阅读说明：本技术 发动机输出力矩调整方法及其系统、控制设备 (Engine output torque adjusting method and system and control equipment thereof ) 是由 张进 梅兴泰 周伟 于 2020-04-17 设计创作，主要内容包括：本发明涉及发动机输出力矩调整方法及其系统、控制设备,所述方法包括：根据车辆的车速信号和纵向加速度信号获得车辆的当前驾驶风格；根据车辆的方向盘转角信号、横摆角信号和车速信号判定车辆的当前弯道状态；若车辆未在弯道驾驶、车辆正在弯道内行驶,则加速度调整量为0；若所述当前弯道状态为车辆正进入弯道或车辆正驶出弯道,则根据当前驾驶风格计算加速度调整量；根据车辆发动机转速信息、当前的加速踏板开度信号、制动踏板触发信号以及所述加速度调整量获得发动机输出力矩调整量,并根据所述发动机输出力矩调整量和当前发动机输出力矩确定发动机输出力矩目标值。本发明能够实现根据驾驶员类型对车辆的转向特性进行自适应调整。(The invention relates to an engine output torque adjusting method, a system and a control device thereof, wherein the method comprises the following steps: obtaining the current driving style of the vehicle according to the vehicle speed signal and the longitudinal acceleration signal of the vehicle; judging the current curve state of the vehicle according to a steering wheel angle signal, a yaw angle signal and a vehicle speed signal of the vehicle; if the vehicle is not driven in the curve and the vehicle is driving in the curve, the acceleration adjustment amount is 0; if the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, calculating an acceleration adjustment amount according to the current driving style; and obtaining an engine output torque adjustment amount according to the vehicle engine speed information, the current accelerator pedal opening degree signal, the brake pedal trigger signal and the acceleration adjustment amount, and determining an engine output torque target value according to the engine output torque adjustment amount and the current engine output torque. The invention can realize the self-adaptive adjustment of the steering characteristic of the vehicle according to the type of the driver.)

1. An engine output torque adjustment method, characterized by comprising:

obtaining the current driving style of the vehicle according to the vehicle speed signal and the longitudinal acceleration signal of the vehicle, wherein the driving style is represented by numerical values;

judging the current curve state of the vehicle according to a steering wheel angle signal, a yaw angle signal and a vehicle speed signal of the vehicle;

if the vehicle is not driven in the curve and the vehicle is driving in the curve, the acceleration adjustment amount is 0; if the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, calculating an acceleration adjustment amount according to the current driving style;

and obtaining an engine output torque adjustment amount according to the vehicle engine speed information, the current accelerator pedal opening degree signal, the brake pedal trigger signal and the acceleration adjustment amount, and determining an engine output torque target value according to the engine output torque adjustment amount and the current engine output torque.

2. The engine output torque adjustment method according to claim 1, wherein obtaining the current driving style of the vehicle from the vehicle speed signal and the longitudinal acceleration signal of the vehicle specifically comprises:

acquiring a vehicle speed signal and a longitudinal acceleration signal of a vehicle at intervals of preset time, and acquiring the dispersion of acceleration change in the current time period according to all the vehicle speed signals and the longitudinal acceleration signals acquired in the current time period; the current time period is a time period from the end to the current acquisition time, and the length of the time period is preset;

respectively comparing the dispersion of the acceleration change in the current time period with a plurality of preset threshold values, and taking the threshold value corresponding to the minimum comparison deviation as the driving style identification result at the current acquisition moment;

and acquiring the driving style recognition results of all the acquisition moments in the current time period, and acquiring the current driving style according to the driving style recognition results of all the acquisition moments in the current time period.

3. The engine output torque adjustment method according to claim 2, wherein the obtaining of the current driving style from the driving style recognition results at all the acquisition times in the current time period specifically includes:

obtaining a transient driving style recognition result and a steady-state driving style recognition result of the current time period according to the driving style recognition results of all the collected moments in the current time period;

determining the current driving style m according to the comparison result of the absolute value of the deviation between the steady-state driving style recognition result and the transient driving style recognition result of the current time period and a preset threshold value_driver(ii) a Wherein m is_driverExpressed by a numerical value, m_driverThe larger the driving style, the more aggressive m_driverThe smaller, the more robust the driving style.

4. The engine output torque adjustment method according to claim 3, characterized in that the transient driving style recognition result includes a transient driving style average value m₀The steady-state driving style recognition result comprises a steady-state driving style average value m₁；

Wherein:

setting the current time period as the kth time period, calculating the average value and the standard deviation of the driving style identification results of all the acquisition moments in the current time period, and taking the average value as the average value m of the transient driving style of the current time period_1(k)；

Average value m of transient driving style according to current time period_1(k)Calculating a steady-state driving style accumulated value m for a current time period_0(k)(ii) a Wherein m is_0(k)＝α₀×m_1(k)+(1-α₀)×m_0(k-1)，m₀₍₀₎＝0，α₀Is a weight coefficient, 0<α₀<1。

5. The engine output torque adjusting method according to claim 4, wherein the current driving style m is determined based on a comparison result of an absolute value of a deviation between the steady-state driving style recognition result and the transient driving style recognition result of the current time period and a preset threshold value_driverThe method specifically comprises the following steps:

if the steady-state driving style accumulated value m of the current time period₀And the average value m of the transient driving style₁Is less than a set threshold m_th1Then the current driving style m_driverIs m₀；

If the steady-state driving style accumulated value m of the current time period₀And the average value m of the transient driving style₁Is greater than a set threshold m_th1And is less than a set threshold value m_th2Then the current driving style m_driverIs (m)₁+m₀)/2；

If the steady-state driving style accumulated value m of the current time period₀And the average value m of the transient driving style₁Is greater than a set threshold m_th2Then the current driving style m_driverIs m₁。

6. The engine output torque adjustment method according to claim 4, wherein the transient driving style recognition result further includes a transient driving style standard deviation v₁The steady-state driving style recognition result further comprises a steady-state driving style standard deviation v₀；

Wherein:

setting the current time period as the kth time period, calculating the standard deviation of the driving style recognition results at all the acquisition moments in the current time period, and taking the standard deviation as the transient driving style standard deviation v of the current time period_1(k)；

According to the current time period and the top n₀The accumulated value of the steady-state driving style of each time period forms a value matrix [ m ]_0(k),m_0(k-1),…,m_0(k-n0)]And obtaining the standard deviation of the numerical matrix as the standard deviation v of the steady-state driving style of the current time period_0(k)；

The obtaining of the current driving style according to the driving style recognition results of all the collection moments in the current time period specifically further includes:

if the transient driving style and the steady-state driving style in the current time period simultaneously meet the following conditions (1) - (3), determining the current driving style m according to the comparison result of the absolute value of the deviation between the steady-state driving style recognition result and the transient driving style recognition result in the current time period and the preset threshold value_driverA step (2);

condition (1): driver's seatThe accumulated triggering times of the typical working conditions of type identification is more than or equal to n_t1；

Condition (2): n is continuous_m1N corresponding to each time period_m1Accumulated value m of steady driving style₀The standard deviation of the formed vector is less than or equal to m_t1；

Condition (1): n is continuous_v1N corresponding to each time period_v1Standard deviation v of steady-state driving style₀V is less than or equal to 80% of the value of the formed vector_t1；

Wherein n is_t1、n_m1、m_t1、n_v1、v_t1Are all preset values.

7. The engine output torque adjusting method according to claim 1, wherein determining the current curve state of the vehicle based on a steering wheel angle signal, a yaw angle signal, and a vehicle speed signal of the vehicle specifically includes:

periodically sampling and acquiring a steering wheel angle signal, a yaw angle signal and a vehicle speed signal;

obtaining an absolute value and a change rate of a steering wheel angle according to a steering wheel angle signal of a current sampling period, and determining state values of a steering wheel angle absolute value identification bit sw _ flag and a steering wheel angle change rate identification bit dsw _ flag of the current sampling period according to the absolute value and the change rate of the steering wheel angle;

obtaining an absolute value and a change rate of a yaw angle according to a yaw angle signal of a current sampling period, and determining state values of a yaw angle absolute value identification position yaw _ flag and a yaw angle change rate identification position dyaw _ flag of the current sampling period according to the absolute value and the change rate of the yaw angle;

obtaining an absolute value of the vehicle speed according to the vehicle speed signal of the current sampling period, and determining a state value of a vehicle speed absolute value identification bit vsd _ flag of the current sampling period according to the absolute value of the vehicle speed;

and determining the current curve state according to the state values of a steering wheel corner absolute value identification position sw _ flag, a steering wheel corner change rate identification position dsw _ flag, a yaw angle absolute value identification position yaw _ flag, a yaw angle change rate identification position dyaw _ flag and a vehicle speed absolute value identification position vsd _ flag of the current sampling period.

8. The method for adjusting the engine output torque according to claim 7, wherein the current curve state is determined according to the state values of a steering wheel angle absolute value flag sw _ flag, a steering wheel angle change rate flag dsw _ flag, a yaw angle absolute value flag yaw _ flag, a yaw angle change rate flag dyaw _ flag, and a vehicle speed absolute value flag vsd _ flag of the current sampling period, and specifically comprises:

if the state value of the sw _ flag or the yaw _ flag is 1, the state value of the dsw _ flag or the dyaw _ flag is 1, and the state value of the vsd _ flag is 1, the current curve state is that the vehicle enters the curve;

if the state value of the sw _ flag or the yaw _ flag is 1, the state value of the dsw _ flag or the dyaw _ flag is 0, and the state value of the vsd _ flag is 1, the current curve state is that the vehicle is running in a curve;

and if the state value of dsw _ flag or dyaw _ flag is-1 and the state value of vsd _ flag is 1, the current curve state is that the vehicle is driving out of the curve.

9. The engine output torque adjusting method according to claim 7, wherein determining the current curve state of the vehicle based on the steering wheel angle signal, the yaw angle signal, and the vehicle speed signal of the vehicle specifically includes:

according to the absolute value of the steering wheel rotation angle of the current sampling period and a preset threshold value sw_th1、sw_th2The comparison result of (2), and the absolute value of the steering wheel angle in the last sampling period and the preset threshold value sw_th1、sw_th2Determining that the state value of the steering wheel corner absolute value identification bit sw _ flag in the current sampling period is 0 or 1 according to the comparison result; wherein 0<sw_th1<sw_th2；

According to the steering wheel rotation angle change rate of the current sampling period and a preset threshold value dsw_th1、dsw_th2、dsw_th3、dsw_th4And the steering wheel angle change rate of the last sampling period and the preset threshold dsw_th1、dsw_th2、dsw_th3、dsw_th4Determining that the state value of the steering wheel rotation angle change rate flag dsw _ flag in the current sampling period is-1, 0 or 1; wherein dsw_th1<dsw_th2<0<dsw_th3<dsw_th4；

According to the absolute value of the yaw angle of the current sampling period and a preset threshold value yaw_th1、yaw_th2And the absolute value of the yaw angle in the previous sampling period is compared with a preset threshold value yaw_th1、yaw_th2Determining that the state value of the yaw angle absolute value identification bit yaw _ flag in the current sampling period is 0 or 1; wherein 0<yaw_th1<yaw_th2；

According to the change rate of the yaw angle of the current sampling period and the preset threshold value dyaw_th1、dyaw_th2、dyaw_th3、dyaw_th4And the yaw angle change rate of the last sampling period and the preset threshold value dyaw_th1、dyaw_th2、dyaw_th3、dyaw_th4Determining the state value of the yaw angle change rate identification position dyaw _ flag of the current sampling period as-1, 0 or 1; wherein dyaw_th1<dyaw_th2<0<dyaw_th3<dyaw_th4；

According to the absolute value of the vehicle speed of the current sampling period and a preset threshold value vsd_th1、vsd_th2The comparison result, the vehicle speed absolute value of the last sampling period and the preset threshold value vsd_th1、vsd_th2Determining that the state value of the vehicle speed absolute value identification position vsd _ flag in the current sampling period is 0 or 1 according to the comparison result; wherein 0<vsd_th1<vsd_th2。

10. The engine output torque adjustment method according to claim 1, wherein determining an acceleration adjustment amount of the vehicle based on the current curve state and the current driving style specifically includes:

if the current curve state is that the vehicle is not driving in the curve or the vehicle is driving in the curve, the acceleration adjustment amount is 0, if the current curve state is that the vehicle is entering the curve, the acceleration adjustment amount is calculated according to a first calculation mode, and when the vehicle is exiting the curve, the acceleration adjustment amount is calculated according to a second calculation mode.

11. The engine output torque adjusting method according to claim 10, wherein the acceleration adjustment amount is calculated according to the first calculation manner, as shown in the following expression:

a_{x_ad}＝-x1×m_driver–x2

wherein, a_{x_ad}For the acceleration adjustment, m_driverThe values x1 and x2 are preset constants less than 1 corresponding to the current driving style.

12. The engine output torque adjusting method according to claim 10, wherein the acceleration adjustment amount is calculated according to the second calculation means, as shown in the following expression:

a_{x_ad}＝-x1×m_driver+x2

wherein, a_{x_ad}For the acceleration adjustment, m_driverThe values x1 and x2 are preset constants less than 1 corresponding to the current driving style.

13. The engine output torque adjustment method according to claim 1, wherein obtaining an engine output torque adjustment amount based on vehicle engine speed information, a current accelerator pedal opening degree signal, a brake pedal trigger signal, and the acceleration adjustment amount, and determining an engine output torque target value based on the engine output torque adjustment amount and the current engine output torque, specifically comprises:

obtaining an initial adjustment quantity delta T of the engine output torque required for achieving the acceleration adjustment quantity in combination with the power transmission mode of the vehicle power system_e0；

Obtaining initial adjustment quantity delta T for increasing output torque of engine_e0The rear corresponding engine speed should be n_e1Turbine-mediated speed threshold n_{e_tin}Turbine, turbine and method for manufacturing the sameExiting speed threshold n_{e_tout}And an engine idle speed threshold n_{e_int}And according to the engine speed n_e1Turbine-mediated speed threshold n_{e_tin}Speed threshold n for turbine exit_{e_tout}And an engine idle speed threshold n_{e_int}Determining a regulated variable delta T 'from the comparison result'_e0；

Acquiring an accelerator pedal opening signal and a brake pedal trigger signal of the current sampling period, b, and according to the initial adjustment quantity delta T_e0And a regulated variable delta T'_e0Obtaining the engine output torque adjustment amount delta T by an accelerator pedal opening degree signal and a brake pedal trigger signal_e；

At the current engine output torque T_e0And engine output torque adjustment amount delta T_eAnd the sum is used as the target value of the output torque of the engine in the next sampling period, and the target value of the output torque is sent to the engine control unit.

14. Engine output torque adjustment method according to claim 13, characterized in that the speed threshold n is dependent on a turbine intervention_{e_tin}Speed threshold n for turbine exit_{e_tout}And an engine idle speed threshold n_{e_int}Determining a regulated variable delta T 'from the comparison result'_e0The method specifically comprises the following steps:

if n is satisfied_e0<n_{e_tin}<n_e1Then the engine speed n is obtained by looking up the table_{e_tin}Subtracting 100 corresponding engine output torque value T'_e1And is prepared from T'_e1Minus the current engine output torque T_e0Obtaining a regulated variable delta T'_e0；

If n is satisfied_e1<n_{e_tout}<n_e0Then the engine speed n is obtained by looking up the table_{e_tout}Adding 100 corresponding engine output torque value T'_e2And is prepared from T'_e2Minus the current engine output torque T_e0Obtaining a regulated variable delta T'_e0；

If n is satisfied_e1<n_{e_int}Then adjust itVariable quantity delta T'_e0Is 0;

if n is not satisfied_e0<n_{e_tin}<n_e1、n_e1<n_{e_tout}<n_e0、n_e1<n_{e_int}In any case of (1), the variable quantity delta T 'is adjusted'_e0Equal to the initial adjustment quantity delta T of the output torque of the engine_e0。

15. The engine output torque adjusting method according to claim 13, wherein a current accelerator pedal opening degree signal, a brake pedal trigger signal are acquired, and the initial adjustment amount Δ T is based on_e0And a regulated variable delta T'_e0Obtaining the engine output torque adjustment amount delta T by an accelerator pedal opening degree signal and a brake pedal trigger signal_eThe method specifically comprises the following steps:

if the regulated variable delta T 'is met'_e0>0 and accelerator pedal opening degree signal>70%, the engine output torque adjustment amount Δ T_eIs 0;

if the regulated variable delta T 'is met'_e0<0 and the brake pedal trigger signal is trigger brake, the engine output torque adjustment amount delta T_eIs 0;

if the regulated variable delta T 'is not satisfied'_e0>0 and accelerator pedal opening degree signal>70% of adjustment variable delta T'_e0<0 and the brake pedal trigger signal is any one of the trigger brakes, the engine output torque adjustment amount delta T_eIs equal to a regulated variable delta T'_e0。

16. An engine output torque adjustment system for implementing the engine output torque adjustment method according to any one of claims 1 to 15, comprising:

the driving style determining unit is used for obtaining the current driving style of the vehicle according to the vehicle speed signal and the longitudinal acceleration signal of the vehicle;

a curve state determination unit for determining a current curve state of the vehicle according to a steering wheel angle signal, a yaw angle signal and a vehicle speed signal of the vehicle;

an acceleration adjustment amount determining unit, configured to determine an acceleration adjustment amount of the vehicle according to the current curve state and the current driving style, where the acceleration adjustment amount is 0 if the vehicle is not driving in a curve and the vehicle is driving in the curve; if the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, calculating an acceleration adjustment amount according to the current driving style; and

and the engine torque determining unit is used for obtaining an engine output torque adjusting amount according to the vehicle engine rotating speed information, the current accelerator pedal opening degree signal, the brake pedal trigger signal and the acceleration adjusting amount, and determining an engine output torque target value according to the engine output torque adjusting amount and the current engine output torque.

17. A control apparatus characterized by the engine output torque adjustment system according to claim 16; alternatively, a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the engine output torque adjustment method according to any one of claims 1-15.

Technical Field

The invention relates to the technical field of vehicle engine control, in particular to an engine output torque adjusting method, an engine output torque adjusting system and control equipment.

Background

At present, for the stability of the vehicle running in a curve, the steady-state steering characteristic of a part of vehicles is generally calibrated as an understeer characteristic, but the transient steering characteristic is influenced by the vehicle speed, mass center shift, tire cornering stiffness and the like, and the understeer characteristic of the transient steering characteristic can be enhanced or weakened, and even under the condition of extreme transient, the understeer characteristic is changed into an excessive steering. Some vehicle dynamic control systems can control the acceleration of the vehicle when the vehicle enters or exits a curve, and further adjust the steering characteristic and stability of the vehicle, but the control amount of the acceleration control is usually calibrated at the time of factory shipment, and the value of the control amount meets the driving habit of a general driver or the requirements of the steering characteristic and stability of the vehicle, so that the control amount cannot be automatically adjusted according to the driving style.

At present, a vehicle dynamic control technology for adaptively adjusting the steering characteristic of a vehicle according to the type of a driver is not available, so that some drivers with clear driving styles are difficult to obtain expected vehicle steering characteristic changes directly through a vehicle dynamic control system, the accelerator is required to be frequently adjusted by themselves when entering a curve or exiting the curve to obtain ideal vehicle steering characteristics, some drivers with poor driving skills are difficult to deal with, the driving pleasure is reduced, and the operation load is improved.

Disclosure of Invention

The invention aims to provide an engine output torque adjusting method, an engine output torque adjusting system, control equipment and a vehicle, so as to realize self-adaptive adjustment of the steering characteristic of the vehicle according to the type of a driver.

An embodiment of the present invention provides an engine output torque adjustment method, including:

obtaining the current driving style of the vehicle according to the vehicle speed signal and the longitudinal acceleration signal of the vehicle, wherein the driving style is represented by numerical values;

judging the current curve state of the vehicle according to a steering wheel angle signal, a yaw angle signal and a vehicle speed signal of the vehicle;

if the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, calculating an acceleration adjustment amount according to the current driving style;

and obtaining an engine output torque adjustment amount according to the vehicle engine speed information, the current accelerator pedal opening degree signal, the brake pedal trigger signal and the acceleration adjustment amount, and determining an engine output torque target value according to the engine output torque adjustment amount and the current engine output torque.

An embodiment of the present invention further provides an engine output torque adjustment system, including:

the driving style determining unit is used for obtaining the current driving style of the vehicle according to the vehicle speed signal and the longitudinal acceleration signal of the vehicle;

a curve state determination unit for determining a current curve state of the vehicle according to a steering wheel angle signal, a yaw angle signal and a vehicle speed signal of the vehicle;

an acceleration adjustment amount determining unit, configured to determine an acceleration adjustment amount of the vehicle according to the current curve state and the current driving style, where the acceleration adjustment amount is 0 if the vehicle is not driving in a curve and the vehicle is driving in the curve; if the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, calculating an acceleration adjustment amount according to the current driving style; and

and the engine torque determining unit is used for obtaining an engine output torque adjusting amount according to the vehicle engine rotating speed information, the current accelerator pedal opening degree signal, the brake pedal trigger signal and the acceleration adjusting amount, and determining an engine output torque target value according to the engine output torque adjusting amount and the current engine output torque.

An embodiment of the present invention also provides a control apparatus, the engine output torque adjustment system according to the above embodiment; alternatively, a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the engine output torque adjustment method according to the above embodiment.

The above embodiment scheme has the following beneficial effects:

the method comprises the steps of obtaining the current driving style of a vehicle according to a vehicle speed signal and a longitudinal acceleration signal of the vehicle, judging the current curve state of the vehicle according to a steering wheel angle signal, a yaw angle signal and the vehicle speed signal of the vehicle, determining an acceleration adjustment amount by combining the current curve state and the current driving style of a driver, further obtaining an engine output torque adjustment amount according to the rotating speed information of an engine of the vehicle, the current opening degree signal of an accelerator pedal, a brake pedal trigger signal and the acceleration adjustment amount, and finally obtaining a torque target value for controlling the output torque of the engine, wherein the torque target value is equal to the torque adjustment amount plus the current torque output value. Therefore, the self-adaptive adjustment of the steering characteristic of the vehicle according to the type of the driver is realized, the situation that some drivers with clear driving styles are difficult to obtain expected vehicle steering characteristic changes directly through a vehicle dynamic control system is avoided, the driving pleasure of the driver is improved, and the operation load of the driver is reduced.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of an engine output torque adjustment method according to an embodiment of the present invention.

FIG. 2 is a block diagram of an engine output torque adjustment system in accordance with another embodiment of the present invention.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

In addition, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, well known means have not been described in detail so as not to obscure the present invention.

Referring to fig. 1, an embodiment of the present invention provides a method for adjusting an output torque of an engine, including the following steps S101 to S104:

s101, obtaining the current driving style of the vehicle according to the vehicle speed signal and the longitudinal acceleration signal of the vehicle, wherein the driving style is represented by numerical values;

specifically, real-time identification of the driving style is a precondition for vehicle dynamic response adjustment, and there are many methods for acquiring the driving style in real time at present, wherein acceleration change is mainly acquired according to a vehicle speed signal and a longitudinal acceleration signal in the vehicle driving process, and whether the current driving style is biased or stable is determined according to the acceleration change. Because, in general, the more robust the style of driver, the more consistent the dynamics of the vehicle it controls. For example, when the vehicle is driven in a straight line, the vehicle speed controlled by a steady driver changes slowly, the acceleration changes slightly, and the vehicle body posture shake caused by the change is also small. And the more aggressive the style of driver, the more discrete the dynamics of the vehicle it controls. For example, when driving straight, the speed controlled by a driver with an aggressive style changes rapidly, and usually the driver drives at a high speed, but the driver is limited by road conditions, such as speed limit, other traffic participants, and the like, and often needs to accelerate and decelerate frequently, so that the acceleration change is large, and the posture of the vehicle body shakes greatly.

It should be noted that any driving style method can be adopted for recognition in the present embodiment, and therefore, the driving style recognition means is not specifically limited in the present embodiment.

It can be understood that the driving style identification step is performed periodically, that is, the driving style is continuously updated according to the driving condition of the driver during the whole driving process, so as to reflect the driving style of the driver more truly and accurately.

S102, judging the current curve state of the vehicle according to a steering wheel angle signal, a yaw angle signal and a vehicle speed signal of the vehicle;

specifically, the curve state includes: the vehicle is not driven in a curve, the vehicle is driving in a curve, the vehicle is entering a curve and the vehicle is driving out of a curve, it can be understood that the steering wheel angle signal, the yaw angle signal and the vehicle speed signal of the vehicle are different under different curve states, namely, the steering wheel angle signal, the yaw angle signal and the vehicle speed signal have corresponding relations with the curve states, and the current curve state of the vehicle can be judged according to the steering wheel angle signal, the yaw angle signal and the vehicle speed signal of the vehicle according to the corresponding relations.

For example, the corresponding relationship between the curve state and the steering wheel angle signal, the yaw angle signal and the vehicle speed signal and the curve state can be obtained by collecting a plurality of sample data under different curve states, wherein each sample data comprises the steering wheel angle signal, the yaw angle signal and the vehicle speed signal, and performing statistical analysis on the plurality of sample data.

S103, if the vehicle is not driven in the curve and is driving in the curve, the acceleration adjustment amount is 0; if the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, calculating an acceleration adjustment amount according to the current driving style;

specifically, the curve state includes the vehicle not driving in a curve, the vehicle entering a curve, or the vehicle driving out of a curve; if the current curve state is that the vehicle is not driven in the curve or the vehicle is driving in the curve, the current acceleration of the vehicle is not adjusted; when the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, the current acceleration of the vehicle is adjusted, and the acceleration adjustment amount is calculated according to a preset formula and the current driving style.

And S104, obtaining an engine output torque adjustment amount according to the vehicle engine speed information, the current accelerator pedal opening degree signal, the brake pedal trigger signal and the acceleration adjustment amount, and determining an engine output torque target value according to the engine output torque adjustment amount and the current engine output torque.

In particular, the torque adjustment is dependent on an acceleration adjustment, from which a corresponding torque adjustment Δ T can be obtained_e0Final engine output torque adjustment Δ T_eAdjustments are required based on engine speed information and driver operation of the accelerator pedal or brake pedal. The engine rotating speed information refers to rotating speed constraint of the engine in various working modes, and the torque adjustment quantity pair of the engine forms constraint; in the steps, the subjective operation intention of a driver is also considered, the acceleration or braking intention of the driver is reflected by an accelerator pedal opening degree signal and a brake pedal trigger signal of the vehicle, the adjustment is needed according to the moment adjustment amount only under the condition that the driver has the acceleration intention, and if the driver has the deceleration operation, the moment adjustment amount is 0, namely, the moment adjustment is not carried out.

Generally, the more robust the style of driver, the more consistent the dynamics of the vehicle it controls. For example, when the vehicle is driven in a straight line, the vehicle speed controlled by a steady driver changes slowly, the acceleration changes slightly, and the vehicle body posture shake caused by the change is also small. And the more aggressive the style of driver, the more discrete the dynamics of the vehicle it controls. For example, when driving straight, the speed controlled by a driver with an aggressive style changes rapidly, and usually the driver drives at a high speed, but the driver is limited by road conditions, such as speed limit, other traffic participants, and the like, and often needs to accelerate and decelerate frequently, so that the acceleration change is large, and the posture of the vehicle body shakes greatly. Therefore, it is necessary to adaptively adjust the steering characteristic of the vehicle according to the driver type.

By the method, the self-adaptive adjustment of the steering characteristic of the vehicle according to the type of the driver can be realized, so that the dynamic response of the vehicle is in accordance with the driving style, the expectation of drivers with different styles on the change of the steering characteristic and the stability of the vehicle when the vehicle enters or exits a curve is met, the situation that some drivers with clear driving styles are difficult to directly obtain the expected change of the steering characteristic of the vehicle through a vehicle dynamic control system is avoided, the driving pleasure of the driver is improved, and the operation load of the driver is reduced.

In a specific embodiment, the step S101 specifically includes:

step S201, acquiring a vehicle speed signal and a longitudinal acceleration signal of a vehicle every preset time, and obtaining the dispersion of the acceleration change of the current time period according to all the vehicle speed signals and the longitudinal acceleration signals acquired in the current time period; the current time period is a time period from the end to the current acquisition time, and the length delta of the time period is preset;

specifically, the time period length δ for identifying the driving style is taken as a statistical sliding window length, and the statistical sliding window slides forward on the time axis, which is equivalent to sliding the sliding window forward every preset time t₀The vehicle speed signal and the longitudinal acceleration signal of the primary vehicle are collected, and the acceleration change of the vehicle can be determined according to the vehicle speed signal and the longitudinal acceleration signal, so that the vehicle acceleration change in the statistical sliding window is counted, and the dispersion of the acceleration change in the current time period can be obtained by calculating the dispersion.

Step S202, comparing the dispersion of the acceleration change in the current time period with a plurality of preset threshold values respectively, and taking the threshold value corresponding to the minimum comparison deviation as the driving style recognition result at the current acquisition moment;

specifically, the output value of the driving style recognition result in the step is a numerical value in the range of [ -1,1], and the closer the numerical value is to 1, the more aggressive the recognized driver style is; the closer the value is to-1, the more robust the identified driver style is. In the embodiment, a plurality of thresholds are preset, for example: the-1, -0.9, -0.8 … … are always increased to 1 by 0.1 increment, namely, 21 thresholds are provided, and when the dispersion of the identified acceleration change is 0.71, the deviation of the comparison with the threshold 0.7 is minimum, so that the driving style identification result output is 0.7.

Step S203, acquiring the driving style recognition results of all the acquisition moments in the current time period, and acquiring the current driving style according to the driving style recognition results of all the acquisition moments in the current time period.

Specifically, as can be seen from steps S201 to S202, the predetermined time t is set to each other₀If the output value of the driving style recognition result is updated once, and the current driving style of the driver is continuously recognized and updated, the number of the output values of the driving style recognition result in the time period of delta is n₁，n₁＝δ/t₀(ii) a That is, step S203 is performed according to n within the current time period₁The current driving style can be obtained by carrying out statistical analysis on the driving style identification result.

In an embodiment, the step S203 specifically includes:

step S301, obtaining a transient driving style recognition result and a steady driving style recognition result of the current time period according to the driving style recognition results of all the acquisition moments in the current time period;

specifically, the transient driving style recognition result is used for indicating the transient driving style of the driver in a short time, and mainly reflecting the change of the current driving condition or scene; the steady-state driving style recognition result is used to indicate the individual long-term driving style of the driver, i.e. the inherent driving tendency.

Step S302, determining the current driving style m according to the comparison result of the absolute value of the deviation between the steady-state driving style recognition result and the transient driving style recognition result of the current time period and a preset threshold value_driver(ii) a Wherein m is_driverExpressed by a numerical value, m_driverThe larger the driving style, the more aggressive m_driverThe smaller, the more robust the driving style.

In a specific embodiment, the transient driving style identification result comprises a transient driving style average value m₀The steady-state driving style recognition result comprises a steady-state driving style average value m₁；

Wherein the average value m of the transient driving style₀The calculation steps are as follows:

setting the current time period as the kth time period, calculating the average value of the driving style identification results of all the acquisition moments in the current time period, and taking the average value as the average value m of the transient driving style of the current time period_1(k)；

Wherein the average value m of the steady-state driving style₀The calculation steps are as follows:

average value m of transient driving style according to current time period_1(k)Calculating a steady-state driving style accumulated value m for a current time period_0(k)(ii) a Wherein m is_0(k)＝α₀×m_1(k)+(1-α₀)×m_0(k-1)，m₀₍₀₎＝m₀₍₁₎＝0，α₀Is a weight coefficient, 0<α₀<1。

Specifically, the weight coefficient α₀Setting according to the characteristics of the vehicle type and the target driving group, and if the vehicle type has a biased motion style, determining alpha₀Larger than the others; if the vehicle type itself is biased to business style, then alpha₀Smaller, usually a₀＝0.5。

In a specific embodiment, the current driving style m is determined according to the comparison result of the absolute value of the deviation between the steady-state driving style recognition result and the transient-state driving style recognition result of the current time period and a preset threshold value_driverThe method specifically comprises the following steps:

if the steady-state driving style accumulated value m of the current time period₀And the average value m of the transient driving style₁Is less than a set threshold m_th1Then the current driving style m_driverIs m₀；

If the steady-state driving style accumulated value m of the current time period₀And the average value m of the transient driving style₁Is critical to the deviationFor value greater than set threshold m_th1And is less than a set threshold value m_th2Then the current driving style m_driverIs (m)₁+m₀)/2；

If the steady-state driving style accumulated value m of the current time period₀And the average value m of the transient driving style₁Is greater than a set threshold m_th2Then the current driving style m_driverIs m₁。

In a specific embodiment, the transient driving style recognition result further includes a standard deviation v of the transient driving style₁The steady-state driving style recognition result further comprises a steady-state driving style standard deviation v₀；

Wherein the standard deviation v of the transient driving style₁The calculation steps are as follows:

setting the current time period as the kth time period, calculating the standard deviation of the driving style recognition results at all the acquisition moments in the current time period, and taking the standard deviation as the transient driving style standard deviation v of the current time period_1(k)；

Wherein the steady state driving style standard deviation v₀The calculation steps are as follows:

according to the current time period and the top n₀The accumulated value of the steady-state driving style of each time period forms a value matrix [ m ]_0(k),m_0(k-1),…,m_0(k-n0)]And obtaining the standard deviation of the numerical matrix as the standard deviation v of the steady-state driving style of the current time period_0(k)；

The step S302 further includes:

determining whether the vehicle simultaneously satisfies the following conditions (1) - (3) according to the transient driving style and the steady driving style in the current time period;

if the conditions (1) - (3) are met, determining the current driving style m according to the comparison result of the absolute value of the deviation between the steady-state driving style recognition result and the transient driving style recognition result of the current time period and a preset threshold value_driverA step (2);

if the conditions (1) to (3) are not satisfied at the same time, the stabilization according to the current time period is not performedDetermining the current driving style m according to the comparison result of the absolute value of the deviation between the recognition result of the state driving style and the recognition result of the transient driving style and a preset threshold value_driverA step (2);

wherein, the conditions (1) to (3) are specifically as follows:

condition (1): the accumulated triggering times of the typical working conditions for identifying the type of the driver is more than or equal to n_t1；

Condition (2): n is continuous_m1N corresponding to each time period_m1Accumulated value m of steady driving style₀The standard deviation of the formed vector is less than or equal to m_t1；

Condition (1): n is continuous_v1N corresponding to each time period_v1Standard deviation v of steady-state driving style₀V is less than or equal to 80% of the value of the formed vector_t1；

Wherein n is_t1、n_m1、m_t1、n_v1、v_t1Are all preset values.

Specifically, the step S101 is divided into two stages, where the first stage includes a transient-state obtained driving style recognition result and a steady-state driving style recognition result, and the ending condition of the first stage is that the above-mentioned 3 conditions are simultaneously satisfied. When the above 3 conditions are simultaneously satisfied, the corresponding current vehicle mileage is the mileage threshold L₁When the vehicle driving mileage L is larger than the driving mileage threshold value L₁Entering the second stage of step S101, namely determining the current driving style m according to the comparison result of the absolute value of the deviation between the steady-state driving style recognition result and the transient driving style recognition result of the current time period and the preset threshold value_driver。

More specifically, the first stage of the step S101 is mainly configured to consider that, within a short driving distance, the judgment event trigger of the driving style recognition is less, the sample of the driving style recognition cannot form a stable and significant statistical characteristic, and more accidental factors may cause more jumps in the steady-state driving style recognition result, and at this time, if the vehicle acceleration is directly adjusted according to the steady-state driving style recognition result, the vehicle steering characteristic and the stability may frequently change due to the jump of the accelerationMove, causing discomfort to the occupants. So that the second stage of step 1 is entered after the driving style recognition samples are sufficiently large and tend to be stable. The condition (1) is used for judging whether the number of samples meets the requirement of statistical calculation; the condition (2) is used for judging whether the statistical result is stable; the condition (3) is used for judging the reliability requirement of the statistical result. Wherein, in the first stage of step S101, the current driving style m_driverIs 0.

The style of the driver has already stabilized in the second stage of step S101, e.g., m₀The larger the indication that the driver is a driver with an inherent bias to aggressive driving style, e.g. m₀The smaller, the more likely the driver is to be an inherently driver biased toward a robust driving style; average value m of driving style recognition results if transient state at that time₁Accumulated value m of driving style recognition result with steady state₀The deviation is large, which indicates that the driver deviates from the past relatively stable driving style, and may be that the driver desires to temporarily change the driving style, such as accidental aggressive driving or overtaking acceleration, or may be that the driver needs to temporarily change the driving style due to the working condition, such as having to steadily drive in a congestion state, and after the deviation is greater than the threshold, the weight of the transient driving style identification result is increased to correspond to the temporary driving style change condition of the driver.

In an embodiment, the step S102 specifically includes:

step S401, periodically sampling and acquiring a steering wheel angle signal, a yaw angle signal and a vehicle speed signal;

step S402, obtaining an absolute value and a change rate of a steering wheel angle according to a steering wheel angle signal of a current sampling period, and determining state values of a steering wheel angle absolute value flag sw _ flag and a steering wheel angle change rate flag dsw _ flag of the current sampling period according to the absolute value and the change rate of the steering wheel angle;

step S403, obtaining an absolute value and a change rate of a yaw angle according to a yaw angle signal of a current sampling period, and determining a state value of a yaw angle absolute value identification position yaw _ flag and a yaw angle change rate identification position dyaw _ flag of the current sampling period according to the absolute value and the change rate of the yaw angle;

s404, obtaining an absolute value of the vehicle speed according to the vehicle speed signal of the current sampling period, and determining a state value of a vehicle speed absolute value identification bit vsd _ flag of the current sampling period according to the absolute value of the vehicle speed;

step S405, determining the current curve state according to the state values of a steering wheel angle absolute value identification position sw _ flag, a steering wheel angle change rate identification position dsw _ flag, a yaw angle absolute value identification position yaw _ flag, a yaw angle change rate identification position dyaw _ flag and a vehicle speed absolute value identification position vsd _ flag of the current sampling period.

In an embodiment, the step S405 specifically includes:

setting a flag bit matrix Turning _ flag with a flag bit matrix of 1 multiplied by 2 for curve driving, wherein the flag bit matrix Turning _ flag is used for representing the state of a curve, and when the value of the flag bit matrix Turning _ flag is [0,0], the curve driving is not carried out; when the value of the Turning _ flag bit matrix is [1,0], the vehicle enters a curve; when the value of the Turning _ flag bit matrix is [1,1], the vehicle is indicated to be running in a curve; when the value of the Turning _ flag bit matrix is [0,1], it indicates that the vehicle is driving out of a curve.

The initial value of Turning _ flag is [0,0 ]; in the current sampling period, the sampling period is as follows,

if the state value of the sw _ flag or the yaw _ flag is 1, the state value of the dsw _ flag or the dyaw _ flag is 1, and the state value of the vsd _ flag is 1, the Turning _ flag is set to [1,0], and the current curve state is that the vehicle enters the curve;

if the state value of the sw _ flag or the yaw _ flag is 1, the state value of the dsw _ flag or the dyaw _ flag is 0, and the state value of the vsd _ flag is 1, the Turning _ flag is set to [1,1], and the current curve state is that the vehicle is running in the curve;

and if the state value of the dsw _ flag or the dyaw _ flag is-1 and the state value of the vsd _ flag is 1, setting the Turning _ flag to [0,1], wherein the current curve state is that the vehicle is driving out of the curve.

Otherwise, Turning _ flag keeps the value of the last sampling period unchanged.

In an embodiment, the step S401 specifically includes:

according toSteering wheel corner absolute value and preset threshold value sw of current sampling period_th1、sw_th2The comparison result of (2), and the absolute value of the steering wheel angle in the last sampling period and the preset threshold value sw_th1、sw_th2Determining that the state value of the steering wheel corner absolute value identification bit sw _ flag in the current sampling period is 0 or 1 according to the comparison result; wherein 0<sw_th1<sw_th2；

Specifically, the initial value of a steering wheel angle absolute value flag sw _ flag is 0;

if the absolute value of the steering wheel rotation angle in the last sampling period is larger than the threshold value sw_th1And the absolute value of the steering wheel rotation angle in the current sampling period is less than the threshold value sw_th1If yes, setting the sw _ flag to be 0;

if the absolute value of the steering wheel rotation angle in the last sampling period is smaller than the threshold value sw_th2And the absolute value of the steering wheel rotation angle in the current sampling period is greater than the threshold value sw_th2If the flag is set to be 1, the flag is set to be swjg;

otherwise, the sw _ flag keeps the value of the last sampling period unchanged.

In an embodiment, the step S402 specifically includes:

according to the steering wheel rotation angle change rate of the current sampling period and a preset threshold value dsw_th1、dsw_th2、dsw_th3、dsw_th4And the steering wheel angle change rate of the last sampling period and the preset threshold dsw_th1、dsw_th2、dsw_th3、dsw_th4Determining that the state value of the steering wheel rotation angle change rate flag dsw _ flag in the current sampling period is-1, 0 or 1; wherein dsw_th1<dsw_th2<0<dsw_th3<dsw_th4；

Specifically, the initial value of the steering wheel angle change rate flag dsw _ flag is 0;

if the steering wheel rotation angle change rate of the last sampling period is larger than the threshold value dsw_th1And the steering wheel rotation angle change rate in the current sampling period is less than the threshold value dsw_th1If the value is equal to dsw _ flag, the value is set to-1;

if the steering wheel angle changes in the last sampling periodRate less than threshold dsw_th2And the steering wheel rotation angle change rate of the current sampling period is greater than the threshold value dsw_th2If so, dsw _ flag is set to 0;

if the steering wheel rotation angle change rate of the last sampling period is larger than the threshold value dsw_th3And the steering wheel rotation angle change rate in the current sampling period is less than the threshold value dsw_th3If so, setting dsw _ flag to be 0;

if the steering wheel rotation angle change rate of the last sampling period is less than the threshold value dsw_th4And the change rate of the steering wheel rotation angle in the current sampling period is greater than a threshold value dsw_th4If the value is dsw _ flag is set to 1;

otherwise, dsw _ flag keeps the value of the last sampling period unchanged.

In an embodiment, the step S403 specifically includes:

according to the absolute value of the yaw angle of the current sampling period and a preset threshold value yaw_th1、yaw_th2And the absolute value of the yaw angle in the previous sampling period is compared with a preset threshold value yaw_th1、yaw_th2Determining that the state value of the yaw angle absolute value identification bit yaw _ flag in the current sampling period is 0 or 1; wherein 0<yaw_th1<yaw_th2；

Specifically, the initial value of the vehicle yaw angle absolute value flag position yaw _ flag is 0;

if the absolute value of the vehicle yaw angle is greater than the threshold value yaw in the previous sampling period_th1And the absolute value of the yaw angle of the vehicle in the current sampling period is smaller than the threshold value yaw_th1If yes, then yaw _ flag is set to 0;

if the absolute value of the vehicle yaw angle is smaller than the threshold value yaw in the previous sampling period_th2And the absolute value of the yaw angle of the vehicle in the current sampling period is greater than the threshold value yaw_th2If yes, then yaw _ flag is set to 1;

otherwise, the value of the last sampling period is kept unchanged by the raw _ flag.

In an embodiment, the step S404 specifically includes:

according to the change rate of the yaw angle of the current sampling period and the preset threshold value dyaw_th1、dyaw_th2、dyaw_th3、dyaw_th4And the yaw angle change rate of the last sampling period and the preset threshold value dyaw_th1、dyaw_th2、dyaw_th3、dyaw_th4Determining the state value of the yaw angle change rate identification position dyaw _ flag of the current sampling period as-1, 0 or 1; wherein dyaw_th1<dyaw_th2<0<dyaw_th3<dyaw_th4；

Specifically, the initial value of the vehicle yaw angle change rate identification bit dyaw _ flag is 0;

if the vehicle yaw angle change rate is larger than the threshold value dyaw in the last sampling period_th1And the vehicle yaw angle change rate is less than the threshold value dyaw in the current sampling period_th1If so, dyaw _ flag is set to-1;

if the steering wheel angle change rate of the last sampling period is less than the threshold value dyaw_th2And the rate of change of the steering wheel angle is greater than the threshold value dyaw for the current sampling period_th2If so, dyaw _ flag is set to 0;

if the steering wheel angle change rate of the last sampling period is larger than the threshold value dyaw_th3And the steering wheel rotation angle change rate in the current sampling period is less than the threshold value dyaw_th3If so, dyaw _ flag is set to 0;

if the vehicle yaw angle change rate is less than the threshold value dyaw in the last sampling period_th4And the vehicle yaw angle change rate is greater than the threshold value dyaw in the current sampling period_th4If so, dyaw _ flag is set to 1;

otherwise, dyaw _ flag keeps the value of the last sampling period unchanged.

It should be noted that the steering wheel angle and the yaw rate of the vehicle state parameters are correlated with each other, and are usually proportional to each other, and both are included as the determination conditions to form redundancy, mainly to avoid some extreme situations when the vehicle is running in a curve. For example, if the steering ability of the vehicle is weakened when the front wheels slip, the steering wheel angle may be large but the vehicle does not generate a corresponding yaw angle, and at this time, the vehicle has a serious understeer characteristic, and the vehicle dynamic control system needs to intervene, and if only the yaw angle threshold value is adopted for judgment, the vehicle may be mistakenly judged not to run on a curve without intervening in the control; when the rear wheels slip, the vehicle is easy to drift, the steering wheel angle is small but the yaw velocity generated by the vehicle is very high, at the moment, the vehicle has serious over-steering characteristic, and a vehicle dynamic control system is required to intervene.

In an embodiment, the step S405 specifically includes:

according to the absolute value of the vehicle speed of the current sampling period and a preset threshold value vsd_th1、vsd_th2The comparison result, the vehicle speed absolute value of the last sampling period and the preset threshold value vsd_th1、vsd_th2Determining that the state value of the vehicle speed absolute value identification position vsd _ flag in the current sampling period is 0 or 1 according to the comparison result; wherein 0<vsd_th1<vsd_th2。

Specifically, the initial value of the vehicle speed absolute value flag vsd _ flag is 0;

if the absolute value of the vehicle speed in the last sampling period is larger than the threshold value vsd_th1(0<vsd_th1<vsd_th2) And the absolute value of the vehicle speed is less than the threshold value vsd in the current sampling period_th1If yes, setting vsd _ flag to 0;

if the absolute value of the vehicle speed in the last sampling period is less than the threshold value vsd_th2And the absolute value of the vehicle speed is greater than the threshold value vsd in the current sampling period_th2If yes, setting vsd _ flag to be 1;

otherwise, vsd _ flag keeps the value of the last sampling period unchanged.

It should be noted that the absolute value of the vehicle speed of the vehicle state parameter is mainly used to avoid the low-speed steering conditions, such as the conditions of backing up and parking, side parking, turning around, and the like, which have a large steering wheel angle, but do not need the intervention of a vehicle dynamic control system because the vehicle speed is low.

In an embodiment, the step S103 specifically includes:

if the current curve state is that the vehicle is not driving in the curve or the vehicle is driving in the curve, the acceleration adjustment amount is 0, if the current curve state is that the vehicle is entering the curve, the acceleration adjustment amount is calculated according to a first calculation mode, and when the vehicle is exiting the curve, the acceleration adjustment amount is calculated according to a second calculation mode.

Wherein, the acceleration adjustment amount is calculated according to the first calculation mode, and the following expression is specifically shown:

a_{x_ad}＝-x1×m_driver–x2

wherein, a_{x_ad}For the acceleration adjustment, m_driverThe values x1 and x2 are preset constants less than 1 corresponding to the current driving style.

Wherein, the acceleration adjustment amount is calculated according to the second calculation mode, and the following expression is specifically shown:

a_{x_ad}＝-x1×m_driver+x2

wherein, a_{x_ad}For the acceleration adjustment, m_driverThe values x1 and x2 are preset constants less than 1 corresponding to the current driving style.

Specifically, considering that there are some usage scenarios of continuous curves in the usage scenarios of the vehicle, the driver needs to quickly adjust the steering wheel angle, and the vehicle is continuously in an alternating condition of entering/exiting a curve, if the vehicle dynamic control system has a large vehicle acceleration adjustment amount, the vehicle body may have a large acceleration change with continuously abrupt change of direction due to the frequently switched alternating condition, and the driver and the passenger are sensitive to the large change of the vehicle acceleration and the vehicle body shake caused thereby, and are easy to cause discomfort and even dizziness of the person in the vehicle, so the vehicle acceleration adjustment amount is not suitable to be too large.

When a driver controls a vehicle to drive in a certain speed range by loosening/stepping on the accelerator (for example, after the driver steps on the accelerator to enable the vehicle to reach a preset speed, the driver releases the accelerator to enable the vehicle to slide and decelerate to a certain numerical value, and then steps on the accelerator to enable the vehicle to reach the preset speed), the vehicle can generate frequent alternating longitudinal acceleration, but the acceleration amplitude is small, and the sensitivity of the driver and passengers to the acceleration is relatively low.

In the embodiment, the absolute value of the acceleration generated by 120km/h vehicle sliding (generally 0.5m/s2) is used as the boundary value of the vehicle acceleration adjustment amount, and the adjustment amount of the vehicle acceleration is estimated according to the identification results of different driving styles of two working conditions of entering a curve/exiting the curve. x1 and x2 are preferably 0.25.

(1) The flag bit matrix of Turning _ flag is [0,0]]When the vehicle is not driving in a curve, the current acceleration of the vehicle is not adjusted, and the adjustment amount a of the acceleration of the vehicle is_{x_ad}＝0；

(2) The flag bit matrix of Turning _ flag is [1,0]]When the vehicle is entering a curve, the adjustment amount a of the acceleration of the vehicle_{x_ad}Calculated as follows:

a_{x_ad}＝-0.25×m_driver-0.25

for example, when the recognition result of the driving style is output m_driverWhen the vehicle enters the curve control, the adjustment amount a of the acceleration of the vehicle is 1 (the driving style is recognized as aggressive)_{x_ad}＝-0.5m/s²I.e. the vehicle dynamic control system is additionally increased by-0.5 m/s on the basis of the acceleration of the vehicle controlled by the driver²Acceleration of (2); when the recognition result of the driving style is output m_driverWhen entering the curve control, the adjustment amount a of the vehicle acceleration is equal to-1 (i.e., the driving style is recognized as robust)_{x_ad}The acceleration is not additionally increased by the vehicle dynamic control system based on the acceleration of the vehicle controlled by the driver as 0; when the recognition result of the driving style is output m_driverBetween-1 and 1, according to the calculated vehicle acceleration adjustment amount a_{x_ad}On the basis of the acceleration of the vehicle controlled by the driver, the vehicle dynamic control system additionally adds a_{x_ad}Of the acceleration of (c).

(3) The value of the Turning _ flag bit matrix is [1,1]]At this time, the vehicle is traveling in a curve, and the vehicle acceleration adjustment amount a is set without adjusting the current acceleration of the vehicle_{x_ad}＝0；

(4) The flag bit matrix of Turning _ flag is [0,1]]When the vehicle is moving out of the curve, the adjustment amount a of the acceleration of the vehicle_{x_ad}Calculated as follows:

a_{x_ad}＝-0.25×m_driver+0.25

for example, when the driving style is recognized, the value m is finally output_driverWhen the curve is exited, the adjustment amount a of the acceleration of the vehicle is 1 (the driving style is recognized as aggressive)_{x_ad}The acceleration is not additionally increased by the vehicle dynamic control system based on the acceleration of the vehicle controlled by the driver as 0; when the recognition result of the driving style is output m_driverWhen the driving style is recognized as robust-1, the adjustment amount a of the acceleration of the vehicle is adjusted when the curve is exited for control_{x_ad}＝0.5m/s²I.e. the vehicle dynamic control system is additionally increased by 0.5m/s on the basis of the acceleration of the vehicle controlled by the driver²Acceleration of (2); when the recognition result of the driving style is output m_driverBetween-1 and 1, according to the calculated vehicle acceleration adjustment amount a_{x_ad}On the basis of the acceleration of the vehicle controlled by the driver, the vehicle dynamic control system additionally adds a_{x_ad}Of the acceleration of (c).

In an embodiment, the step S104 specifically includes:

step S501, adjusting quantity a of vehicle acceleration calculated in step S103_{x_ad}Obtaining an initial adjustment amount delta T of the engine output torque required for achieving the acceleration adjustment amount in conjunction with a power transmission manner of a vehicle powertrain system_e0；

Specifically, the power transmission formulas of different vehicle types are different, and taking a certain type of front-engine front-drive step-variable transmission vehicle type as an example, the initial adjustment amount Δ T of the engine output torque is simply explained_e0The calculation method of (2) is as follows, and the power transmission formulas of other vehicle types can be calculated according to respective conditions.

In the formula, delta_mIs a conversion coefficient of the rotating mass of the vehicle, m is the mass of the vehicle, the unit kg, r is the rolling radius of the wheel, and the unit m, i_gIs the transmission ratio of the gearbox, i₀Is the main reducer transmission ratio and eta is the power system transmission efficiency.

To say thatIt is clear that the engine output torque initial adjustment amount Δ T_e0Nor the final engine output torque adjustment amount deltat_eFinal engine output torque adjustment Δ T_eFurther adjustments may be made to the driver's operation of the accelerator pedal or brake pedal depending on the engine speed.

Step S502, obtaining an initial adjustment quantity delta T for increasing the output torque of the engine_e0The rear corresponding engine speed should be n_e1Turbine-mediated speed threshold n_{e_tin}Speed threshold n for turbine exit_{e_tout}And an engine idle speed threshold n_{e_int}And according to the engine speed n_e1Turbine-mediated speed threshold n_{e_tin}Speed threshold n for turbine exit_{e_tout}And an engine idle speed threshold n_{e_int}Determining a regulated variable delta T 'from the comparison result'_e0；

Specifically, the step of taking the intervention/exit of the turbine into consideration obtains the rotating speed n of the engine in the current sampling period_e0Output torque of T_e0Specifically, the initial adjustment quantity delta T for increasing the output torque of the engine can be obtained by looking up a table through the power output Map of the engine_e0The rear corresponding engine speed should be n_e1。

Step S503, obtaining an accelerator pedal opening signal theta of the current sampling period_accA brake pedal trigger signal brake _ flag, b according to the initial adjustment quantity delta T_e0And a regulated variable delta T'_e0Accelerator pedal opening degree signal theta_accObtaining the engine output torque adjustment quantity delta T by the brake pedal trigger signal brake _ flag_e；

Step S504, outputting torque T with current engine_e0And engine output torque adjustment amount delta T_eAnd the sum is used as the target value of the output torque of the engine in the next sampling period, and the target value of the output torque is sent to the engine control unit.

In an embodiment, the step S502 specifically includes:

if n is satisfied_e0<n_{e_tin}<n_e1Is described asIf the initial adjustment quantity delta T of the output torque of the engine is directly increased_e0The output torque of the engine is adjusted to cause the sudden intervention of a turbine, the control effect of a vehicle dynamic control system is greatly reduced due to the power impact and the rotating speed fluctuation generated by the turbine, and the rotating speed n of the engine is obtained by looking up a table through the power output Map of the engine_{e_tin}Subtracting 100 corresponding engine output torque value T'_e1And is prepared from T'_e1Minus the current engine output torque T_e0Obtaining a regulated variable delta T'_e0；

If n is satisfied_e1<n_{e_tout}<n_e0Description of the initial adjustment Δ T if directly increasing the engine output torque_e0The output torque of the engine is adjusted to cause the turbine to suddenly exit, the control effect of a vehicle dynamic control system is greatly reduced due to the generated power attenuation and the rotating speed fluctuation, and the rotating speed n of the engine is obtained by looking up a table through the power output Map of the engine_{e_tout}Adding 100 corresponding engine output torque value T'_e2And is prepared from T'_e2Minus the current engine output torque T_e0Obtaining a regulated variable delta T'_e0；

If n is satisfied_e1<n_{e_int}If the engine cannot be decelerated any further, the manipulated variable Δ T'_e0Is 0;

if n is not satisfied_e0<n_{e_tin}<n_e1、n_e1<n_{e_tout}<n_e0、n_e1<n_{e_int}In any case of (1) or the engine is a naturally aspirated engine, the variable of the adjustment amount Δ T'_e0Equal to the initial adjustment quantity delta T of the output torque of the engine_e0。

In an embodiment, the step S503 specifically includes:

if the regulated variable delta T 'is met'_e0>0 and accelerator pedal opening degree signal theta_acc>70%, indicating that the driver has sufficient acceleration intention, the engine output torque adjustment amount Δ T_eIs 0;

if the regulated variable delta T 'is met'_e0<0 and the brake pedal trigger signal is trigger brake (brake _ flag is 1), which indicates that the driver has performed deceleration operation, the engine output torque adjustment amount Δ T_eIs 0;

if the regulated variable delta T 'is not satisfied'_e0>0 and accelerator pedal opening degree signal>70% of adjustment variable delta T'_e0<0 and the brake pedal trigger signal is any one of the trigger brakes, the engine output torque adjustment amount delta T_eIs equal to a regulated variable delta T'_e0。

As shown in fig. 2, an embodiment of the present invention further provides an engine output torque adjustment system for implementing the engine output torque adjustment method according to the above embodiment, where the system includes:

a driving style determination unit 1 for obtaining a current driving style of the vehicle according to a vehicle speed signal and a longitudinal acceleration signal of the vehicle;

a curve state determination unit 2 for determining a current curve state of the vehicle based on a steering wheel angle signal, a yaw angle signal, and a vehicle speed signal of the vehicle;

an acceleration adjustment amount determining unit 3, configured to determine an acceleration adjustment amount of the vehicle according to the current curve state and the current driving style, where the acceleration adjustment amount is 0 if the vehicle is not driving in a curve and the vehicle is driving in the curve; if the current curve state is that the vehicle enters the curve or the vehicle is driving out of the curve, calculating an acceleration adjustment amount according to the current driving style; and

and the engine torque determining unit 4 is used for obtaining an engine output torque adjusting amount according to the vehicle engine speed information, the current accelerator pedal opening degree signal, the brake pedal trigger signal and the acceleration adjusting amount, and determining an engine output torque target value according to the engine output torque adjusting amount and the current engine output torque.

The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

It should be noted that the system described in the foregoing embodiment corresponds to the method described in the foregoing embodiment, and therefore, portions of the system described in the foregoing embodiment that are not described in detail can be obtained by referring to the content of the method described in the foregoing embodiment, and details are not described here.

Further, the engine output torque adjustment system according to the above-described embodiment, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer-readable storage medium.

Still another embodiment of the present invention is a control apparatus according to the engine output torque adjustment system of the above embodiment; alternatively, a memory and a processor, the memory having stored therein computer readable instructions which, when executed by the processor, cause the processor to perform the steps of the engine output torque adjustment method according to the above embodiment.

Of course, the control device may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input/output, and the control device may also include other components for implementing the functions of the device, which are not described herein again.

Illustratively, the computer program may be divided into one or more units, which are stored in the memory and executed by the processor to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the control device.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center for the control device, with various interfaces and lines connecting the various parts of the overall control device.

The memory may be used for storing the computer program and/or unit, and the processor may implement various functions of the control device by executing or executing the computer program and/or unit stored in the memory and calling data stored in the memory. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.