机转速变化率时，判断所述电机转速变化率是否超过第一预设电机转速变化率，若是，则所述车辆处于腾空打滑状态；比如，所述第一预设电机转速变化率可以为10000rpm/s 2。 When the calculated value of the driving parameter is the motor speed change rate, it is determined whether the motor speed change rate exceeds the first preset motor speed change rate, and if so, the vehicle is in a skid state; It is assumed that the motor speed change rate can be 10000rpm/s 2 .
当所述行驶参数计算值为车轮转速变化率时，判断所述车轮转速变化率是否超过第一预设车轮转速变化率，若是，则所述车辆处于腾空打滑状态；比如所述第一预设车轮转速变化率可以为1000rpm/s 2。 When the calculated value of the driving parameter is the wheel speed change rate, it is determined whether the wheel speed change rate exceeds the first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; for example, the first preset The wheel speed change rate may be 1000 rpm/s 2 .
当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时，判断所述电机转速与所述车速在轮端的相对转速差是否超过第一预设相对转速差，若是，则所述车辆处于腾空打滑状态，比如所述第一预设相对转速差为75rpm/s；When the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the motor speed and the vehicle speed at the wheel end exceeds a first preset relative speed difference, and if so , the vehicle is in a skidding state, for example, the first preset relative speed difference is 75 rpm/s;
当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时，判断所述车轮转速与所述车速在轮端的相对转速差是否超过第二预设相对转速差，若是，则所述车辆处于腾空打滑状态，比如所述第二预设相对转速差为75rpm/s。When the calculated value of the driving parameter is the relative speed difference between the wheel speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the wheel speed and the vehicle speed at the wheel end exceeds a second preset relative speed difference, and if so , the vehicle is in a skidding state in the air, for example, the second preset relative speed difference is 75 rpm/s.
需要说明的是，上述行驶参数计算值只是通过单一参数判断车辆是否进入腾空打滑状态，为了提高判断的准确性和减少功能误触发，还可以通过多个参数进行判断，比如通过电机转速变化率和车轮转速变化率共同判断，这里就不一一赘述了。It should be noted that the above calculation values of driving parameters are only used to judge whether the vehicle enters the skidding state through a single parameter. The wheel speed change rate is jointly judged, so I won't go into details here.
S107：当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速。S107: When the vehicle is in a skid state in the air, control the motor to reduce the output torque, and/or control the motor to reduce the wheel speed.
当已经确定车辆处于腾空打滑状态，为了避免在车轮触地时驱动轴受到额外较大的摩擦扭矩，从而影响整车的安全，本说明书实施例是通过降低电机输出扭矩从而降低驱动轴的转动扭矩，进而减少驱动轴承受的扭矩，或者是通过降低车轮转速，减少车轮触地时受到的摩擦阻力，亦或是上述两种方法同时进行。When it is determined that the vehicle is in a state of skidding in the air, in order to prevent the drive shaft from receiving additional large friction torque when the wheel touches the ground, thereby affecting the safety of the whole vehicle, the embodiment of this specification reduces the output torque of the motor to reduce the rotational torque of the drive shaft. , thereby reducing the torque on the drive bearing, or by reducing the rotational speed of the wheel to reduce the frictional resistance when the wheel touches the ground, or the above two methods are performed simultaneously.
需要说明的是，车辆腾空打滑一般指车辆前轮或后轮腾空，在一些其他工况下，可以是整车全部腾空。It should be noted that a vehicle skidding in the air generally means that the front or rear wheels of the vehicle are in the air, and in some other working conditions, the entire vehicle may be aired out.
具体地，在需要通过降低扭矩输出来保护驱动轴时包括以下步骤：Specifically, when it is necessary to protect the drive shaft by reducing the torque output, the following steps are included:
S7011：当所述车辆处于腾空打滑状态，控制电机降低输出扭矩；S7011: when the vehicle is in a skidding state in the air, control the motor to reduce the output torque;
S7013：实时获取电机输出扭矩信息，判断所述电机输出扭矩是否小于第一预设扭矩；S7013: Acquire motor output torque information in real time, and determine whether the motor output torque is less than a first preset torque;
S7015：当所述电机输出扭矩小于所述第一预设扭矩，控制所述电机以所述第一预设扭矩输出。S7015: When the output torque of the motor is less than the first preset torque, control the motor to output at the first preset torque.
可以理解为，当已经确定车辆处于腾空打滑状态，这样可以通过降低电机输出扭矩的方式调整整车状态，这样电机输出轴传递到驱动轴上的扭矩也降低，进而能降低在车轮触地后车轮受到的摩擦扭矩，从而保护驱动轴。It can be understood that when it has been determined that the vehicle is in the state of skidding in the air, the state of the whole vehicle can be adjusted by reducing the output torque of the motor, so that the torque transmitted by the output shaft of the motor to the drive shaft is also reduced, which can reduce the wheel after the wheel touches the ground. friction torque, thus protecting the drive shaft.
如图8所示，为本说明书实施例中通过控制电机降低输出扭矩来保护驱动轴的一种流程图，所述电机输出扭矩的降低可以通过预设规则降低，比如按照线性降低，为了避免电机扭矩过低影响车辆的正常输出，可以设置第一预设扭矩，也即最小扭矩，这样当电机扭矩降低到最小扭矩，就可以保持最小扭矩进行输出。这样能保证车辆扭矩正常输出的同时，保护了驱动轴，提高车辆的安全性能。As shown in FIG. 8, it is a flow chart of protecting the drive shaft by controlling the motor to reduce the output torque in the embodiment of the present specification. The reduction of the motor output torque can be reduced by a preset rule, such as linear reduction, in order to avoid the motor Too low torque affects the normal output of the vehicle, and the first preset torque, that is, the minimum torque, can be set, so that when the motor torque is reduced to the minimum torque, the minimum torque can be maintained for output. In this way, while ensuring the normal output of the vehicle torque, the drive shaft is protected and the safety performance of the vehicle is improved.
在上述通过降低电机输出扭矩基础上，本说明书实施例还可以通过降低腾空车轮转速来降低车轮触地后车轮的摩擦阻力，具体包括以下步骤：On the basis of reducing the output torque of the motor as described above, the embodiments of this specification can also reduce the frictional resistance of the wheel after the wheel touches the ground by reducing the speed of the wheel in the air, which specifically includes the following steps:
S703：当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，以降低车 轮转速。S703: When the vehicle is in a skid state in the air, control the motor to reduce the output torque to reduce the wheel speed.
当车辆车轮腾空时，由于车轮受到地面摩擦力骤减，通过电机扭矩驱动，驱动轴会带动车轮转速快速增大，这样在触地时，车轮转速必然达到很高水平，由于地面的摩擦固定，车轮会出现滑动摩擦，从而影响驾驶员的操作，严重时会影响车辆的安全，因此通过降低车轮转速有效避免在车轮触地时发生滑动摩擦，保证车轮能正常行驶。When the wheels of the vehicle are in the air, due to the sudden reduction of the ground friction force, the drive shaft will drive the wheel speed to increase rapidly through the motor torque drive, so that the wheel speed must reach a very high level when it touches the ground. Due to the fixed friction on the ground, There will be sliding friction on the wheels, which will affect the driver's operation and, in severe cases, the safety of the vehicle. Therefore, reducing the speed of the wheels can effectively avoid sliding friction when the wheels touch the ground, and ensure that the wheels can run normally.
在实际工作中，如图9所示，为本说明书实施例中，通过降低电机输出扭矩，以降低车轮转速的工作流程图。为了避免耗能过渡以及车轮车速太低影响车轮触地时的正常工作，可以根据实际车速按照一定比例调整车轮车速，比如达到车轮车速的100％-200％，这样在车轮触地时能带动车辆快速通过高坎工况，作为可选地的，可以为100％-150％，其中优选值为120％和150％。In actual work, as shown in FIG. 9 , in this embodiment of the present specification, a working flow chart of reducing the wheel speed by reducing the output torque of the motor. In order to avoid energy consumption transition and the wheel speed is too low to affect the normal operation of the wheel when it touches the ground, the wheel speed can be adjusted in a certain proportion according to the actual vehicle speed, such as reaching 100%-200% of the wheel speed, so that the vehicle can be driven when the wheel touches the ground. The fast passing through high sill conditions can optionally be 100%-150%, wherein the preferred values are 120% and 150%.
在上述S703的基础上，为了进一步精准控制车轮触地时的转速，本说明书实施例还包括：On the basis of the above S703, in order to further precisely control the rotational speed of the wheel when it touches the ground, the embodiments of this specification further include:
S705：当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，以使车轮转速与车速一致。S705: When the vehicle is in a skidding state in the air, control the motor to reduce the output torque so that the wheel speed is consistent with the vehicle speed.
当腾空车轮转速和车速保持一致时，在车轮触地后，车轮转动切向线速度就能和车速一致，从而避免驾驶员感受到顿挫感，提高了驾驶体验。When the speed of the vacated wheel is consistent with the speed of the vehicle, after the wheel touches the ground, the tangential linear speed of the wheel rotation can be consistent with the speed of the vehicle, thereby avoiding the driver's feeling of frustration and improving the driving experience.
在实际工作中，如图可以通过闭环控制车轮转速和车速保持一致，作为可选地，可以通过扭矩PI控制器调节。In actual work, as shown in the figure, the wheel speed and vehicle speed can be kept consistent through closed-loop control. Alternatively, the torque PI controller can be used to adjust.
由于车辆通过高坎等工况时前后车轮会通过，因此在一些其他实施例中，步骤S705包括：Since the front and rear wheels will pass when the vehicle passes through high sills and other working conditions, in some other embodiments, step S705 includes:
S7051：当所述车辆的前轮处于腾空打滑状态，获取车辆前轮轮速和车辆后轮轮速；S7051: When the front wheel of the vehicle is in a skidding state in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;
S7053：基于所述后轮轮速和所述前轮轮速，控制所述电机驱动前轮轮速与所述后轮轮速一致；S7053: Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, control the wheel speed of the front wheel driven by the motor to be consistent with the wheel speed of the rear wheel;
S7055：当所述车辆的后轮处于腾空打滑状态，获取车辆前轮轮速和车辆后轮轮速；S7055: When the rear wheel of the vehicle is in a state of skidding in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;
S7057：基于所述后轮轮速和所述前轮轮速，控制所述电机驱动后轮轮速与所述前轮轮速一致。S7057: Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, control the wheel speed of the rear wheel driven by the motor to be consistent with the wheel speed of the front wheel.
可以理解为，根据不同位置车轮的腾空，控制车辆前后车轮转速一致，避免触地时前后车轮出现转速差，降低了驾驶体验感，避免出现驾驶风险，提高了安全性。It can be understood that according to the flying of the wheels at different positions, the front and rear wheels of the vehicle are controlled to have the same rotation speed to avoid the difference in rotation speed between the front and rear wheels when they touch the ground, which reduces the driving experience, avoids driving risks, and improves safety.
在实际工作中，可以通过闭环控制所述电机驱动前轮轮速与所述后轮轮速一致；和/或通过闭环控制所述电机驱动后轮轮速与所述前轮轮速一致。通过在车轮腾空打滑过程中对车轮转速的及时调整，能够降低车轮触地后与地面的摩擦力，从而减少驱动轴的作用扭矩。In actual work, the motor can drive the front wheel speed to be consistent with the rear wheel speed through closed-loop control; and/or drive the motor to drive the rear wheel speed to be consistent with the front wheel speed through closed-loop control. By timely adjusting the rotational speed of the wheel during the skidding process of the wheel, the friction between the wheel and the ground after the wheel touches the ground can be reduced, thereby reducing the acting torque of the drive shaft.
需要说明的是，还可以通过控制电机转速与车轮转速同步，具体为，前车轮腾空打滑后，速度闭环控制前驱动桥电机转速与后轮速同步，后车轮腾空打滑后，速度闭环控制后驱动桥电机转速与前轮速同步。It should be noted that the motor speed can also be controlled to synchronize with the wheel speed. Specifically, after the front wheel slips in the air, the closed-loop speed controls the speed of the front drive axle motor to synchronize with the speed of the rear wheel. After the rear wheel slips in the air, the closed-loop speed controls the rear drive. The axle motor speed is synchronized with the front wheel speed.
在上述提供的车辆行驶控制方法基础上，如图6所示，一些其他实施例中还可以包括如下步骤：On the basis of the vehicle driving control method provided above, as shown in FIG. 6 , some other embodiments may further include the following steps:
S109：基于所述车辆行驶参数计算值，判断车辆是否结束打滑；S109: Based on the calculated value of the vehicle driving parameter, determine whether the vehicle ends skidding;
其中判断车辆是否结束打滑和前述步骤S105类似，具体为，Wherein, judging whether the vehicle has ended skidding is similar to the aforementioned step S105, specifically:
当所述行驶参数计算值为电机转速变化率时，判断所述电机转速变化率是否低于第二预设电机转速变化率，若是，则所述车辆结束打滑，比如所述第二预设电机转速变化率为3000rpm/s 2。 When the calculated value of the driving parameter is the motor speed change rate, it is judged whether the motor speed change rate is lower than the second preset motor speed change rate, and if so, the vehicle ends slipping, for example, the second preset motor The rotational speed change rate was 3000 rpm/s 2 .
当所述行驶参数计算值为车轮转速变化率时，判断所述车轮转速变化率是否低于第二预设车轮转速变化率，若是，则所述车辆结束打滑，比如所述第二预设车轮转速变化率为300rpm/s 2。 When the calculated value of the driving parameter is the wheel speed change rate, it is determined whether the wheel speed change rate is lower than the second preset wheel speed change rate, and if so, the vehicle ends slipping, such as the second preset wheel speed change rate The rotational speed change rate was 300 rpm/s 2 .
当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时，判断所述电机转速与所述车速在轮端的相对转速差是否低于第三预设相对转速差，若是，则所述车辆结束打滑，比如所述第三预设相对转速差为25rpm/s。When the calculated value of the driving parameter is the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end is lower than a third preset relative rotational speed difference, If so, the vehicle ends slipping, for example, the third preset relative speed difference is 25 rpm/s.
当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时，判断所述车轮转速与所述车速在轮端的相对转速差是否低于第四预设相对转速差，若是，则所述车辆结束打滑，比如第四预设相对转速差为25rpm/s。When the calculated value of the driving parameter is the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is lower than a fourth preset relative rotational speed difference, If so, the vehicle ends slipping, for example, the fourth preset relative rotational speed difference is 25 rpm/s.
S111：当所述车辆结束打滑，响应驾驶员扭矩请求，控制电机输出扭矩。S111: When the vehicle ends slipping, control the motor output torque in response to the driver's torque request.
当所述车辆结束打滑，表示车辆完全触地并能进行正常的控制行驶，因此现在接触上述的扭矩控制，开始响应驾驶员的扭矩请求，控制车辆行驶。When the vehicle ends slipping, it means that the vehicle has completely touched the ground and can carry out normal controlled driving, so the above torque control is now engaged, and the vehicle starts to control the driving in response to the driver's torque request.
通过上述对车辆触地后的打滑判断和控制，比较能准确掌握车辆能正常控制的时机，提高车辆控制的顺畅和驾驶体验感，同时提高了对车辆的控制效率，节约能耗。By judging and controlling the slippage after the vehicle touches the ground, the timing when the vehicle can be normally controlled can be accurately grasped, the smoothness of vehicle control and the sense of driving experience are improved, the control efficiency of the vehicle is improved, and energy consumption is saved.
上述提供的是车辆在出现腾空打滑状态时的调整，在一些其他实施例中，还可以出现没有腾空打滑的情况，如图7所示，步骤S105之后还可以包括：What is provided above is the adjustment when the vehicle slips in the air. In some other embodiments, there may be no slip in the air. As shown in FIG. 7 , after step S105, the following steps may be included:
S106：当所述车辆没有处于腾空打滑状态，响应驾驶员扭矩请求，控制电机输出扭矩；S106: When the vehicle is not in a skid state, control the motor output torque in response to the driver's torque request;
当车辆没有处于腾空打滑状态，也就是说，当所述行驶参数计算值为电机转速变化率时，所述电机转速变化率没有超过第一预设电机转速变化率；当所述行驶参数计算值为车轮转速变化率时，所述车轮转速变化率没有超过第一预设车轮转速变化率；当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时，所述电机转速与所述车速在轮端的相对转速差没有超过第一预设相对转速差；当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时，所述车轮转速与所述车速在轮端的相对转速差没有超过第二预设相对转速差。When the vehicle is not in the air skid state, that is, when the calculated value of the driving parameter is the motor speed change rate, the motor speed change rate does not exceed the first preset motor speed change rate; when the calculated value of the driving parameter is the motor speed change rate When is the wheel speed change rate, the wheel speed change rate does not exceed the first preset wheel speed change rate; when the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end, the The relative speed difference between the motor speed and the vehicle speed at the wheel end does not exceed a first preset relative speed difference; when the calculated value of the driving parameter is the relative speed difference between the wheel speed and the vehicle speed at the wheel end, the wheel speed The relative rotational speed difference at the wheel end with the vehicle speed does not exceed a second preset relative rotational speed difference.
车辆处于正常行驶状态，整车控制器通过接收驾驶员的驾驶需求，将控制指令发送到电机控制器，电机控制器进行扭矩矢量控制，具体可以通过IGBT进行PWM(脉冲宽度调制)信号传输控制。When the vehicle is in a normal driving state, the vehicle controller sends control commands to the motor controller by receiving the driving demand of the driver, and the motor controller performs torque vector control. Specifically, PWM (pulse width modulation) signal transmission control can be performed through IGBT.
S108：实时获取输出扭矩信息，判断所述输出扭矩是否超过第二预设扭矩；S108: Obtain output torque information in real time, and determine whether the output torque exceeds a second preset torque;
为了保证整体车况的稳定性，避免车辆超速或车速过大影响车辆行驶稳定性，需要控制车速，具体可以通过控制电机输出扭矩控制，其中所述第二预设扭矩为车辆行驶最大扭矩，作为可选地，可以在不同的工况环境下设置不同的第二预设扭矩，保证车辆正常行驶。In order to ensure the stability of the overall vehicle condition and avoid vehicle speeding or excessive vehicle speed affecting the driving stability of the vehicle, it is necessary to control the vehicle speed. Specifically, it can be controlled by controlling the output torque of the motor, wherein the second preset torque is the maximum torque of the vehicle, which can be Optionally, different second preset torques may be set under different working conditions to ensure normal running of the vehicle.
S110：当所述输出扭矩超过所述第二预设扭矩，控制所述电机以所述第二预设扭矩输出。S110: When the output torque exceeds the second preset torque, control the motor to output at the second preset torque.
因此当电机输出扭矩已经超过最大扭矩，可以控制电机按照最大扭矩进行输出，保证驾驶安全。Therefore, when the output torque of the motor has exceeded the maximum torque, the motor can be controlled to output according to the maximum torque to ensure driving safety.
在上述提供的车辆行驶控制方法的基础上，本说明书实施例还提供一种车 辆行驶控制装置，如图11所示，所述装置包括：On the basis of the vehicle driving control method provided above, the embodiments of this specification also provide a vehicle driving control device, as shown in Figure 11, the device includes:
行驶参数信息获取模块10，用于实时获取车辆行驶参数信息，所述行驶参数信息包括电机转速、车轮转速和车速；The driving parameter information acquisition module 10 is used to acquire the driving parameter information of the vehicle in real time, and the driving parameter information includes the motor speed, the wheel speed and the vehicle speed;
行驶参数计算值获取模块20，用于基于所述行驶参数信息，获取车辆行驶参数计算值；a driving parameter calculation value obtaining module 20, configured to obtain a vehicle driving parameter calculation value based on the driving parameter information;
腾空打滑判断模块30，用于基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态；A skid in the air judging module 30 is used to determine whether the vehicle is in a skid in the air based on the calculated value of the driving parameter;
控制模块40，用于当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速。The control module 40 is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
在上述提供的装置的基础上，本说明书实施例还提供一种车辆，所述车辆为纯电动车辆或混合电动车辆，所述车辆包括电机控制器，所述电机控制器包括上述所述一种车辆行驶控制装置。On the basis of the above-mentioned device, an embodiment of the present specification further provides a vehicle, the vehicle is a pure electric vehicle or a hybrid electric vehicle, the vehicle includes a motor controller, and the motor controller includes the above-mentioned one Vehicle travel control device.
通过上述提供的一种车辆行驶控制方法、装置及车辆可以取得如下有益效果：The following beneficial effects can be achieved through the vehicle driving control method, device and vehicle provided above:
1)本申请所述的一种车辆行驶控制方法、装置及车辆，车辆在过坎工况时，通过减小驱动轴上的输出扭矩，可以降低对驱动轴的落地受力，提高了整车机构的稳定性。1) In the vehicle driving control method, device and vehicle described in this application, when the vehicle is in the over-sill condition, by reducing the output torque on the drive shaft, the landing force on the drive shaft can be reduced, and the whole vehicle can be improved. Institutional stability.
2)本申请所述的一种车辆行驶控制方法、装置及车辆，通过软件的改进提高了车辆在过坎时的安全性，避免了直接加强驱动轴的强度，降低了车重和成本。2) The vehicle driving control method, device and vehicle described in the present application improve the safety of the vehicle when crossing the threshold through software improvement, avoid directly strengthening the strength of the drive shaft, and reduce vehicle weight and cost.
3)本申请所述的一种车辆行驶控制方法、装置及车辆，通过在车辆不同工况状态对车辆扭矩输出的控制，提高了车辆行驶控制能力，保证了行驶的安全性。3) The vehicle driving control method, device and vehicle described in this application improve the driving control capability of the vehicle and ensure driving safety by controlling the torque output of the vehicle in different working conditions of the vehicle.
4)本申请所述的一种车辆行驶控制方法、装置及车辆，通过降低车辆腾空后的轮速，减少了车辆落地时的摩擦力，避免出现滑移等危险工况，提高车辆驾驶体验感。4) A vehicle driving control method, device and vehicle described in this application, by reducing the wheel speed after the vehicle is vacated, the frictional force when the vehicle is landed is reduced, the occurrence of dangerous conditions such as slippage is avoided, and the driving experience of the vehicle is improved. .
以上所述仅为本申请的较佳实施例，并不用以限制本申请，对于本领域技术人员而言，显然本申请不限于上述示范性实施例的细节，而且在不背离本申 请的精神或基本特征的情况下，能够以其他的具体形式实现本申请。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本申请的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本申请内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, it is obvious that the present application is not limited to the details of the above-mentioned exemplary embodiments, and does not deviate from the spirit of the present application or In the case of the basic features, the present application can be implemented in other specific forms. Accordingly, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the application is to be defined by the appended claims rather than the foregoing description, which is therefore intended to fall within the scope of the claims. All changes that come within the meaning and scope of equivalents to are included in this application. Any reference signs in the claims shall not be construed as limiting the involved claim.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (13)

  1. 一种车辆行驶控制方法，其特征在于，包括以下步骤：A vehicle driving control method, comprising the following steps:
    实时获取车辆行驶参数信息，所述行驶参数信息包括电机转速、车轮转速和车速；Obtaining vehicle driving parameter information in real time, the driving parameter information includes motor speed, wheel speed and vehicle speed;
    基于所述行驶参数信息，获取车辆行驶参数计算值；Based on the driving parameter information, obtain a calculated value of the driving parameter of the vehicle;
    基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态；Based on the calculated value of the driving parameter, determine whether the vehicle is in a skidding state in the air;
    当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速。When the vehicle is in a skid state in the air, the motor is controlled to reduce the output torque, and/or the motor is controlled to reduce the wheel speed.
  2. 根据权利要求1所述的车辆行驶控制方法，其特征在于，所述基于所述行驶参数信息，获取车辆行驶参数计算值包括：The vehicle driving control method according to claim 1, wherein the obtaining the calculated value of the driving parameter of the vehicle based on the driving parameter information comprises:
    根据所述电机转速，获得电机转速变化率；或According to the motor speed, obtain the motor speed change rate; or
    根据所述车轮转速，获得车轮转速变化率；或obtaining a wheel speed change rate based on the wheel speed; or
    根据所述电机转速和所述车速，获得所述电机转速与所述车速在轮端的相对转速差；或According to the rotational speed of the motor and the speed of the vehicle, obtain the relative rotational speed difference between the rotational speed of the motor and the speed of the vehicle at the wheel end; or
    根据所述车轮转速和所述车速，获得所述车轮转速与所述车速在轮端的相对转速差。According to the wheel rotational speed and the vehicle speed, the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is obtained.
  3. 根据权利要求2所述的车辆行驶控制方法，其特征在于，所述基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态包括：The vehicle driving control method according to claim 2, wherein the determining whether the vehicle is in a skidding state based on the calculated value of the driving parameter comprises:
    当所述行驶参数计算值为电机转速变化率时，判断所述电机转速变化率是否超过第一预设电机转速变化率，若是，则所述车辆处于腾空打滑状态；或When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate exceeds a first preset motor speed change rate, and if so, the vehicle is in a skid state; or
    当所述行驶参数计算值为车轮转速变化率时，判断所述车轮转速变化率是否超过第一预设车轮转速变化率，若是，则所述车辆处于腾空打滑状态；或When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate exceeds a first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; or
    当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时，判断所述电机转速与所述车速在轮端的相对转速差是否超过第一预设相对转速差，若是，则所述车辆处于腾空打滑状态；或When the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the motor speed and the vehicle speed at the wheel end exceeds a first preset relative speed difference, and if so , the vehicle is skidding in the air; or
    当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时，判断所述车轮转速与所述车速在轮端的相对转速差是否超过第二预设相对转速差，若是，则所述车辆处于腾空打滑状态。When the calculated value of the driving parameter is the relative speed difference between the wheel speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the wheel speed and the vehicle speed at the wheel end exceeds a second preset relative speed difference, and if so , the vehicle is in a skidding state in the air.
  4. 根据权利要求1所述的车辆行驶控制方法，其特征在于，所述当所述车辆处于腾空打滑状态，控制电机降低扭矩输出包括：The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the torque output comprises:
    当所述车辆处于腾空打滑状态，控制电机降低输出扭矩；When the vehicle is in a skid state in the air, controlling the motor to reduce the output torque;
    实时获取电机输出扭矩信息，判断所述电机输出扭矩是否小于第一预设扭矩；Acquiring motor output torque information in real time, and judging whether the motor output torque is less than a first preset torque;
    当所述电机输出扭矩小于所述第一预设扭矩，控制所述电机以所述第一预设扭矩输出。When the output torque of the motor is less than the first preset torque, the motor is controlled to output at the first preset torque.
  5. 根据权利要求1所述的车辆行驶控制方法，其特征在于，所述当所述车辆处于腾空打滑状态，控制电机降低车轮转速包括：The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the wheel speed comprises:
    当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，以降低车轮转速。When the vehicle is in a skid state in the air, the motor is controlled to reduce the output torque to reduce the wheel speed.
  6. 根据权利要求1所述的车辆行驶控制方法，其特征在于，所述当所述车辆处于腾空打滑状态，控制电机降低车轮转速还包括：The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the wheel speed further comprises:
    当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，以使车轮转速与车速一致。When the vehicle is in a skid state in the air, the motor is controlled to reduce the output torque so that the wheel speed is consistent with the vehicle speed.
  7. 根据权利要求6所述的车辆行驶控制方法，其特征在于，所述当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，以使车轮转速与车速一致包括：The vehicle driving control method according to claim 6, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the output torque so that the wheel speed is consistent with the vehicle speed comprises:
    当所述车辆的前轮处于腾空打滑状态，获取车辆前轮轮速和车辆后轮轮速；When the front wheel of the vehicle is in a skidding state in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;
    基于所述后轮轮速和所述前轮轮速，控制所述电机驱动前轮轮速与所述后轮轮速一致；Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, controlling the motor to drive the wheel speed of the front wheel to be consistent with the wheel speed of the rear wheel;
    当所述车辆的后轮处于腾空打滑状态，获取车辆前轮轮速和车辆后轮轮速；When the rear wheel of the vehicle is in a skidding state in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;
    基于所述后轮轮速和所述前轮轮速，控制所述电机驱动后轮轮速与所述前轮轮速一致。Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, the motor is controlled to drive the wheel speed of the rear wheel to be consistent with the wheel speed of the front wheel.
  8. 根据权利要求7所述的车辆行驶控制方法，其特征在于，The vehicle driving control method according to claim 7, wherein:
    通过闭环控制所述电机驱动前轮轮速与所述后轮轮速一致；和The speed of the front wheel is driven by the closed-loop control to be consistent with the wheel speed of the rear wheel; and
    通过闭环控制所述电机驱动后轮轮速与所述前轮轮速一致。The wheel speed of the rear wheel is driven by the closed-loop control to be consistent with the wheel speed of the front wheel.
  9. 根据权利要求1所述的车辆行驶控制方法，其特征在于，所述当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速之后包括：The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, after controlling the motor to reduce the output torque, and/or controlling the motor to reduce the wheel speed, the method comprises:
    基于所述车辆行驶参数计算值，判断车辆是否结束打滑；judging whether the vehicle ends skidding based on the calculated value of the vehicle driving parameter;
    当所述车辆结束打滑，响应驾驶员扭矩请求，控制电机输出扭矩。When the vehicle ends slipping, the motor output torque is controlled in response to the driver torque request.
  10. 根据权利要求9所述的车辆行驶控制方法，其特征在于，所述基于所述车辆行驶参数计算值，判断车辆是否结束打滑包括：The vehicle driving control method according to claim 9, wherein the determining whether the vehicle ends skidding based on the calculated value of the vehicle driving parameter comprises:
    当所述行驶参数计算值为电机转速变化率时，判断所述电机转速变化率是否低于第二预设电机转速变化率，若是，则所述车辆结束打滑；或When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate is lower than the second preset motor speed change rate, and if so, the vehicle ends slipping; or
    当所述行驶参数计算值为车轮转速变化率时，判断所述车轮转速变化率是否低于第二预设车轮转速变化率，若是，则所述车辆结束打滑；或When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate is lower than a second preset wheel speed change rate, and if so, the vehicle ends slipping; or
    当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时，判断所述电机转速与所述车速在轮端的相对转速差是否低于第三预设相对转速差，若是，则所述车辆结束打滑；或When the calculated value of the driving parameter is the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end is lower than a third preset relative rotational speed difference, If so, the vehicle ends skidding; or
    当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时，判断所述车轮转速与所述车速在轮端的相对转速差是否低于第四预设相对转速差，若是，则所述车辆结束打滑。When the calculated value of the driving parameter is the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is lower than a fourth preset relative rotational speed difference, If so, the vehicle ends skidding.
  11. 根据权利要求1所述的车辆行驶控制方法，其特征在于，基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态之后还包括：The vehicle driving control method according to claim 1, wherein after judging whether the vehicle is in a skidding state based on the calculated value of the driving parameter, the method further comprises:
    当所述车辆没有处于腾空打滑状态，响应驾驶员扭矩请求，控制电机输出扭矩；When the vehicle is not in a skid state, controlling the motor output torque in response to the driver's torque request;
    实时获取输出扭矩信息，判断所述输出扭矩是否超过第二预设扭矩；Obtaining output torque information in real time, and judging whether the output torque exceeds a second preset torque;
    当所述输出扭矩超过所述第二预设扭矩，控制所述电机以所述第二预设扭矩输出。When the output torque exceeds the second preset torque, the motor is controlled to output at the second preset torque.
  12. 一种车辆行驶控制装置，其特征在于，所述装置包括：A vehicle driving control device, characterized in that the device comprises:
    行驶参数信息获取模块，用于实时获取车辆行驶参数信息，所述行驶参数信息包括电机转速、车轮转速和车速；a driving parameter information acquisition module, configured to acquire vehicle driving parameter information in real time, the driving parameter information including motor speed, wheel speed and vehicle speed;
    行驶参数计算值获取模块，用于基于所述行驶参数信息，获取车辆行驶参数计算值；a driving parameter calculation value obtaining module, configured to obtain the vehicle driving parameter calculation value based on the driving parameter information;
    腾空打滑判断模块，用于基于所述行驶参数计算值，判断车辆是否处于腾空打滑状态；A skid in the air judging module is used to determine whether the vehicle is in a state of skidding in the air based on the calculated value of the driving parameter;
    控制模块，用于当所述车辆处于腾空打滑状态，控制电机降低输出扭矩，和/或控制电机降低车轮转速。The control module is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
  13. 一种车辆，所述车辆为纯电动车辆或混合电动车辆，其特征在于，所述车辆包括电机控制器，所述电机控制器包括权利要求12所述的一种车辆行驶控制装置。A vehicle, wherein the vehicle is a pure electric vehicle or a hybrid electric vehicle, characterized in that the vehicle includes a motor controller, and the motor controller includes the vehicle driving control device according to claim 12 .
PCT/CN2020/125844 2020-11-02 2020-11-02 Vehicle drive control method and apparatus, and vehicle WO2022088175A1 (en)

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