阅读说明：本技术 一种控制方法及装置 (Control method and device ) 是由 张正萍 滕国刚 刘杰 黄大飞 谢晶晶 刘晓东 杨静 于 2021-10-11 设计创作，主要内容包括：本发明实施例提出了一种控制方法及装置,上述控制方法中,整车控制器利用车辆联网系统获取道路以及天气实时信息,获取车辆当前行驶状态和当前行驶轨迹；根据所述车辆当前行驶状态和当前行驶轨迹,计算车辆预期行驶轨迹；根据所述道路及天气实时信息、所述车辆当前行驶轨迹和所述车辆预期行驶轨迹,得出整车扭矩分配量,将所述整车扭矩分配量发送至驱动电机。如此,对车辆扭矩进行提前分配,最大程度地提升车辆行驶稳定性。(The embodiment of the invention provides a control method and a control device, wherein in the control method, a vehicle controller acquires road and weather real-time information by using a vehicle networking system, and acquires the current driving state and the current driving track of a vehicle; calculating an expected running track of the vehicle according to the current running state and the current running track of the vehicle; and obtaining the whole vehicle torque distribution amount according to the road and weather real-time information, the current running track of the vehicle and the expected running track of the vehicle, and sending the whole vehicle torque distribution amount to a driving motor. Therefore, the torque of the vehicle is distributed in advance, and the driving stability of the vehicle is improved to the maximum extent.)

1. A control method is characterized by being applied to an electric automobile, and comprises the following steps:

acquiring real-time road and weather information;

acquiring a current vehicle running state and a current vehicle running track;

calculating an expected running track of the vehicle according to the current vehicle running state and the current vehicle running track;

and obtaining the whole vehicle torque distribution amount according to the road and weather real-time information, the current vehicle running track and the expected vehicle running track, and sending the whole vehicle torque distribution amount to a driving motor.

2. The method of claim 1, wherein the obtaining the current vehicle driving state and the current vehicle driving track and calculating the vehicle expected driving track comprises:

and calculating to obtain the expected running track of the vehicle according to the obtained current vehicle running state and the current vehicle running track and the corresponding weight of each item.

3. The method of claim 1, wherein said deriving an overall vehicle torque split comprises:

and calculating the torque distribution amount of the whole vehicle according to the acquired road and weather real-time information, the current vehicle running track and the expected vehicle running track and the corresponding weight of each item.

4. The method according to any one of claims 1-3, further comprising:

acquiring the driving force of the actual running track and the estimated running track;

and when the driving force is larger than the upper driving force limit of the vehicle, limiting the whole vehicle torque.

5. The method according to any one of claims 1-3, further comprising:

acquiring the speed and the speed change rate of the vehicle;

and when the change rate is larger than the upper limit of the vehicle change rate, limiting the electric driving and braking torque.

6. A method according to any one of claims 1-3, wherein the current driving trajectory is calculated from a vehicle yaw moment.

7. A control device, characterized in that, being applied to an electric vehicle, the control device includes:

the acquisition module is used for acquiring real-time road and weather information;

the acquisition module is also used for acquiring the current vehicle running state and the current vehicle running track;

the calculation module is used for calculating the expected running track of the vehicle according to the current vehicle running state and the current vehicle running track;

and the sending module is used for obtaining the whole vehicle torque distribution amount according to the road and weather real-time information, the current vehicle running track and the vehicle expected running track, and sending the whole vehicle torque distribution amount to the driving motor.

8. The apparatus according to claim 7, wherein the obtaining of the current vehicle driving state and the current vehicle driving track and the calculating of the vehicle expected driving track comprise:

and the calculation module is used for calculating the expected running track of the vehicle according to the obtained current vehicle running state and the current vehicle running track and the corresponding weight of each item.

9. The apparatus of claim 7, wherein said deriving an overall vehicle torque split comprises:

and the calculation module is also used for calculating the torque distribution amount of the whole vehicle according to the obtained road and weather real-time information, the current vehicle running track and the expected vehicle running track and the corresponding weight.

10. The apparatus of any of claims 7-9, further comprising:

the obtaining module is further used for obtaining the actual running track and the driving force of the estimated running track.

11. The apparatus of any of claims 7-9, further comprising:

the obtaining module is further used for obtaining the speed and the speed change rate of the vehicle.

12. The apparatus according to any one of claims 7-9, wherein the current travel trajectory is calculated from a vehicle yaw moment.

13. An in-vehicle terminal comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 6.

14. A non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the method of any of claims 1 to 6.

[ technical field ] A method for producing a semiconductor device

The application relates to the field of electric automobiles, in particular to a control method and a control device.

[ background of the invention ]

At present, the new energy automobile industry is developed vigorously, and the whole vehicle controller of the extended range electric automobile completes the operation control strategy. The range-extended electric automobile has good development prospect due to the large low-speed torque, stable high-speed operation, high brake energy recovery efficiency, simple structure and easy maintenance.

And the automobile is used as an important vehicle in daily life of people, and the running stability of the automobile is very important for personal safety. The four-wheel drive control of the current automobile is mostly distributed in a fixed proportion or dynamically distributed through actual acceleration and yaw rate. The current four-wheel drive electric vehicle uses a distribution strategy to improve the stability of the vehicle to some extent, but does not fully exploit the advantages of electric vehicles.

Therefore, how to improve the driving stability of the vehicle to the maximum extent and ensure the personal safety of the driver and the passenger to the maximum extent is an important problem to be solved urgently at present.

[ summary of the invention ]

The embodiment of the invention provides a control method and a control device, which are used for allocating vehicle torque in advance by acquiring road and weather information in advance and estimating vehicle states in advance, so that the driving stability of a vehicle is improved to the maximum extent.

In a first aspect, an embodiment of the present invention provides a control method, which is applied to an electric vehicle, and includes acquiring real-time road and weather information, acquiring a current vehicle running state and a current vehicle running track, calculating an expected vehicle running track according to the current vehicle running state and the current vehicle running track, obtaining a total vehicle torque distribution amount according to the real-time road and weather information, the current vehicle running track and the expected vehicle running track, and sending the total vehicle torque distribution amount to a driving motor.

According to the embodiment of the invention, the vehicle torque is distributed in advance, so that the running stability of the vehicle can be improved to the greatest extent.

In one possible implementation manner, the obtaining the current vehicle driving state and the current vehicle driving track, and calculating an expected driving track of the vehicle includes: and calculating to obtain the expected running track of the vehicle according to the obtained current vehicle running state and the current vehicle running track and the corresponding weight of each item.

In one possible implementation manner, the obtaining the torque distribution amount of the entire vehicle includes: and calculating the torque distribution amount of the whole vehicle according to the acquired road and weather real-time information, the current vehicle running torque and the expected vehicle running track and the corresponding weight of each item.

In one possible implementation, the method further includes: and acquiring the driving force of the actual driving track and the estimated driving track, and limiting the whole vehicle torque when the driving force is greater than the upper limit of the vehicle driving force.

In one possible implementation, the method further includes: and acquiring the speed change rate of the vehicle wheel and the speed change rate of the axle, and limiting the electric driving torque and the electric braking torque when the speed change rate is greater than the upper limit of the speed change rate of the vehicle.

In one possible real-time mode, the current driving track is calculated according to a vehicle yaw moment.

In a second aspect, an embodiment of the present invention provides a control device, which is applied to an electric vehicle, and includes: the acquisition module is used for acquiring real-time road and weather information; the acquisition module is also used for acquiring the current vehicle running state and the current vehicle running track; the calculation module is used for calculating the expected running track of the vehicle according to the current vehicle running state and the current vehicle running track; and the sending module is used for obtaining the whole vehicle torque distribution amount according to the road and weather real-time information, the current vehicle running track and the vehicle expected running track, and sending the whole vehicle torque distribution amount to the driving motor.

In one possible implementation, the obtaining the current vehicle driving state and the current vehicle driving track, and calculating the vehicle expected driving track includes: and the calculation module is used for calculating the expected running track of the vehicle according to the obtained current vehicle running state and the current vehicle running track and the corresponding weight of each item.

In one possible implementation, the obtaining the torque distribution amount of the whole vehicle includes: and the calculation module is also used for calculating the torque distribution amount of the whole vehicle according to the obtained road and weather real-time information, the current vehicle running track and the expected vehicle running track and the corresponding weight.

In one possible implementation, the apparatus further includes: the obtaining module is further used for obtaining the actual running track and the driving force of the estimated running track.

In one possible implementation, the apparatus further includes: the obtaining module is further used for obtaining the speed and the speed change rate of the vehicle.

In one possible real-time mode, the current driving track is calculated according to a vehicle yaw moment.

In a third aspect, an embodiment of the present invention provides a vehicle-mounted terminal, including: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor calling the program instructions to be able to perform the method provided by the first aspect.

In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method provided in the first aspect.

It should be understood that the second to fourth aspects of the embodiment of the present invention are the same as or corresponding to the technical solutions of the first aspect of the embodiment of the present invention, and the beneficial effects obtained by the aspects and the corresponding possible implementation manners are similar and will not be described again.

[ description of the drawings ]

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

FIG. 1 is a flow chart illustrating a control method according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a control device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. Other embodiments, which can be derived from the description of the embodiments of the invention and other embodiments by a person skilled in the art, are within the scope of the invention.

In the conventional four-wheel drive control of the vehicle, a fixed proportion is distributed or dynamic distribution is carried out through actual acceleration and yaw rate in most cases. The torque distribution strategy used by the current four-wheel drive electric vehicle is improved to a certain extent on the stability of the vehicle, but the extended range type electric vehicle has the characteristics of large torque in a low-speed state, stable operation in a high-speed state and the like, so that the distribution strategy does not fully exert the advantages of the electric vehicle.

Referring to fig. 1, fig. 1 is a schematic flow chart of a control method according to an embodiment of the present invention, where the control method includes:

step S101: acquiring real-time road and weather information;

step S102, acquiring a current vehicle running state and a current vehicle running track;

step S103: calculating an expected running track of the vehicle according to the current vehicle running state and the current vehicle running track;

and S104, obtaining the whole vehicle torque distribution amount according to the road and weather real-time information, the current vehicle running track and the vehicle expected running track, and sending the whole vehicle torque distribution amount to a driving motor.

According to the embodiment of the invention, the torque of the vehicle can be distributed in advance by acquiring the road information and the weather information in advance and predicting the vehicle state, so that the driving stability of the vehicle can be improved to the greatest extent.

In step S101, road and weather real-time information is acquired, the road information and weather information are automatically acquired by using the vehicle networking intelligent system, and the vehicle control unit VCU analyzes and judges the road and weather information, and converts different information data into required torque for different corresponding weights.

In some preferred embodiments of the invention, when the vehicle runs at a high speed and the weather is clear, the vehicle control unit VCU monitors that the driving conditions are good, and combines a limit of the vehicle property on the driving force and the braking force, and after analysis and judgment, the vehicle control unit VCU distributes the driving force to the driving motor for a relatively large vehicle torque, appropriately increases the driving force of the vehicle and appropriately increases the energy recovery braking force within a safety control range, and appropriately improves the acceleration of the vehicle on the premise of ensuring safety.

When the vehicle runs on a muddy lane in a mountain village and has bad weather, the VCU monitors that the driving condition is bad, and the VCU combines the limit of the vehicle on the driving force and the braking force, distributes relatively small vehicle torque to the driving motor after analysis and judgment, reduces the driving force of the vehicle, reduces the energy recovery braking force, avoids the slipping and locking of vehicle tires, ensures the driving stability of the vehicle and further ensures the personal safety of drivers and passengers.

When the vehicle runs on a flat road in a city, the weather of the first half of the road is clear, the weather changes suddenly, the vehicle inclines and rains, at the moment, the VCU of the vehicle controller detects the weather changes, the torque distribution is adjusted in real time according to the weather changes, the torque of the driving motor with large driving force is reduced, the torque of the driving motor with small driving force is improved, the driving force of the vehicle is reduced, the energy recovery braking force is reduced, the rainy weather is avoided, the tires of the vehicle are slipped and locked, dangers occur, and the running safety of the vehicle is improved.

In step S102, a current vehicle driving state and a current vehicle driving track are obtained, vehicle driving data are obtained by using the sensors, and the data are transmitted to the vehicle control unit VCU, and the vehicle control unit VCU analyzes and judges whether the vehicle driving state is acceleration, deceleration, backing, turning or other. The vehicle control unit VCU determines the driving path of the vehicle by acquiring a yaw moment of the vehicle, which has a desired limit value.

In step S103, the vehicle control unit VCU predicts an expected travel track of the vehicle by analyzing a current travel state of the vehicle and the travel track of the vehicle. Judging and analyzing whether the currently monitored yaw moment reaches an expected limit value, and if the currently monitored yaw moment is less than or equal to the expected limit value, continuing to run according to the current vehicle running track; if the vehicle driving track is larger than the expected limit value, the vehicle driving track is adjusted in time.

In some preferred embodiments of the invention, the vehicle is charged from the top to the south, the vehicle moves at the high speed in Shanghai, the vehicle control unit VCU monitors that the vehicle is in the acceleration driving state on the high-speed road section, and the vehicle control unit VCU monitors the yaw moment, wherein the yaw moment is greater than the expected limit value, and the current driving track is determined. And according to the current vehicle running state and the current vehicle running track, obtaining that the expected running track is the running track of the vehicle accelerating on the curve in a period of time.

When the vehicle runs on a highway without traffic jam, the vehicle controller VCU monitors that the vehicle is in an accelerated running state when the vehicle enters a high-speed intersection, and the vehicle controller VCU monitors a yaw moment, wherein the yaw moment is equal to an expected limit value, and the current running track is determined. And obtaining the expected running track which is the running track that the vehicle is driven at a constant speed in a straight line on the highway in a period of time according to the current vehicle running state and the current vehicle running track.

And on the section of the high-speed road to be set, the VCU monitors that the vehicle is in a deceleration running state, and monitors a yaw moment which is greater than an expected limit value, and determines the current running track. And according to the current vehicle running state and the current vehicle running track, obtaining that the expected running track is the running track of the vehicle in deceleration running on the curve in a period of time.

In step S104, the vehicle control unit VCU obtains a vehicle torque distribution amount according to the road and weather real-time information, the current vehicle running track and the vehicle expected running track, and sends the vehicle torque distribution amount to the driving motor.

The VCU is fixedly provided with different weights for each data message, the obtained road information, weather information and estimated vehicle track information respectively correspond to different weights, approximate torque is calculated, driving force and braking force of the vehicle are actively adjusted in real time, the driving track of the vehicle is actively controlled, and the driving safety of the vehicle is further improved.

The weight corresponding to each item of information can be defined according to the attribute of each part of the vehicle. For example, a vehicle tire has a fixed property, and its anti-skid property has a fixed upper limit value, and when the vehicle has approached this limit value, if torque is increased again to give driving force to the vehicle, the vehicle is liable to skid, causing a safety accident. Therefore, the VCU of the vehicle controller is required to limit the torque of the vehicle in real time, reduce the driving force of the vehicle, reduce the energy recovery braking force and ensure the personal safety of drivers and passengers.

The wheel speed and the axle speed of the vehicle also have a fixed upper limit value, and when the vehicle approaches the upper limit value, the VCU of the vehicle controller timely adjusts the torque of the vehicle, reduces the driving force of the vehicle, reduces the energy recovery braking force, prevents the vehicle from rushing out of the running road of the whole vehicle, and improves the running safety of the vehicle.

In some preferred embodiments of the invention, the vehicle runs on a flat road at a constant speed in a straight line, the running road condition is good, the weather is good, the visibility is good, the vehicle control unit VCU judges that the predicted running track of the vehicle is also running at a constant speed in a straight line according to the current yaw moment analysis of the vehicle, the vehicle control unit VCU calculates the torque of the vehicle and distributes the torque to the driving motor according to the data information and the corresponding weight, and the driving force of the vehicle is increased within a limited range, namely the amount of torque distributed to the driving motor is increased in a proper amount; the energy recovery braking force is increased, namely the torque distributed to the brake motor is increased by a proper amount, and the vehicle running stability and the vehicle driving performance are improved to the maximum extent on the premise of ensuring the vehicle running safety.

When weather changes suddenly, the basin is inclined to heavy rain, visibility is reduced, friction between a road and vehicle tires is reduced, and the vehicle is easy to slip. At the moment, the VCU of the vehicle controller reduces the driving force of the vehicle in time and reduces the energy recovery braking force, namely, the VCU of the vehicle controller reduces the torque amount distributed to the driving motor and the torque amount distributed to the braking motor, and the driving safety of the vehicle is improved.

In some preferred embodiments of the present invention, the vehicle slowly travels on a steep mountain road, the traveling road condition is poor, the traveling environment has uncontrollable factors, the weather is bad, and the visibility is poor, the vehicle control unit VCU calculates the vehicle torque and distributes the vehicle torque according to the road information, the weather information, the current vehicle track, and the predicted traveling track of the vehicle, and within the limited range, reduces the vehicle driving force, and reduces the energy recovery braking force, that is, the vehicle control unit VCU reduces the amount of torque distributed to the driving motor, reduces the amount of torque distributed to the energy recovery braking motor, and ensures the traveling stability of the vehicle.

In sunny days, the visibility is greatly improved, the VCU of the vehicle control unit can increase the driving force of the vehicle, increase the energy recovery braking force and improve the driving performance of the vehicle within a certain range.

Referring to fig. 2, the embodiment shown in fig. 2 further provides a control device for implementing the technical solution of the above-mentioned method embodiment, in the embodiment of the present invention, the control device is applied to an electric vehicle, and includes: the system comprises an acquisition module 201, a calculation module 202 and a sending module 203, wherein the acquisition module 201 is used for acquiring real-time road and weather information and acquiring a current vehicle running state and a current vehicle running track; the calculation module is used for calculating the expected running track of the vehicle according to the current vehicle running state and the current vehicle running track; and the sending module is used for obtaining the whole vehicle torque distribution amount according to the road and weather real-time information, the current vehicle running track and the vehicle expected running track, and sending the whole vehicle torque distribution amount to the driving motor.

In an optional manner, the calculation module is configured to calculate, according to the obtained current vehicle driving state and the current vehicle driving trajectory, an expected driving trajectory of the vehicle according to each corresponding weight.

In an optional manner, the calculation module is further configured to calculate the entire vehicle torque distribution amount according to the obtained road and weather real-time information, the current vehicle running track, and the vehicle expected running track, and according to each corresponding weight.

In an optional manner, the obtaining module is further configured to obtain the driving force of the actual travel track and the estimated travel track.

In an alternative mode, the obtaining module is further configured to obtain the vehicle wheel speed and the axle speed change rate.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention, where the vehicle-mounted terminal 300 includes: the processor 301, the memory 302, and the computer program stored in the memory 302 and capable of being executed on the processor 301, where the processor 301 executes the program to implement the steps in the foregoing method embodiments, and the vehicle-mounted terminal provided in the embodiment may be used to implement the technical solution in the foregoing method embodiments, and further reference may be made to the relevant description in the method embodiments for implementing the principles and technical effects, which are not described herein again.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

In the description of the specification, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 specification. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present description in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present description.

In the several embodiments provided in the present specification, it should be understood that the disclosed apparatus, device and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

In addition, functional units in the embodiments of the present description may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.