阅读说明：本技术 一种转速预测方法、系统及车辆 (rotating speed prediction method and system and vehicle ) 是由 莫润波 叶腾平 于 2019-09-06 设计创作，主要内容包括：本发明提出一种转速预测方法、系统及车辆,该方法可用于汽车、轮船等转速控制领域,它包括以下几个步骤：在车辆(或其它设备,以下以汽车作为示例)上电后,采集车辆运转部件的多个转速采样值及运转部件的当前转速采样值；根据之前采集的多个转速采样值及当前转速采样值计算出一个采样周期内运转部件的转速增量值；根据转速增量值、当前转速采样值及输入的需要预测的采样周期个数,估算出预测转速。本发明能够有效识别当前转速的变化趋势,从而快速准确的预测出未来一段时间的转速,有利于提高PID的控制效果,进而改善车辆的平顺性。(The invention provides a rotating speed prediction method, a rotating speed prediction system and a vehicle, wherein the method can be used in the field of rotating speed control of automobiles, ships and the like, and comprises the following steps: after a vehicle (or other equipment, an automobile is taken as an example in the following) is powered on, collecting a plurality of rotating speed sampling values of a vehicle operating component and a current rotating speed sampling value of the operating component; calculating a rotating speed increment value of a running component in a sampling period according to a plurality of rotating speed sampling values acquired before and a current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted. The method can effectively identify the change trend of the current rotating speed, thereby quickly and accurately predicting the rotating speed in a future period of time, being beneficial to improving the control effect of PID and further improving the smoothness of the vehicle.)

1. A method for predicting a rotational speed, the method comprising the steps of:

After a vehicle is electrified, collecting a plurality of rotating speed sampling values of a vehicle running component and a current rotating speed sampling value of the running component;

Calculating a rotating speed increment value of the operating component in a sampling period according to the rotating speed sampling values and the current rotating speed sampling value;

And estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted.

2. a rotation speed prediction method according to claim 1, characterized in that the predicted rotation speed is calculated by the following formula:

V_n＝V₀+△V*n

Wherein, V_nFor said predicted speed, V, after the number of sampling cycles corresponding to the prediction₀And calculating the current rotating speed sampling value, wherein the delta V is the rotating speed increment value, and n is the number of sampling periods needing to be predicted.

3. A method for rotational speed prediction according to claim 2 wherein the plurality of rotational speed samples comprises at least 24 rotational speed samples.

4. A rotation speed prediction method according to claim 3, characterized in that the rotation speed increase value is calculated by the following formula:

△V＝△₁*W₁+△₂*W₂+△₃*W₃+△₄*W₄+△₅*W₅

wherein, Δ₁Is at presentDifference between the sampled value of the rotational speed and the previous sampled value of the rotational speed, Delta₂Is the difference between the current rotational speed sample value and the average of the first three rotational speed sample values, delta₃Is the difference between the average of the first three rotational speed sample values and the average of the first six rotational speed sample values, Δ₄Is the difference between the average of the first six rotational speed sample values and the average of the first twelve rotational speed sample values, Delta₅is the difference between the average of the first twelve rotational speed samples and the average of the first 24 rotational speed samples, W₁Is a first predetermined weight, W₂Is a first predetermined weight, W₃Is a first predetermined weight, W₄is a first predetermined weight, W₅is a first predetermined weight.

5. A rotation speed prediction method according to claim 4, wherein the first to fifth preset weights have the following calculation relationship:

W₁+W₂+W₃+W₄+W₅＝100％。

6. A rotational speed prediction system, comprising:

the sampling module is used for collecting a plurality of rotating speed sampling values of the vehicle running component and the current rotating speed sampling value of the running component after the vehicle is electrified;

The first calculation module is used for calculating a rotating speed increment value of the running component in a sampling period according to the plurality of rotating speed sampling values and the current rotating speed sampling value;

And the second calculation module is used for estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of input sampling periods needing to be predicted.

7. a speed prediction system as claimed in claim 6, wherein the second calculation module is configured to calculate the predicted speed by the following equation:

V_n＝V₀+△V*n

Wherein, V_nFor corresponding to the sampling requiring predictionSaid predicted speed, V, after a number of sample periods₀And calculating the current rotating speed sampling value, wherein the delta V is the rotating speed increment value, and n is the number of sampling periods needing to be predicted.

8. A speed prediction system as claimed in claim 7, wherein the plurality of speed samples comprises at least 24 speed samples.

9. The system of claim 8, wherein the first calculation module is configured to calculate the speed increment value by the following equation:

△V＝△₁*W₁+△₂*W₂+△₃*W₃+△₄*W₄+△₅*W₅

wherein, Δ₁is the difference between the current rotational speed sample value and the previous rotational speed sample value, Delta₂Is the difference between the current rotational speed sample value and the average of the first three rotational speed sample values, delta₃Is the difference between the average of the first three rotational speed sample values and the average of the first six rotational speed sample values, Δ₄Is the difference between the average of the first six rotational speed sample values and the average of the first twelve rotational speed sample values, Delta₅Is the difference between the average of the first twelve rotational speed samples and the average of the first 24 rotational speed samples, W₁Is a first predetermined weight, W₂Is a first predetermined weight, W₃Is a first predetermined weight, W₄Is a first predetermined weight, W₅Is a first predetermined weight.

10. A vehicle characterized in that a rotational speed prediction system according to any one of claims 6-9 is provided.

Technical Field

The invention relates to the field of rotating speed control of vehicles, ships and the like, in particular to a rotating speed prediction method, a system and a vehicle, which can be applied to engine rotating speed, input shaft rotating speed and other rotating speed predictions of equipment such as automobiles and the like.

Background

During the development of the automobile transmission, clutch torque control usually controls a rotational speed difference (difference between a target rotational speed and an actual rotational speed) through a PID (proportional-Integral-Differential), that is, torque is equal to the product of a gain term of the PID and the speed difference, so that the magnitude of the rotational speed difference directly influences the magnitude of the torque. However, when the target rotational speed is determined, the actual rotational speed directly determines the trend of the torque. However, in actual Control, the rotation speed signal has a delay (especially, the delay of the engine rotation speed transmitted from an ECU (Electronic Control Unit) to a TCU (Transmission Control Unit) through a CAN (Controller area network) network is obvious), and when the actual rotation speed is far from the target rotation speed, if PID is too large, overshoot is easy, and if PID is too small, a risk such as excessive slip is easily caused.

at present, the relevant PID control strategy usually adopts actual rotating speed for calculation, and the method has poor control timeliness and slow response speed, so that the PID control effect is poor. Therefore, how to accelerate the prejudgment of the variation trend of the actual rotating speed becomes one of the difficulties of the PID control strategy.

Disclosure of Invention

The present invention is directed to solving at least one of the above problems.

Therefore, an object of the present invention is to provide a method for predicting a rotation speed, which can effectively identify a variation trend of a current rotation speed, so as to quickly and accurately predict a rotation speed in a future period of time, thereby facilitating to improve the control effect of PID, and further facilitating to improve the smoothness of a vehicle.

A second object of the present invention is to provide a rotational speed prediction system.

A third object of the invention is to propose a vehicle provided with a rotation speed prediction system.

In order to achieve the above object, an embodiment of the first aspect of the present invention provides a rotation speed prediction method, including the steps of: after a vehicle is electrified, collecting a plurality of rotating speed sampling values of a vehicle running component and a current rotating speed sampling value of the running component; calculating a rotating speed increment value of the operating component in a sampling period according to the rotating speed sampling values and the current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted.

According to the rotating speed prediction method provided by the embodiment of the invention, after a vehicle is electrified, a plurality of rotating speed sampling values of a vehicle operating component and a current rotating speed sampling value of the operating component are collected; estimating a rotating speed increment value of the running component in a sampling period according to the rotating speed sampling values and the current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted. The change trend of the current rotating speed can be effectively identified, so that the rotating speed in a future period can be quickly and accurately predicted, the PID control effect can be improved, and the smoothness of the vehicle can be improved conveniently.

In addition, the rotation speed prediction method according to the above embodiment of the present invention may further have the following additional technical features:

in some examples, the predicted speed is calculated by the following equation:

V_n＝V₀+△V*n

Wherein, V_nFor said predicted speed, V, after the number of sampling cycles corresponding to the prediction₀And calculating the current rotating speed sampling value, wherein the delta V is the rotating speed increment value, and n is the number of sampling periods needing to be predicted.

In some examples, the plurality of speed sample values includes at least 24 speed sample values.

In some examples, the speed increment value is calculated by the following formula:

△V＝△₁*W₁+△₂*W₂+△₃*W₃+△₄*W₄+△₅*W₅

Wherein, Δ₁Is the difference between the current rotational speed sample value and the previous rotational speed sample value, Delta₂Is the difference between the current rotational speed sample value and the average of the first three rotational speed sample values, delta₃is the difference between the average of the first three rotational speed sample values and the average of the first six rotational speed sample values, Δ₄Is the difference between the average of the first six rotational speed sample values and the average of the first twelve rotational speed sample values, Delta₄is the difference between the average of the first twelve rotational speed samples and the average of the first 24 rotational speed samples, W₁Is a first predetermined weight, W₂is the first stepLet weight, W₃Is a first predetermined weight, W₄Is a first predetermined weight, W₅Is a first predetermined weight.

In some examples, the first to fifth preset weights have the following calculated relationship:

W₁+W₂+W₃+W₄+W₅＝100％。

In order to achieve the above object, an embodiment of a second aspect of the present invention proposes a rotation speed prediction system including: the sampling module is used for collecting a plurality of rotating speed sampling values of the vehicle running component and the current rotating speed sampling value of the running component after the vehicle is electrified; the first calculation module is used for calculating a rotating speed increment value of the running component in a sampling period according to the plurality of rotating speed sampling values and the current rotating speed sampling value; and the second calculation module is used for estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of input sampling periods needing to be predicted.

According to the rotating speed prediction system provided by the embodiment of the invention, after a vehicle is electrified, a plurality of rotating speed sampling values of a vehicle operating component and a current rotating speed sampling value of the operating component are collected; calculating a rotating speed increment value of the running component in a sampling period according to the rotating speed sampling values and the current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted. The change trend of the current rotating speed can be effectively identified, so that the rotating speed in a future period can be quickly and accurately predicted, the PID control effect can be improved, and the smoothness of the vehicle can be improved conveniently.

In addition, the rotation speed prediction system according to the above embodiment of the present invention may further have the following additional technical features:

In some examples, the second calculation module is configured to calculate the predicted speed by the following equation:

V_n＝V₀+△V*n

Wherein, V_nfor said predicted speed, V, after the number of sampling cycles corresponding to the prediction₀is a stand forand the current rotating speed sampling value, delta V is the rotating speed increment value, and n is the number of sampling periods needing to be predicted.

in some examples, the plurality of speed sample values includes at least 24 speed sample values.

In some examples, the first calculation module is configured to calculate the speed increment value by the following formula:

△V＝△₁*W₁+△₂*W₂+△₃*W₃+△₄*W₄+△₅*W₅

Wherein, Δ₁Is the difference between the current rotational speed sample value and the previous rotational speed sample value, Delta₂is the difference between the current rotational speed sample value and the average of the first three rotational speed sample values, delta₃Is the difference between the average of the first three rotational speed sample values and the average of the first six rotational speed sample values, Δ₄Is the difference between the average of the first six rotational speed sample values and the average of the first twelve rotational speed sample values, Delta₅is the difference between the average of the first twelve rotational speed samples and the average of the first 24 rotational speed samples, W₁Is a first predetermined weight, W₂Is a first predetermined weight, W₃Is a first predetermined weight, W₄Is a first predetermined weight, W₅Is a first predetermined weight.

In order to achieve the above object, an embodiment of a third aspect of the present invention proposes a vehicle provided with the rotation speed prediction system according to the above embodiment of the present invention.

According to the vehicle provided by the embodiment of the invention, after power is on, a plurality of rotating speed sampling values of a vehicle operating component and a current rotating speed sampling value of the operating component are collected; calculating a rotating speed increment value of the running component in a sampling period according to the rotating speed sampling values and the current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted. The change trend of the current rotating speed can be effectively identified, so that the rotating speed in a future period can be quickly and accurately predicted, the PID control effect can be improved, and the smoothness of the vehicle can be improved conveniently.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a rotational speed prediction method according to one embodiment of the present invention;

Fig. 2 is a block diagram of a rotational speed prediction system according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following describes a rotation speed prediction method, a system and a vehicle according to an embodiment of the invention with reference to the accompanying drawings.

FIG. 1 is a flow chart of a speed prediction method according to one embodiment of the invention. It can be understood that the method can be suitable for predicting the rotating speeds of various vehicles, such as the rotating speed of an engine, the rotating speed of an input shaft of a transmission and the like, and can be effectively applied to the research and development of automobile transmissions and the development of new automobile products. The method can also be applied to the rotation speed prediction of other equipment such as ships. As shown in fig. 1, the method for predicting the rotation speed includes the following steps:

Step S1: after the vehicle is powered on, a plurality of rotating speed sampling values of the vehicle operating component and the current rotating speed sampling value of the operating component are collected.

specifically, the vehicle operating component is, for example, an engine, a transmission, or the like of the vehicle, and accordingly, the rotational speed sampled value is an engine rotational speed sampled value, a transmission input shaft rotational speed sampled value, or the like.

the vehicle can be provided with a rotating speed sensor, and a plurality of rotating speed sampling values and the current rotating speed sampling value of the vehicle running component are collected through the rotating speed sensor.

Step S2: and calculating the rotating speed increment value of the running part in one sampling period according to a plurality of rotating speed sampling values acquired before and the current rotating speed sampling value.

Step S3: and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted.

Specifically, in one embodiment of the present invention, the predicted rotation speed is calculated by the following formula:

V_n＝V₀+△V*n

wherein, V_nFor a predicted speed, V, corresponding to the number of sampling cycles after which prediction is required₀The sampled value of the current rotating speed is,And delta V is a rotating speed increment value, and n is the number of sampling periods needing to be predicted. For example, if the number of sampling cycles to be predicted is 3, i.e., n is 3, V is_nI.e. the predicted rotation speed after 3 sampling periods, V₀For the current rotating speed sampling value, Δ V is a rotating speed increment value corresponding to one sampling period. And calibrating the number n of the sampling periods needing to be predicted according to the vehicle test requirement.

In one embodiment of the invention, the plurality of rotational speed sample values comprises at least 24 rotational speed sample values.

Then, the rotation speed increment value is calculated by the following formula:

△V＝△₁*W₁+△₂*W₂+△₃*W₃+△₄*W₄+△₅*W₅

Wherein, Δ₁is the difference between the current rotational speed sample value and the previous rotational speed sample value, Delta₂Is the difference between the current rotational speed sample value and the average of the first three rotational speed sample values, delta₃Is the difference between the average of the first three rotational speed sample values and the average of the first six rotational speed sample values, Δ₄Is the difference between the average of the first six rotational speed sample values and the average of the first twelve rotational speed sample values, Delta₅Is the difference between the average of the first twelve rotational speed samples and the average of the first 24 rotational speed samples, W₁Is a first predetermined weight, W₂Is a first predetermined weight, W₃Is a first predetermined weight, W₄Is a first predetermined weight, W₅Is a first predetermined weight.

Wherein, the first to fifth preset weights have the following calculation relationship:

W₁+W₂+W₃+W₄+W₅＝100％。

In a particular embodiment, W₁To W₅Can be calibrated according to actual requirements, and W₁To W₅As one combination, 32 value combinations are included, and the 32 value combinations all satisfy the above calculation relationship.

That is, the method of the embodiment of the present inventionThe method comprises the steps of starting to record a rotating speed signal after a vehicle is electrified, recording at least 24 rotating speed sampling values, and predicting the corresponding rotating speed by utilizing the average rotating speed and the average rotating speed change rule of the first 1 sampling value, the current sampling value, the first 3 sampling values, the first 6 sampling values, the first 12 sampling values and the first 24 sampling values as the basis for predicting the rotating speed change trend, namely calculating the average rotating speed and predicting the change rule of the future rotating speed according to the average rotating speed change trend. Specifically, the above average rotation speeds are compared pairwise, and 5 different rotation speed differences are generated: delta₁、△₂、△₃、△₄、△₅(ii) a Displaying monotonicity divided into 32 cases according to average rotating speed change ruleFurther calculating the final predicted rotation speed, predicted rotation speed V_n＝V₀+△V*n＝V₀+(△₁*W₁+△₂*W₃+△₃*W₃+△₄*W₄+△₅*W₅) N. Wherein, V₀For the current rotational speed sample value, W₁、W₂、W₃、W₄、W₅Are all weighted incrementally, and W₁+W₂+W₃+W₄+W₅＝100％。

In a specific embodiment, when the delay of the rotating speed signal is obvious, the response speed of PID calculation is obviously improved by the method; the actual vehicle test proves that the rotating speed prediction method provided by the embodiment of the invention can effectively improve the speed of the clutch torque response of the DCT (Dual Clutch Transmission), thereby greatly improving the smoothness of the vehicle.

According to the rotating speed prediction method provided by the embodiment of the invention, after a vehicle is electrified, a plurality of rotating speed sampling values of a vehicle operating component and a current rotating speed sampling value of the operating component are collected; calculating a rotating speed increment value of the operating component in a sampling period according to a plurality of rotating speed sampling values acquired before and the current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted. The change of the current rotating speed can be effectively identified, so that the rotating speed in a future period can be quickly and accurately predicted, the PID control effect can be favorably improved, and the smoothness of the vehicle can be conveniently improved.

A further embodiment of the present invention is directed to a rotational speed prediction system.

fig. 2 is a block diagram of a rotational speed prediction system according to an embodiment of the present invention. It can be understood that the system can be suitable for predicting the rotating speeds of various vehicles, such as the rotating speed of an engine, the rotating speed of an input shaft of a transmission and the like, and can be effectively applied to the research and development of automobile transmissions and the development of new automobile products. The system can also be applied to the rotation speed prediction of other equipment such as ships. As shown in fig. 2, the rotational speed prediction system 100 includes: a sampling module 110, a first calculation module 120, and a second calculation module 130.

The sampling module 110 is configured to collect a plurality of rotational speed sampling values of a vehicle operating component and a current rotational speed sampling value of the operating component after the vehicle is powered on.

Specifically, the vehicle operating component is, for example, an engine, a transmission, or the like of the vehicle, and accordingly, the rotational speed sampled value is an engine rotational speed sampled value, a transmission input shaft rotational speed sampled value, or the like.

The sampling module 110 may include a speed sensor through which a plurality of speed samples and a current speed sample of a vehicle operating component are collected.

The first calculating module 120 is configured to calculate a rotation speed increment value of the operating component in a sampling period according to a plurality of previously collected rotation speed sampling values and a current rotation speed sampling value.

The second calculating module 130 is configured to estimate the predicted rotation speed according to the rotation speed increment value, the current rotation speed sampling value, and the input number of sampling cycles that need to be predicted.

Specifically, in one embodiment of the present invention, the second calculation module 130 is configured to calculate the predicted rotation speed by the following formula:

V_n＝V₀+△V*n

Wherein, V_nTo correspond toPredicted speed, V, after the number of sampling cycles to be predicted₀The current rotating speed sampling value is obtained, delta V is a rotating speed increment value, and n is the number of sampling periods needing to be predicted. For example, if the number of sampling cycles to be predicted is 3, i.e., n is 3, V is_nI.e. the predicted rotation speed after 3 sampling periods, V₀For the current rotating speed sampling value, Δ V is a rotating speed increment value corresponding to one sampling period. And calibrating the number n of the sampling periods needing to be predicted according to the vehicle test requirement.

In one embodiment of the invention, the plurality of rotational speed sample values comprises at least 24 rotational speed sample values.

Then, the first calculating module 120 is configured to calculate the rotation speed increment value by the following formula:

△V＝△₁*W₁+△₂*W₂+△₃*W₃+△₄*W₄+△₅*W₅

Wherein, Δ₁Is the difference between the current rotational speed sample value and the previous rotational speed sample value, Delta₂Is the difference between the current rotational speed sample value and the average of the first three rotational speed sample values, delta₃Is the difference between the average of the first three rotational speed sample values and the average of the first six rotational speed sample values, Δ₄Is the difference between the average of the first six rotational speed sample values and the average of the first twelve rotational speed sample values, Delta₅Is the difference between the average of the first twelve rotational speed samples and the average of the first 24 rotational speed samples, W₁Is a first predetermined weight, W₂Is a first predetermined weight, W₃Is a first predetermined weight, W₄Is a first predetermined weight, W₅is a first predetermined weight.

Wherein, the first to fifth preset weights have the following calculation relationship:

W₁+W₂+W₃+W₄+W₅＝100％。

In a particular embodiment, W₁To W₅Can be calibrated according to actual requirements, and W₁To W₅As a combination, comprising 32 value combinations,And the 32 value combinations all satisfy the above calculation relationship.

that is to say, in the system according to the embodiment of the present invention, after the vehicle is powered on, the rotation speed signal is recorded, at least 24 rotation speed sampling values are recorded, and the average rotation speed change rule of the first 1 sampling value, the current sampling value, the first 3 sampling values, the first 6 sampling values, the first 12 sampling values, and the first 24 sampling values are used as the basis for predicting the rotation speed change trend, that is, the average rotation speed is calculated, and the change rule of the future rotation speed is estimated according to the average rotation speed change trend, so as to predict the corresponding rotation speed. Specifically, the above average rotation speeds are compared pairwise, and 5 different rotation speed differences are generated: delta₁、△₂、△₃、△₄、△₅(ii) a Displaying monotonicity divided into 32 cases according to average rotating speed change ruleFurther calculating the final predicted rotation speed, predicted rotation speed V_n＝V₀+△V*n＝V₀+(△₁*W₁+△₂*W₃+△₃*W₃+△₄*W₄+△₅*W₅) N. Wherein, V₀For the current rotational speed sample value, W₁、W₂、W₃、W₄、W₅Are all weighted incrementally, and W₁+W₂+W₃+W₄+W₅＝100％。

In a specific embodiment, when the delay of the rotating speed signal is obvious, the response speed of the system for improving PID calculation is obvious; the actual vehicle test proves that the rotating speed prediction system provided by the embodiment of the invention can effectively improve the speed of the clutch torque response of the DCT (Dual Clutch Transmission), thereby greatly improving the smoothness of the vehicle.

According to the rotating speed prediction system provided by the embodiment of the invention, after a vehicle is electrified, a plurality of rotating speed sampling values of a vehicle operating component and a current rotating speed sampling value of the operating component are collected; calculating a rotating speed increment value of a running component in a sampling period according to a plurality of rotating speed sampling values acquired before and a current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted. The change of the current rotating speed can be effectively identified, so that the rotating speed in a future period can be quickly and accurately predicted, the PID control effect can be favorably improved, and the smoothness of the vehicle can be conveniently improved.

Further embodiments of the present invention also provide a vehicle provided with the above-described rotation speed prediction system. That is, the vehicle includes the rotation speed prediction system described in any one of the above embodiments of the invention.

According to the vehicle provided by the embodiment of the invention, after power is on, a plurality of rotating speed sampling values of a vehicle operating component and a current rotating speed sampling value of the operating component are collected; calculating a rotating speed increment value of a running component in a sampling period according to a plurality of rotating speed sampling values acquired before and a current rotating speed sampling value; and estimating the predicted rotating speed according to the rotating speed increment value, the current rotating speed sampling value and the number of the input sampling periods needing to be predicted. The change of the current rotating speed can be effectively identified, so that the rotating speed in a future period can be quickly and accurately predicted, the PID control effect can be favorably improved, and the smoothness of the vehicle can be conveniently improved.

In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described in detail in order to reduce redundancy.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.