Vehicle control method and device, vehicle and equipment

文档序号：147726 发布日期：2021-10-26 浏览：22次中文

阅读说明：本技术 一种车辆控制方法、装置、车辆及设备 (Vehicle control method and device, vehicle and equipment ) 是由梁超代康伟梁海强储琦于 2020-04-24 设计创作，主要内容包括：本发明提供了一种车辆控制方法、装置、车辆及设备,其中,所述方法包括：在车辆处于驱动挡时,获取加速踏板开度；根据所述加速踏板开度,确定当前周期的加速踏板开度变化率；在所述加速踏板变化率大于所述第一预设变化率时驱动电机输出所述第一扭矩,在所述加速踏板变化率小于或等于所述第一预设变化率时驱动电机输出所述第二扭矩,也就是在所述车辆急加速时相对于正常加速时所述驱动电机输出扭矩较大；通过这种方式,可以提高所述驱动电机的输出扭矩,进而提高所述车辆的输出动力,避免了在单踏板出负扭矩减速过程中,驾驶员有输出动力需求时,所述驱动电机输出的扭矩无法达到驾驶员预期动力响应,提高了驾驶员的驾乘体验。(The invention provides a vehicle control method, a vehicle control device, a vehicle and equipment, wherein the method comprises the following steps: when the vehicle is in a driving gear, acquiring the opening degree of an accelerator pedal; determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening; the driving motor outputs the first torque when the accelerator pedal change rate is greater than the first preset change rate, and outputs the second torque when the accelerator pedal change rate is less than or equal to the first preset change rate, namely the driving motor outputs a larger torque when the vehicle is accelerated suddenly than when the vehicle is accelerated normally; through the mode, the output torque of the driving motor can be improved, the output power of the vehicle is further improved, the situation that the torque output by the driving motor cannot reach the expected power response of a driver when the driver has the output power demand in the single-pedal negative torque deceleration process is avoided, and the driving experience of the driver is improved.)

1. A vehicle control method characterized by comprising:

when the vehicle is in a driving gear, acquiring the opening degree of an accelerator pedal;

determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening;

if the accelerator pedal opening degree change rate is larger than a first preset change rate, controlling a driving motor to output a first torque according to the accelerator pedal opening degree;

if the accelerator pedal opening degree change rate is smaller than or equal to the first preset change rate, controlling a driving motor to output a second torque according to the accelerator pedal opening degree; the second torque is less than the first torque.

2. The vehicle control method according to claim 1, characterized in that determining an accelerator pedal opening change rate of a current cycle based on the accelerator pedal opening includes:

acquiring a first opening degree of a current period and a second opening degree of a previous period;

and determining the accelerator pedal opening change rate of the current period according to the difference value of the first opening and the second opening.

3. The vehicle control method according to claim 1, characterized by further comprising:

when the accelerator pedal opening change rate is larger than a first preset change rate, acquiring current rotating speed information of the driving motor and a first corresponding relation table stored in advance; the first corresponding relation table is used for recording torque values corresponding to different accelerator pedal opening degrees and different rotating speed information of the driving motor;

and determining a torque value corresponding to the current rotating speed information and the current opening degree of the accelerator pedal as the first torque according to the first corresponding relation table.

4. The vehicle control method according to claim 1, characterized by further comprising:

when the accelerator pedal opening change rate is smaller than or equal to a first preset change rate, acquiring current rotating speed information of a driving motor and a second corresponding relation table stored in advance; the second corresponding relation table is used for recording torque values corresponding to different accelerator pedal opening degrees and different rotating speed information of the driving motor;

and determining a torque value corresponding to the current rotating speed information and the current opening degree of the accelerator pedal as the second torque according to the second corresponding relation table.

5. A vehicle control apparatus characterized by comprising:

the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the opening degree of an accelerator pedal when a vehicle is in a driving gear;

the determining module is used for determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening;

the control module is used for controlling the driving motor to output a first torque according to the opening degree of the accelerator pedal if the opening degree change rate of the accelerator pedal is greater than a first preset change rate and controlling the driving motor to output a second torque according to the opening degree of the accelerator pedal if the opening degree change rate of the accelerator pedal is less than or equal to the first preset change rate; the second torque is less than the first torque.

6. The vehicle control apparatus according to claim 5, wherein the determination module, when determining the rate of change of the accelerator pedal opening degree for the current cycle based on the accelerator pedal opening degree, is specifically configured to:

acquiring a first opening degree of a current period and a second opening degree of a previous period;

and determining the accelerator pedal opening change rate of the current period according to the difference value of the first opening and the second opening.

7. The vehicle control apparatus of claim 5, wherein the determination module is further configured to:

8. The vehicle control apparatus of claim 5, wherein the determination module is further configured to:

9. A vehicle characterized by comprising the vehicle control apparatus according to any one of claims 5 to 8.

10. A vehicle control apparatus characterized by comprising: memory, a processor and a program stored on the memory and executable on the processor, the program, when executed by the processor, implementing a vehicle control method as claimed in any one of claims 1 to 4.

Technical Field

The invention relates to the field of new energy automobiles, in particular to a vehicle control method, a vehicle control device, a vehicle and equipment.

Background

Under the background of the vigorous popularization of new energy electric vehicles in China, the new energy electric vehicles gradually enter common families. With the technical innovation of new energy automobiles, a strategy of controlling the power output of the automobile by the change of the opening degree of a single pedal is adopted at present. In the process of decelerating the single-pedal negative torque, when a driver has an output power demand, particularly at a medium-high speed, the driver needs to deeply step on the single pedal, but the output power of the vehicle is just balanced with the braking force in the deceleration process, the vehicle has no acceleration feeling, and the expected power response of the driver cannot be achieved.

Disclosure of Invention

The invention aims to provide a vehicle control method, a vehicle control device, a vehicle and equipment, which solve the problem that in the prior art, when a driver has an output power demand in the single-pedal output negative torque deceleration process, the expected power response of the driver cannot be achieved.

In order to achieve the above object, the present invention provides a vehicle control method including:

when the vehicle is in a driving gear, acquiring the opening degree of an accelerator pedal;

determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening;

if the accelerator pedal opening degree change rate is larger than a first preset change rate, controlling a driving motor to output a first torque according to the accelerator pedal opening degree;

Optionally, determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening includes:

acquiring a first opening degree of a current period and a second opening degree of a previous period;

and determining the accelerator pedal opening change rate of the current period according to the difference value of the first opening and the second opening.

Optionally, the method further comprises:

Another preferred embodiment of the present invention provides a vehicle control apparatus including:

the determining module is used for determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening;

Optionally, when determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening, the determining module is specifically configured to:

acquiring a first opening degree of a current period and a second opening degree of a previous period;

and determining the accelerator pedal opening change rate according to the difference value of the first opening and the second opening.

Optionally, the determining module is further configured to:

Still another preferred embodiment of the present invention provides a vehicle including the vehicle control apparatus as described above.

Still another preferred embodiment of the present invention provides a vehicle control apparatus including: a memory, a processor and a program stored on the memory and executable on the processor, the program, when executed by the processor, implementing a vehicle control method as described above.

The technical method of the invention has the following beneficial effects:

in the vehicle control method according to the embodiment of the invention, when the vehicle is in a driving range, the drive motor outputs the first torque when the accelerator pedal change rate is greater than the first preset change rate, and outputs the second torque when the accelerator pedal change rate is less than or equal to the first preset change rate, that is, the drive motor outputs a larger torque when the vehicle is rapidly accelerated than when the vehicle is normally accelerated. Through the mode, the output torque of the driving motor can be improved, the output power of the vehicle is further improved, the situation that the torque output by the driving motor cannot reach the expected power response of a driver when the driver has the output power demand in the single-pedal negative torque deceleration process is avoided, and the driving experience of the driver is improved.

Drawings

FIG. 1 is a schematic flow chart of a vehicle control method provided by the present invention;

FIG. 2 is a schematic view of the communication connection between the driving motor controller and the vehicle control unit;

FIG. 3 is a process diagram of a vehicle control method provided by the present invention;

fig. 4 is a block diagram of a vehicle control device according to the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

Example 1:

referring to fig. 1, a preferred embodiment of the present invention provides a vehicle control method including:

s101: when the vehicle is in a drive gear, the accelerator pedal opening degree is acquired.

The vehicle control method of the invention can be applied to a controller. The controller may be a Vehicle Control Unit (VCU), a drive Motor Controller (MCU), or another controller different from the VCU and the MCU.

Generally, when the vehicle is in the drive gear, the vehicle is in a driving state. The accelerator opening degree may be understood as an angle or depth at which the accelerator is depressed, not an angle or depth at which the accelerator is released.

Optionally, as shown in fig. 2, the controller is taken as the MCU for explanation. The MCU communicates with the VCU through a Controller Area Network (CAN), the MCU CAN receive an accelerator pedal opening degree signal and a gear signal sent by the VCU, the accelerator pedal opening degree is 0-100%, the MCU CAN determine that the vehicle is in a driving gear through the gear signal, and the MCU CAN also acquire rotating speed information of the driving motor.

S102: and determining the accelerator pedal opening change rate of the current period according to the accelerator pedal opening.

S103: and if the accelerator pedal opening degree change rate is greater than a first preset change rate, controlling a driving motor to output a first torque according to the accelerator pedal opening degree.

S104: if the accelerator pedal opening degree change rate is smaller than or equal to the first preset change rate, controlling a driving motor to output a second torque according to the accelerator pedal opening degree; the second torque is less than the first torque.

When the vehicle has a need for rapid acceleration, the torque value output by the driving motor should be slightly larger than that of the vehicle without the need for rapid acceleration. When the accelerator pedal opening change rate is larger than a first preset change rate, the controller controls the driving motor to output a first torque; when the accelerator pedal opening change rate is smaller than or equal to the first preset change rate, the controller controls the driving motor to output a second torque; the second torque is less than the first torque. The second torque may be understood as a torque at a normal acceleration demand of the vehicle, and the first torque may be understood as a torque at a rapid acceleration demand of the vehicle.

In addition, when the controller controls the driving motor to output a first torque or controls the driving motor to output a second torque, the controller may control the output torque of the driving motor to be updated from a current torque to the first torque or from the current torque to the second torque. The "current torque" herein may be understood as an output torque determined according to the previous cycle.

When the accelerator pedal change rate is greater than the first preset change rate, the controller controls the driving motor to output the first torque, and when the accelerator pedal change rate is less than or equal to the first preset change rate, the controller controls the driving motor to output the second torque, namely when the vehicle accelerates suddenly, the controller controls the driving motor to output a larger torque relative to the normal acceleration. Through the mode, the output torque of the driving motor can be improved, the output power of the vehicle is further improved, the situation that the torque output by the driving motor cannot reach the expected power response of a driver when the driver has the output power demand in the single-pedal negative torque deceleration process is avoided, and the driving experience of the driver is improved.

Example 2:

on the basis of the above embodiment, specifically, determining the accelerator pedal opening degree change rate according to the accelerator pedal opening degree includes: acquiring a first opening degree of a current period and a second opening degree of a previous period; and determining the accelerator pedal opening change rate of the current period according to the difference value of the first opening and the second opening.

The controller is provided with a period for acquiring the opening degree of the accelerator pedal, and when one period is reached, the controller can acquire the opening degree of the accelerator pedal and record the acquired opening degree and store the acquired opening degree into a memory. The controller may calculate the rate of change in the opening degree of the accelerator pedal for the current cycle in combination with the opening degree of the accelerator pedal collected for the previous cycle. Alternatively, the opening degree of the current cycle is referred to as a first opening degree, and the opening degree of the previous cycle is referred to as a second opening degree.

When the first opening degree of the current period is acquired in the current period, the controller may be acquired through real-time acquisition; the controller may be obtained by extracting the second opening degree that has been recorded in the memory when the second opening degree of the previous cycle is obtained.

For example, the opening degree of the accelerator pedal acquired by the controller in three consecutive cycles is 10%/11%/13%, respectively, wherein 10% is acquired by the controller in the first cycle, 13% is acquired by the controller in the third cycle, the duration of one cycle is 1s, the opening degree change rate of the second cycle is (11% -10%)/s, namely 1% change per second, and the opening degree change rate of the third cycle is (13% -11%)/s, namely 2% change per second.

Example 3:

on the basis of the above embodiments, further, when the accelerator pedal opening change rate is greater than a first preset change rate, obtaining current rotation speed information of the driving motor and a first pre-stored corresponding relation table; the first corresponding relation table is used for recording torque values corresponding to different accelerator pedal opening degrees and different rotating speed information of the driving motor; and determining a torque value corresponding to the current rotating speed information and the current opening degree of the accelerator pedal as the first torque according to the first corresponding relation table.

When the accelerator pedal opening change rate is greater than the first preset change rate, for example, the accelerator pedal opening change rate may be in a unit time of 1 second, and the opening change rate may have a value of 5%/S, that is, the accelerator pedal opening change rate may have a value of 5% in one second; the value of the first preset rate of change is 2%/S, i.e., the value of the acceleration opening rate of change is 2% in one second, it can be determined that the vehicle has a sudden acceleration demand. The MCU can determine a first torque corresponding to the current rotating speed information and the current accelerator pedal opening degree through the first corresponding relation table according to the accelerator pedal opening degree and the rotating speed information. MCU is through determining first moment of torsion, and control driving motor's current moment of torsion increases extremely first moment of torsion, can improve driving motor's output torque, and then improves the output power of vehicle satisfies driver's power take off demand, has improved driver's driving and has experienced.

Further, when the accelerator pedal opening change rate is smaller than or equal to a first preset change rate, acquiring current rotating speed information of the driving motor and a second corresponding relation table stored in advance; the second corresponding relation table is used for recording torque values corresponding to different accelerator pedal opening degrees and different rotating speed information of the driving motor; and determining a torque value corresponding to the current rotating speed information and the current opening degree of the accelerator pedal as the second torque according to the second corresponding relation table.

When the accelerator pedal opening rate is less than or equal to a first predetermined rate, which may be, for example, in a unit time of 1 second, the opening rate may have a value of 1%/S, that is, in one second, the acceleration opening rate may have a value of 1%, and the first predetermined rate may have a value of 2%/S, that is, in one second, the acceleration opening rate may have a value of 2%, and the vehicle may also have a demand for acceleration. And the MCU determines the second torque according to the second corresponding relation table and controls the current torque of the driving motor to be increased to the second torque, and the power demand of a driver can also be met.

Example 4:

on the basis of the above-described respective embodiments, next, referring to fig. 3, a process of controlling the drive motor to increase from the current torque to the first torque will be specifically described.

As shown in fig. 3, the VCU may acquire a drive gear signal and an accelerator opening signal. The driving gear signal can be sent to the VCU through a gear controller, and the VCU can acquire that the gear of the current vehicle is in the driving gear through the driving gear signal. The accelerator pedal signal refers to a signal sent by the vehicle accelerator pedal to the VCU, and the accelerator pedal signal may include an accelerator pedal opening and an accelerator pedal opening change rate. The accelerator pedal opening change rate may be a difference between the accelerator pedal opening of the current period and the accelerator pedal opening of the previous period. And when the VCU acquires a driving gear signal and an accelerator opening signal, arbitrating whether the current torque of the driving motor is updated to the first torque. Alternatively, updating the current torque of the drive motor to the first torque is referred to as acceleration dynamic torque compensation. The arbitration is specifically as follows: the VCU detects a current-time driving gear signal and the accelerator pedal opening change rate, and if the accelerator pedal opening change rate is greater than a preset entering change rate in a certain period, wherein the first preset change rate can be called as a preset entering change rate, the VCU outputs a dynamic torque compensation signal to execute the acceleration dynamic torque compensation. And the MCU determines the first torque according to a torque compensation map and controls the current torque of the driving motor to update to the first torque, wherein the first corresponding relation table can be called as the torque compensation map. When the acceleration dynamic torque compensation is executed, the acceleration dynamic torque compensation can be transited to the torque compensation map according to a preset entering proportion from a normal torque map, wherein the second corresponding relation table can be called as the normal torque map, and the problems caused when the normal torque map enters the torque compensation map, such as abnormal sound of a speed reducer, can be avoided. If the accelerator pedal opening change rate is smaller than a preset exit change rate in a certain period, the torque compensation map can be transited to the normal torque map according to a preset exit proportion, wherein the second preset change rate can be referred to as the preset exit change rate. And the MCU can determine the second torque according to the normal torque diagram, and further control the driving motor to output the second torque.

When the accelerator pedal opening change rate is less than or equal to the preset entry change rate in a certain period, it may be determined to be uncompensated, and the VCU outputs an uncompensated signal without performing the acceleration dynamic torque compensation. And the MCU determines the second torque according to the normal torque diagram and controls the current torque of the driving motor to be updated to the second torque. And, at the same accelerator opening and the same driving motor rotation speed information, the corresponding torque value in the torque compensation map is greater than the torque value in the normal torque map, i.e. the first torque is greater than the second torque.

As described above, the scheme of the present invention has the following advantages: (1) the dynamic torque compensation strategy for acceleration realizes that the electric automobile has power demand on the automobile but no acceleration feeling on the automobile in a single accelerator pedal mode, does not need to additionally increase mechanical structures and equipment, and can be quickly popularized; (2) according to the acceleration dynamic torque compensation strategy, on the electric automobile model with the same system architecture and in the pedal opening mode, the dynamic performance of the automobile is better exerted, and the feeling of a driver is obviously improved; (3) the acceleration dynamic torque compensation strategy comprises support for the architecture system vehicle which can send a torque command and an accelerator pedal opening degree signal, can be compatible with the architecture system vehicle which sends the signals, and has strong universality.

Based on the same technical concept as the above-described vehicle control method, as shown in fig. 4, another preferred embodiment of the present invention provides a vehicle control apparatus, including:

the acquiring module 401 is used for acquiring the opening degree of an accelerator pedal when the vehicle is in a driving gear;

a determining module 402, configured to determine an accelerator pedal opening change rate of a current period according to the accelerator pedal opening;

the control module 403 is configured to control the driving motor to output a first torque according to the accelerator pedal opening degree if the accelerator pedal opening degree change rate is greater than a first preset change rate, and control the driving motor to output a second torque according to the accelerator pedal opening degree if the accelerator pedal opening degree change rate is less than or equal to the first preset change rate; the second torque is less than the first torque.

Optionally, when determining the accelerator pedal opening degree change rate according to the accelerator pedal opening degree, the determining module 402 is specifically configured to:

acquiring a first opening degree of a current period and a second opening degree of a previous period;

and determining the accelerator pedal opening change rate of the current period according to the difference value of the first opening and the second opening.

Optionally, the determining module 402 is further configured to:

Still another preferred embodiment of the present invention provides a vehicle including the vehicle control apparatus as described above.

Still another preferred embodiment of the present invention provides a vehicle control apparatus characterized by comprising: a memory, a processor and a program stored on the memory and executable on the processor, the program, when executed by the processor, implementing a vehicle control method as described above.

Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

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