阅读说明：本技术 一种实时坡路识别估算方法 (Real-time slope road identification and estimation method ) 是由 邢乐德 龙朋 戴镖 于 2021-07-22 设计创作，主要内容包括：本发明公开了一种实时坡路识别估算方法,基于离合器系统,释放整车制动系统,记离合器完全分离位置为S0,离合器开始传扭位置为S1,实现整车起车时离合器位置S2；其中从S0接合至S1的时间定义为T1,从S1接合至S2的时间定义为T2；S0、S1、S2位置对应车速分别定义为V0、V1、V2；建立T1时间点的“车速-坡度”标定表,根据T1时间点的车速实时计算当前坡路坡度,当坡度越大,在T1时刻车辆的运动速率就越大；本发明方法解决了车辆路面行驶实际问题,对行驶道路进行坡度实时估算,解决了车辆起步过程中的控制问题,通过标定手段实时有效的估算出车辆行驶路面的坡度与方向,实现对坡路的实时识别估算具有可标定性强、车辆适应性强、路面适应性强的特点。(The invention discloses a real-time slope road identification and estimation method, based on a clutch system, a whole vehicle brake system is released, the complete separation position of a clutch is recorded as S0, the torque transmission starting position of the clutch is recorded as S1, and the clutch position S2 is realized when the whole vehicle is started; wherein the time from S0 to S1 is defined as T1, and the time from S1 to S2 is defined as T2; the vehicle speeds corresponding to the S0, S1 and S2 positions are respectively defined as V0, V1 and V2; establishing a 'vehicle speed-gradient' calibration table at the time point of T1, calculating the gradient of the current slope road in real time according to the vehicle speed at the time point of T1, wherein the motion rate of the vehicle is higher at the moment of T1 when the gradient is higher; the method solves the actual problem of vehicle road surface running, estimates the gradient of the running road in real time, solves the control problem in the starting process of the vehicle, effectively estimates the gradient and the direction of the running road surface of the vehicle in real time by a calibration means, realizes the real-time identification and estimation of the slope road, and has the characteristics of strong standardization, strong vehicle adaptability and strong road surface adaptability.)

1. A real-time slope road identification and estimation method is based on a clutch system and is characterized in that a brake system of a whole vehicle is released, the completely separated position of a clutch is recorded as S0, the position of the clutch for starting torque transmission is recorded as S1, and the position S2 of the clutch when the whole vehicle starts is realized; wherein the time from S0 to S1 is defined as T1, and the time from S1 to S2 is defined as T2; the vehicle speeds corresponding to the S0, S1 and S2 positions are respectively defined as V0, V1 and V2;

and establishing a 'vehicle speed-gradient' calibration table at the time point of T1, calculating the gradient of the current slope road in real time according to the vehicle speed at the time point of T1, wherein the motion rate of the vehicle is greater at the time point of T1 when the gradient is greater.

2. The real-time hill-drop estimation method according to claim 1, wherein when the vehicle goes up a hill and the corresponding vehicle speed at a certain time is turned down, the time is defined as T1, and the clutch reaches the start torque transmission position S1; when the vehicle is descending a slope, the acceleration corresponding to a certain time is increased, defined as T1, and the clutch reaches the start torque transmission position S1.

3. The real-time hill path identification and estimation method according to claim 1, further comprising determining a hill path direction, wherein when the clutch is engaged from S1 to S2, as the torque transmitted by the clutch is gradually increased, if the vehicle speed is continuously increased, the free movement direction of the vehicle and the torque driving direction are the same, i.e. the slope is downhill;

if the vehicle speed is reduced and then increased, judging that the free motion direction of the vehicle is opposite to the torque driving direction, namely ascending;

based on the behavior of the vehicle speed at this stage, the direction of the slope can be determined.

4. The real-time slope recognition and estimation method according to any one of claims 1 to 3, wherein the vehicle speed is measured by a transmission output shaft speed sensor.

5. The real-time hill road identification estimation method according to claim 4 further comprising an ABS making real-time vehicle speed measurements, enabled when the transmission output shaft speed sensor fails.

6. The real-time slope road identification and estimation method according to any one of claims 1 to 5, characterized in that the slope road identification range is that the gradient is greater than or equal to 3%.

Technical Field

The invention belongs to the technical field of automobile automatic transmission technology, and particularly relates to a real-time slope road identification and estimation method.

Background

Due to the restriction of oil consumption regulations and the improvement of vehicle automation technology, an automatic transmission is generally adopted as a power transmission part in newly developed vehicles at present, and due to the restriction of cost and technical complexity, AMT technology is widely adopted in the field of commercial vehicles.

The road vehicle has complex driving road conditions, and the starting of the vehicle provided with the AMT, particularly on a ramp, is complex work and relates to a plurality of contents such as estimation of the road ramp, engine torque control, transmission torque control of a clutch and the like, wherein the estimation of the road ramp is the basis for realizing good control; however, the prior art is lack of a real-time road slope estimation technology in the vehicle running process.

Disclosure of Invention

The invention aims to solve the technical problem of providing a real-time slope road identification and estimation method, which solves the actual problem of vehicle road surface running, estimates the slope of a running road in real time, solves the control problem in the starting process of a vehicle, and has the characteristics of strong standardization, strong vehicle adaptability and strong road surface adaptability.

The technical scheme adopted for solving the problems in the prior art is as follows:

the method for identifying and estimating the slope in real time is based on a clutch system and specifically comprises the following steps: releasing a brake system of the whole vehicle, recording a complete separation position of a clutch as S0, and recording a torque transmission starting position of the clutch as S1, so that the clutch position S2 is realized when the whole vehicle is started; wherein the time from S0 to S1 is defined as T1, and the time from S1 to S2 is defined as T2; the vehicle speeds corresponding to the S0, S1 and S2 positions are respectively defined as V0, V1 and V2;

and establishing a 'vehicle speed-gradient' calibration table at the time point of T1, calculating the gradient of the current slope road in real time according to the vehicle speed at the time point of T1, wherein the motion rate of the vehicle is greater at the time point of T1 when the gradient is greater.

Further, the determination of the starting torque transmission position of the present invention is mainly achieved by the following method: when the vehicle goes uphill and the vehicle speed corresponding to a certain moment is changed to be reduced, the time is defined as T1, and the clutch reaches a torque transmission starting position S1; when the vehicle is descending a slope, the acceleration corresponding to a certain time is increased, defined as T1, and the clutch reaches the start torque transmission position S1.

Further, the invention also includes the slope ramp direction judgment on the basis of slope estimation, when the clutch is engaged from S1 to S2, the torque transmitted by the clutch is gradually increased, if the vehicle speed is continuously increased, the free movement direction of the vehicle and the torque driving direction are judged to be the same, namely the slope is downhill;

if the vehicle speed is reduced and then increased, judging that the free motion direction of the vehicle is opposite to the torque driving direction, namely ascending;

based on the behavior of the vehicle speed at this stage, the direction of the slope can be determined.

Further, the vehicle speed is measured by a transmission output shaft rotating speed sensor.

Furthermore, in order to ensure the accuracy and reliability of vehicle speed measurement, the ABS is used for real-time vehicle speed measurement and is started when the transmission output shaft rotating speed sensor fails.

Further, in order to ensure that the vehicle can freely move on a slope road under the condition of releasing the whole vehicle brake system, the slope road identification range is that the gradient is more than or equal to 3%.

The invention has the following beneficial effects:

the method solves the actual problem of vehicle road surface running, estimates the gradient of the running road in real time, solves the control problem in the starting process of the vehicle, can effectively estimate the gradient and the direction of the running road surface of the vehicle by a calibration means, and realizes the real-time identification and estimation of the gradient road, and has the characteristics of strong calibration performance, strong vehicle adaptability and strong road surface adaptability.

Drawings

Fig. 1 is a diagram illustrating the relationship between the clutch engagement position, the time and the vehicle speed according to the present embodiment.

Detailed Description

The present invention will be further described with reference to the following embodiments.

As shown in fig. 1, the present embodiment provides a real-time slope identification and estimation method, based on a clutch system, releasing a brake system of a whole vehicle, noting that a completely disengaged position of the clutch is S0, and a torque transmission starting position of the clutch is S1, so as to realize a clutch position S2 when the whole vehicle starts; wherein the time from S0 to S1 is defined as T1, and the time from S1 to S2 is defined as T2; the vehicle speeds corresponding to the S0, S1 and S2 positions are respectively defined as V0, V1 and V2;

as shown in Table 1, a calibration table of "vehicle speed-gradient" at time T1 is established, and the gradient of the current slope is calculated in real time according to the vehicle speed at time T1, and when the gradient is larger, the movement rate of the vehicle is larger at time T1.

TABLE 1 calibration chart of vehicle speed-ramp

Vehicle speed V1	X1	X2	X3	X4	X5
						Slope of slope	Y1	Y2	Y3	Y4	Y5

When the vehicle speed V1 is X1 at the time point T1, the current gradient is Y1 according to the calibration table.

As shown in fig. 1, in the present embodiment, the determination of the start torque transmission position is mainly achieved by the following method: when the vehicle goes uphill and the vehicle speed corresponding to a certain moment is changed to be reduced, the time is defined as T1, and the clutch reaches a torque transmission starting position S1; when the vehicle is descending a slope, the acceleration corresponding to a certain time is increased, defined as T1, and the clutch reaches the start torque transmission position S1.

As shown in fig. 1, the present embodiment further includes a slope direction determination based on the slope estimation, when the clutch is engaged from S1 to S2, as the torque transmitted by the clutch gradually increases, if the vehicle speed continuously increases, it is determined that the free movement direction of the vehicle and the torque driving direction are the same, i.e. the slope is downhill;

if the vehicle speed is reduced and then increased, judging that the free motion direction of the vehicle is opposite to the torque driving direction, namely ascending;

based on the behavior of the vehicle speed at this stage, the direction of the slope can be determined.

The vehicle speed in this embodiment is measured by a transmission output shaft speed sensor.

In the embodiment, in order to ensure the accuracy and reliability of vehicle speed measurement, the ABS is further used for real-time vehicle speed measurement, and the ABS is activated when the transmission output shaft rotation speed sensor fails.

In the embodiment, in order to ensure that the vehicle can freely move on a slope road under the condition of releasing the whole vehicle braking system, the slope road identification range is that the gradient is more than or equal to 3%.

The real-time identification and estimation method for the slope road solves the actual problem of vehicle road surface running, carries out slope real-time estimation on the running road, solves the control problem in the vehicle starting process, can effectively estimate the slope and the direction of the running road surface of the vehicle through a calibration means, and has the characteristics of strong calibration performance, strong vehicle adaptability and strong road surface adaptability for realizing the real-time identification and estimation of the slope road.

It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection of the claims of the present invention.