阅读说明：本技术 一种电子稳定系统介入的扭矩链控制方法及装置 (Torque chain control method and device for intervention of electronic stability system ) 是由 薛正亮 储琦 梁海强 于 2020-06-05 设计创作，主要内容包括：本发明提供一种电子稳定系统介入的扭矩链控制方法及装置,涉及电动汽车技术领域,所述方法包括：在电子稳定系统激活时,获取检测到所述电子稳定系统的介入扭矩信号；根据所述介入扭矩信号和预设扭矩梯度值,获取驾驶员扭矩梯度值；在所述电子稳定系统退出时,根据所述预设扭矩梯度值,将所述驾驶员扭矩梯度值逐渐过渡为当前的驾驶员需求扭矩值。本发明的方案简化了整车的扭矩链路,减少扭矩梯度控制,可实现更好的控制效果。(The invention provides an electronic stability system intervened torque chain control method and device, and relates to the technical field of electric automobiles, wherein the method comprises the following steps: acquiring an intervention torque signal of an electronic stability system when the electronic stability system is activated; acquiring a driver torque gradient value according to the intervention torque signal and a preset torque gradient value; and when the electronic stability system exits, gradually transitioning the driver torque gradient value to the current driver required torque value according to the preset torque gradient value. The scheme of the invention simplifies the torque link of the whole vehicle, reduces the torque gradient control and can realize better control effect.)

1. A torque chain control method for intervention of an electronic stability system is applied to a vehicle control unit and is characterized by comprising the following steps:

acquiring an intervention torque signal of an electronic stability system when the electronic stability system is activated;

acquiring a driver torque gradient value according to the intervention torque signal and a preset torque gradient value;

and when the electronic stability system exits, gradually transitioning the driver torque gradient value to the current driver required torque value according to the preset torque gradient value.

2. The electronic stability system intervening torque chain control method of claim 1, wherein upon activation of an electronic stability system, after acquiring an intervening torque signal detected for the electronic stability system, comprising:

and the driving motor controller outputs torque according to the intervention torque signal.

3. The electronic stability system-mediated torque chain control method according to claim 1, wherein the preset torque gradient value is determined according to a vehicle speed, an accelerator opening degree and an engine load in a current driving state.

4. The electronic stability system-mediated torque chain control method according to claim 1, wherein a driver torque gradient value is obtained from the mediated torque signal and a preset torque gradient value, or:

and when the adaptive cruise control system is activated, acquiring a torque gradient value of the adaptive cruise control system according to the intervention torque signal and a preset torque gradient value.

5. The electronic stability system-mediated torque chain control method according to claim 1, wherein gradually transitioning the driver torque gradient to a current driver demand torque value based on the preset torque gradient value upon exit of the electronic stability system comprises:

and circularly superposing the preset torque gradient value to the current driver required torque value by the driver torque gradient value.

6. The electronic stability system-mediated torque chain control method according to claim 4, wherein the driver torque gradient value is gradually transitioned to a current driver demand torque value according to the preset torque gradient value upon exit of the electronic stability system, or:

and when the electronic stabilization system exits, gradually transitioning the torque gradient value of the adaptive cruise control system to the current torque value required by the driver according to the torque gradient value of the adaptive cruise control system.

7. The utility model provides a torque chain controlling means that electronic stability system intervenes, is applied to vehicle control unit which characterized in that includes:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring an intervention torque signal of an electronic stabilization system when the electronic stabilization system is activated;

the second acquisition module is used for acquiring a driver torque gradient value according to the intervention torque signal and a preset torque gradient value;

and the transition module is used for gradually transitioning the driver torque gradient value into the current driver required torque value according to the preset torque gradient value when the electronic stability system exits.

8. The electronic stability system-mediated torque chain control device of claim 7, wherein the first obtaining module is further configured to:

and the driving motor controller outputs torque according to the intervention torque signal.

9. The electronic stability system interposed torque chain control device according to claim 7, wherein the preset torque gradient value is determined according to a vehicle speed, an accelerator opening degree and an engine load in a current driving state.

10. The electronic stability system-mediated torque chain control device of claim 7, wherein the second obtaining module is further configured to:

and when the adaptive cruise control system is activated, acquiring a torque gradient value of the adaptive cruise control system according to the intervention torque signal and a preset torque gradient value.

11. The electronic stability system-mediated torque chain control device of claim 7, wherein the transition module is specifically configured to:

and circularly superposing the preset torque gradient value to the current driver required torque value by the driver torque gradient value.

12. The electronic stability system-mediated torque chain control device of claim 10, wherein the transition module is further configured to:

and when the electronic stabilization system exits, gradually transitioning the torque gradient value of the adaptive cruise control system to the current torque value required by the driver according to the torque gradient value of the adaptive cruise control system.

13. A vehicle control unit comprising an electronic stability system mediated torque chain control device as claimed in any one of claims 7 to 12.

14. An electric vehicle comprising the hybrid vehicle controller of claim 13.

Technical Field

The invention belongs to the technical field of electric automobiles, and particularly relates to a torque chain control method and device with intervention of an electronic stability system.

Background

In a vehicle equipped with an Electronic Stability Program (ESP), during driving, the ESP identifies an actual motion state of the vehicle through a sensor, and takes corresponding measures rapidly in an emergency situation such as braking, reducing or increasing torque of a certain wheel or wheels, and the like, when the vehicle has a yaw, a slip, and the like, so as to alleviate or prevent the emergency vehicle dynamic situation. Torque intervention achieves torque adjustment through ESP interaction with the vehicle control unit.

When the ESP intervenes in the vehicle torque, the system has multiple torque gradient controls: the normal torque gradient of the driver, the change of the torque gradient of the driver when the ESP is introduced, the torque gradient control when the ESP is withdrawn, and the like are complicated in torque processing, and the torque gradients are easy to interfere with each other, and the slow torque gradient at the rear end limits the fast torque gradient at the front end, thereby influencing the power response. On the other hand, the torque links are relatively complex and coupled with each other, so that the later control software development and maintenance work is not facilitated. There is a need for a torque chain control method that simplifies the torque chain, reduces control and calibration of torque gradients.

In a traditional torque link, in order to ensure the drivability of the whole vehicle, the system performs torque gradient control on the torque of a driver. For example, when an ACC (Adaptive Cruise Control) function exits, it is necessary to perform transient gradient Control on the ACC torque; transient gradient processing of the ESP torque is also required at ESP torque exit. As shown in FIG. 1, each torque module requires a corresponding torque gradient control (the 1/z module represents the base target value for each torque gradient control). This torque link becomes more and more complex as the vehicle functionality increases, and more torque intervention modules need to be added. Moreover, the torque gradient at the rear end of the torque link limits the front torque demand, for example, when the ESP is withdrawn, the throttle is suddenly stepped on, and the torque transition gradient control of the ESP withdrawal limits the output speed of the torque of the driver, thereby influencing the braking effect.

Disclosure of Invention

The embodiment of the invention aims to provide a torque link control method and device for intervention of an electronic stability system, so as to solve the problem that the torque link control is complex when the electronic stability system is activated in the prior art.

In order to achieve the above object, the present invention provides an electronic stability system intervening torque chain control method, which is applied to a vehicle control unit, and comprises:

acquiring an intervention torque signal of an electronic stability system when the electronic stability system is activated;

acquiring a driver torque gradient value according to the intervention torque signal and a preset torque gradient value;

and when the electronic stability system exits, gradually transitioning the driver torque gradient value to the current driver required torque value according to the preset torque gradient value.

Optionally, the acquiring, when the electronic stability system is activated, after the detecting of the intervention torque signal of the electronic stability system includes:

and the driving motor controller outputs torque according to the intervention torque signal.

Optionally, the preset torque gradient value is determined according to the vehicle speed, the accelerator opening and the engine load in the current driving state.

Optionally, a driver torque gradient value is obtained according to the intervention torque signal and a preset torque gradient value, or:

and when the adaptive cruise control system is activated, acquiring a torque gradient value of the adaptive cruise control system according to the intervention torque signal and a preset torque gradient value.

Optionally, when the electronic stability system exits, gradually transitioning the driver torque gradient to the current driver demand torque value according to the preset torque gradient value includes:

and circularly superposing the preset torque gradient value to the current driver required torque value by the driver torque gradient value.

Optionally, when the electronic stability system exits, gradually transitioning the driver torque gradient value to a current driver-demanded torque value according to the preset torque gradient value, or:

and when the electronic stabilization system exits, gradually transitioning the torque gradient value of the adaptive cruise control system to the current torque value required by the driver according to the torque gradient value of the adaptive cruise control system.

The invention also provides a torque chain control device for intervention of the electronic stability system, which is applied to a vehicle control unit and comprises the following components:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring an intervention torque signal of an electronic stabilization system when the electronic stabilization system is activated;

the second acquisition module is used for acquiring a driver torque gradient value according to the intervention torque signal and a preset torque gradient value;

and the transition module is used for gradually transitioning the driver torque gradient value into the current driver required torque value according to the preset torque gradient value when the electronic stability system exits.

Optionally, the first obtaining module is further configured to:

and the driving motor controller outputs torque according to the intervention torque signal.

Optionally, the preset torque gradient value is determined according to the vehicle speed, the accelerator opening and the engine load in the current driving state.

Optionally, the second obtaining module is further configured to:

and when the adaptive cruise control system is activated, acquiring a torque gradient value of the adaptive cruise control system according to the intervention torque signal and a preset torque gradient value.

Optionally, the transition module is further configured to:

and when the electronic stabilization system exits, gradually transitioning the torque gradient value of the adaptive cruise control system to the current torque value required by the driver according to the torque gradient value of the adaptive cruise control system.

Optionally, the transition module is specifically configured to:

and circularly superposing the preset torque gradient value to the current driver required torque value by the driver torque gradient value.

The invention also provides a vehicle control unit which comprises the torque chain control device intervened by the electronic stability system.

The invention also provides an electric automobile which comprises the vehicle control unit.

The technical scheme of the invention at least has the following beneficial effects:

in the scheme, the method comprises the steps of acquiring an intervention torque signal of an electronic stabilization system when the electronic stabilization system is activated; acquiring a driver torque gradient value according to the intervention torque signal and a preset torque gradient value; when the electronic stability system quits, according to the preset torque gradient value, the driver torque gradient value is gradually transited to be the current driver required torque value, the torque link is simplified, gradient control is reduced, control logic is optimized, more torque interfaces are conveniently involved in software development and maintenance in the later stage, and technical development cost is reduced.

Drawings

FIG. 1 is a schematic illustration of a prior art intervening torque chain of an electronic stability system;

FIG. 2 is a step diagram illustrating an embodiment of an electronic stability system mediated torque chain control method;

FIG. 3 is a schematic illustration of an intervening torque chain of an electronic stability system in an embodiment of the present invention;

fig. 4 is a schematic diagram of an electronic stability system intervenient torque chain control apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

The embodiment of the invention provides a torque chain control method and device for intervention of an electronic stability system, aiming at the problem of complex torque chain control when the electronic stability system is activated in the prior art.

As shown in fig. 2 to 3, an embodiment of the present invention provides an electronic stability system-mediated torque chain control method applied to a vehicle control unit, including:

step S21, when the ESP is activated, acquiring an intervention torque signal of detecting the ESP;

step S22, acquiring a driver torque gradient value according to the intervention torque signal and a preset torque gradient value;

and step S23, when the ESP exits, gradually transitioning the driver torque gradient value to the current driver demand torque value according to the preset torque gradient value.

In the embodiment of the invention, the torque link model link in the method is simplified and has a clear structure, the control and calibration quantity of the torque gradient is reduced, the superposition problem of the torque gradient control is also improved, and the torque transmission process is more clearly combed. Meanwhile, the calibration workload in vehicle development is reduced, and the cost is saved. In addition, in later software development and maintenance, when more torque interfaces are needed to intervene in a torque link, the torque interfaces can be accessed more conveniently, the workload is reduced, and great contribution is made to the aspects of technical development and cost reduction.

In an alternative embodiment of the present invention, step S11 is followed by:

and a driving MCU (Motor Control Unit) outputs torque according to the intervention torque signal.

In the embodiment of the invention, as shown in fig. 3, the MCU outputs the control torque at the end of the torque link to brake, reduce or increase the torque of a certain wheel or wheels, and simultaneously solve the problem that the safety of the entire vehicle and the driver is affected by the disordered torque response caused by the control of multiple torques.

In an optional embodiment of the present invention, the preset torque gradient value is determined according to a vehicle speed, an accelerator opening degree and an engine load in a current driving state.

In this embodiment of the invention, the driver torque gradient value is determined based on the torque value at the end of the torque link and a preset torque gradient value. When the ESP is intervened, the torque link is always output according to an intervention torque signal of the ESP; when the ESP exits, the ESP torque intervention and gradient control module does not need to perform transition processing, the torque gradient value of a driver can be directly switched by taking the intervention torque signal as a basic value and taking the preset torque gradient value as a transition value, the torque gradient in the driver is cancelled, and the whole torque link only comprises one type of torque gradient control. The preset torque gradient value is determined according to the vehicle speed, the accelerator opening and the engine load in the current driving state, the transition of the torque gradient can be realized, and the driver torque gradient value is gradually transited to the driver required torque value.

In an alternative embodiment of the present invention, as shown in fig. 3, the driver torque gradient value is obtained according to the intervention torque signal and the preset torque gradient value, or:

and when the ACC is activated, acquiring an ACC torque gradient value according to the intervention torque signal and a preset torque gradient value.

In this embodiment of the invention, when the ACC is active and the ESP is off, the entire torque link contains an ACC torque gradient value, which is determined from the intervention torque signal and a preset torque gradient value and gradually transitions to the driver demand torque value.

In an optional embodiment of the present invention, gradually transitioning the driver torque gradient to the current driver demand torque value according to the preset torque gradient value upon exiting the ESP includes:

and circularly superposing the preset torque gradient value to the current driver required torque value by the driver torque gradient value.

In this embodiment of the present invention, since the 1/z module acts as a register for outputting the previous transition driver torque gradient value of the module and storing the current driver torque gradient value. And the driver torque gradient value outputs the last transition driver torque gradient value through the 1/z module, the preset torque gradient value is superposed to carry out torque switching, and the superposed current driver torque gradient value is stored as a basic value of the next transition until the current driver torque demand value is gradually transited.

In an optional embodiment of the present invention, when the electronic stability system exits, according to the preset torque gradient value, the driver torque gradient value is gradually transited to the current driver required torque value, or:

and when the ESP exits, gradually transitioning the adaptive cruise control system torque gradient value to the current driver required torque value according to the ACC torque gradient value.

In the embodiment of the invention, when the ACC is activated and the ESP is exited, the whole torque link is not controlled by the driver torque gradient value any more, but the preset torque gradient value is superimposed to gradually transition to the current driver demand torque value on the basis of the ACC torque gradient value, so as to drive the MCU to output torque.

As shown in fig. 4, an embodiment of the present invention further provides an electronic stability system-mediated torque chain control device applied to a vehicle control unit, including:

a first acquisition module 41 for acquiring, at ESP, an intervention torque signal in which the ESP is detected;

a second obtaining module 42, configured to obtain a driver torque gradient value according to the intervention torque signal and a preset torque gradient value;

and a transition module 43, configured to gradually transition the driver torque gradient value to a current driver required torque value according to the preset torque gradient value when the ESP exits.

According to the torque chain control device for the ESP intervention, various torque gradient controls can be fused, a torque model is simplified, better control of the torque gradient of a driver is achieved, smooth control is not performed by taking the output torque of the driver as a control target any more, the torque gradient control is performed by taking the torque value at the tail end of a torque link instead, when the ESP torque is involved, the ESP torque value is always output at the tail end of the torque link, the output value of the torque gradient control of the driver is always the ESP torque intervention value +/-preset torque gradient value, and the internal torque gradient can be cancelled. I.e. after all torque interventions, the driver torque gradient control is used at exit, and the whole torque link contains only one torque gradient control, i.e. the driver torque gradient control.

Specifically, the first obtaining module 41 is further configured to:

and driving the MCU to output torque according to the intervention torque signal.

Further, the preset torque gradient value is determined according to the vehicle speed, the accelerator opening and the engine load in the current driving state.

Specifically, the second obtaining module 42 is further configured to:

and when the ACC is activated, acquiring an ACC torque gradient value according to the intervention torque signal and a preset torque gradient value.

Further, the transition module 43 is specifically configured to:

and circularly superposing the preset torque gradient value to the current driver required torque value by the driver torque gradient value.

Still further, the transition module 43 is further configured to:

and when the ACC exits, gradually transitioning the ACC torque gradient value to the current driver demand torque value according to the ACC torque gradient value.

An embodiment of the present invention further provides a vehicle control unit, including the above-mentioned electronic stability system-mediated torque chain control device.

In this embodiment of the present invention, the vehicle control unit employs the above-mentioned torque chain control device with intervention of the electronic stability system, which is not described herein again.

An embodiment of the invention further provides an electric vehicle, which comprises the vehicle control unit.

In the embodiment of the invention, the electric automobile adopting the vehicle control unit has simple torque link control, improves the problem of torque gradient control superposition, and avoids the phenomenon that the safety of the whole vehicle and a driver is influenced by response chaos caused by complex torque gradient control.

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