CN108128210A - Crawling torque output control method and device, automobile - Google Patents
Crawling torque output control method and device, automobile Download PDFInfo
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- CN108128210A CN108128210A CN201611092683.3A CN201611092683A CN108128210A CN 108128210 A CN108128210 A CN 108128210A CN 201611092683 A CN201611092683 A CN 201611092683A CN 108128210 A CN108128210 A CN 108128210A
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- 230000009193 crawling Effects 0.000 title claims abstract description 409
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000004044 response Effects 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims description 76
- 230000008859 change Effects 0.000 claims description 61
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000001914 filtration Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
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- 206010017062 Formication Diseases 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000009931 harmful effect Effects 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
A kind of crawling torque output control method and device, automobile, the described method comprises the following steps：In starting, the variable condition of master cylinder pressure is detected；Start to reduce in response to the master cylinder pressure, export crawling torque targets value.The present invention program can shorten the crawling since driver and operate to the interval time of motor output crawling torque, so as to accelerate crawling torque responsive speed in vehicle start.
Description
Technical field
The present invention relates to automobile power control field, especially a kind of crawling torque output control method and device, automobile.
Background technology
With energy crisis in world wide and the getting worse of problem of environmental pollution, the demand in relation to automotive energy-saving emission-reducing
Also it is being continuously increased.New-energy automobile receives increasingly because it has the characteristics that alleviate Pressure on Energy and reduces environmental pollution
More concerns.
New-energy automobile includes electric vehicle and hybrid electric vehicle, in the vehicle start stage, is mostly driven using motor, if
Driver does not step on the throttle pedal, will enter crawling pattern.Advance specifically, crawling pattern is used to indicate to be in vehicle
When shelves or reverse gear, brake pedal is released the function that rear vehicle voluntarily travels at a slow speed.
In the prior art, by motor-driven vehicle in crawling pattern downward driving, torque output method is：Braking
After pedal is released, motor exports preset crawling torque according to current vehicle speed, and driving vehicle enters crawling.Wherein, for phase
Same speed, the same crawling torque of motor the output phase.
But above-mentioned crawling torque output method can cause crawling torque responsive to lag.This is because until driver is complete
After full release brake pedal, motor just exports crawling torque.According to the actual test that starts to walk to vehicle crawling as a result, from driving
Member starts to loosen the brake, until release brake pedal completely, needs the time to be about 1.5s namely made since manual control discharges
The dynamic pedal time is longer, crawling torque responsive lag about 1.5s.
Further, if vehicle crawling on the ramp with certain slope starts to walk, vehicle anti-slide easily occurs.This
It is because within this period of crawling torque responsive lag, motor does not export crawling torque, and vehicle is also just dynamic without what is advanced
Power is influenced by acceleration of gravity, on ramp start to walk when be susceptible to rollback the phenomenon that in addition rollback apart from it is long when
It crashes with rear car.
Invention content
The technical problem to be solved by the present invention is to provide a kind of crawling torque output control method and device, automobile, Ke Yi
During vehicle start, shorten the crawling since driver and operate to the interval time of motor output crawling torque, so as to accelerate crawling
Torque responsive speed.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of crawling torque output control method, including following
Step：In starting, the variable condition of master cylinder pressure is detected；Start to reduce in response to the master cylinder pressure, export
Crawling torque targets value.
Optionally, the output crawling torque targets value includes：The crawling torque targets value is determined according to vehicle-state；
Motor is controlled to export the crawling torque targets value.
Optionally, the vehicle-state includes the change rate of the master cylinder pressure, for identical master cylinder pressure
Power, the change rate of the master cylinder pressure is negative value and absolute value is bigger, and the crawling torque targets value is bigger.
Optionally, it is described to determine that the crawling torque targets value includes according to vehicle-state：According to the master cylinder pressure
The change rate of power determines crawling levels of acceleration corresponding with the change rate of the master cylinder pressure；Accelerated according to the crawling
Grade searches crawling torque output scheme corresponding with the crawling levels of acceleration, and different crawling levels of acceleration corresponds to different
Crawling torque output scheme；The crawling torque targets value is determined using the obtained crawling torque output scheme is searched.
Optionally, the vehicle-state includes the change rate of brake pedal aperture, for identical brake pedal aperture, institute
The change rate for stating brake pedal aperture is negative value and absolute value is bigger, and the crawling torque targets value is bigger.
Optionally, it is described to determine that the crawling torque targets value includes according to vehicle-state：It is opened according to the brake pedal
The change rate of degree determines crawling levels of acceleration corresponding with the change rate of the brake pedal aperture；Accelerated according to the crawling
Grade searches crawling torque output scheme corresponding with the crawling levels of acceleration, and different crawling levels of acceleration corresponds to different
Crawling torque output scheme；The crawling torque targets value is determined using the obtained crawling torque output scheme is searched.
Optionally, the crawling torque output scheme is used to indicate crawling torque targets value pass corresponding with product term
System, the product term are the product of basic crawling torque value and crawling torque rejection coefficient；Wherein, the basic crawling torque value
There is correspondence with speed, the speed is faster, and the basis crawling torque value is smaller；The crawling torque rejection coefficient with
The speed and the master cylinder pressure have correspondence, and the speed is faster, and the master cylinder pressure is bigger, described
Crawling torque rejection coefficient is smaller.
Optionally, the crawling torque output scheme is used to indicate crawling torque targets value pass corresponding with product term
System, the product term are basic crawling torque value and gradient compensation torque and with crawling torque rejection coefficient product；Wherein,
The basis crawling torque value has correspondence with speed, and the speed is faster, and the basis crawling torque value is smaller；It is described
Crawling torque rejection coefficient has correspondence with the speed and the master cylinder pressure, and the speed is faster, the system
Dynamic master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller；The gradient compensation torque and road conditions value of slope and the vehicle
Speed has correspondence, and the road conditions value of slope is bigger, and the speed is slower, and the gradient compensation torque is bigger.
Optionally, the road conditions value of slope is calculated according to following one or more vehicle parameters：Longitudinal direction accelerates
Degree, speed, motor speed.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of crawling torque output-controlling device, including：Inspection
Module is surveyed, suitable in starting, detecting the variable condition of master cylinder pressure；Output module is adapted for the braking master
Cylinder pressure starts to reduce, and exports crawling torque targets value.
Optionally, the output module includes：First determination sub-module, suitable for determining that the crawling is turned round according to vehicle-state
Square desired value；First output sub-module exports the crawling torque targets value suitable for control motor.
Optionally, the vehicle-state includes the change rate of the master cylinder pressure, for identical master cylinder pressure
Power, the change rate of the master cylinder pressure is negative value and absolute value is bigger, and the crawling torque targets value is bigger.
Optionally, first determination sub-module includes：Second determination sub-module, suitable for according to the master cylinder pressure
Change rate, determine crawling levels of acceleration corresponding with the change rate of the master cylinder pressure；First searches submodule, is suitable for
Crawling torque output scheme corresponding with the crawling levels of acceleration is searched according to the crawling levels of acceleration, different crawlings adds
Fast grade corresponds to different crawling torque output schemes；Third determination sub-module, the crawling suitable for being obtained using lookup are turned round
Square output scheme determines the crawling torque targets value.
Optionally, the vehicle-state includes the change rate of brake pedal aperture, for identical brake pedal aperture, institute
The change rate for stating brake pedal aperture is negative value and absolute value is bigger, and the crawling torque targets value is bigger.
Optionally, first determination sub-module includes：4th determination sub-module, suitable for being changed according to brake pedal aperture
Rate determines crawling levels of acceleration corresponding with the brake pedal aperture change rate；Second searches submodule, suitable for according to
Crawling levels of acceleration searches crawling torque output scheme corresponding with the crawling levels of acceleration, different crawling levels of acceleration pair
Answer different crawling torque output schemes；5th determination sub-module, suitable for the crawling torque output side obtained using lookup
Case determines the crawling torque targets value.
Optionally, the crawling torque output scheme is used to indicate crawling torque targets value pass corresponding with product term
System, the product term are the product of basic crawling torque value and crawling torque rejection coefficient；Wherein, the basic crawling torque value
There is correspondence with speed, the speed is faster, and the basis crawling torque value is smaller；The crawling torque rejection coefficient with
The speed and the master cylinder pressure have correspondence, and the speed is faster, and the master cylinder pressure is bigger, described
Crawling torque rejection coefficient is smaller.
Optionally, the crawling torque output scheme is used to indicate crawling torque targets value pass corresponding with product term
System, the product term are basic crawling torque value and gradient compensation torque and with crawling torque rejection coefficient product；Wherein,
The basis crawling torque value has correspondence with speed, and the speed is faster, and the basis crawling torque value is smaller；It is described
Crawling torque rejection coefficient has correspondence with the speed and the master cylinder pressure, and the speed is faster, the system
Dynamic master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller；The gradient compensation torque and road conditions value of slope and the vehicle
Speed has correspondence, and the road conditions value of slope is bigger, and the speed is slower, and the gradient compensation torque is bigger.
Optionally, the road conditions value of slope is calculated according to following one or more vehicle parameters：Longitudinal direction accelerates
Degree, speed, motor speed.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of automobile, the automobile includes above-mentioned crawling
Torque output-controlling device.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that：
The embodiment of the present invention detects the variable condition of master cylinder pressure in vehicle starting；In response to the braking master
Cylinder pressure starts to reduce, and exports crawling torque targets value.Using the scheme of the embodiment of the present invention, can contract in vehicle start
The short crawling since driver operates to motor the interval time for exporting crawling torque, so as to accelerate crawling torque responsive speed,
It avoids generating harmful effect to vehicle because of crawling torque responsive lag.
Further, relative in the prior art according only to speed as single vehicle status parameters decision motor output
Crawling torque, the embodiment of the present invention can judge that the crawling of driver accelerates to be intended to according to a variety of vehicle-states of automobile, and
Corresponding crawling torque output scheme is selected, so as to meet crawling torque is exported when different drivers implements different operation
Different demands.
Further, relative to identical crawling torque is pacifically provided which for ramp in the prior art, the present invention is implemented
Example can adjust corresponding crawling torque according to the road conditions gradient residing for vehicle, so as to avoid vehicle in uphill starting, due to
The problem of crawling torque not enough causes motor rotation blockage to generate heat, effectively motor is protected.
Further, the embodiment of the present invention need not increase additional sensors, and relevant hardware can be only instructed by program
It completes, is conducive to cost-effective, keep interior space availability ratio.
Description of the drawings
Fig. 1 is a kind of flow chart of crawling torque output control method in the embodiment of the present invention.
Fig. 2 is a kind of flow chart of the method for determining crawling torque targets value in the embodiment of the present invention.
Fig. 3 is the flow chart for the method that another kind in the embodiment of the present invention determines crawling torque targets value.
Fig. 4 is a kind of structure diagram of crawling torque output-controlling device in the embodiment of the present invention.
Fig. 5 is a kind of structure diagram of output module in the embodiment of the present invention.
Fig. 6 is a kind of structure diagram of first determination sub-module in the embodiment of the present invention.
Fig. 7 is the structure diagram of the first determination sub-module of another kind in the embodiment of the present invention.
Specific embodiment
As previously mentioned, in the vehicle start stage, new-energy automobile is mostly driven using motor, by motor-driven vehicle compacted
During row pattern downward driving, torque output method is：After brake pedal is released, motor exports preset compacted according to current vehicle speed
Row torque, driving vehicle enter crawling.Wherein, for identical speed, the same crawling torque of motor the output phase.It is but above-mentioned compacted
Row torque output method can cause crawling torque responsive to lag, if vehicle crawling on the ramp with certain slope starts to walk,
Vehicle anti-slide then easily occurs.
The present inventor passes through the study found that the key of the above problem is in the prior art from driver's take-off the brake
In pedal to this period discharged completely, motor does not export crawling torque, and vehicle is caused not have onward impulse.
The embodiment of the present invention detects the variable condition of master cylinder pressure in vehicle starting；In response to the braking master
Cylinder pressure starts to reduce, and exports crawling torque targets value.Using the scheme of the embodiment of the present invention, crawling mould can be in vehicle
During formula, shorten the crawling since driver and operate to the interval time of motor output crawling torque, rung so as to accelerate crawling torque
Speed is answered, avoids generating harmful effect to vehicle because of crawling torque responsive lag.
It is understandable for above-mentioned purpose, feature and advantageous effect of the invention is enable to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
With reference to Fig. 1, Fig. 1 is a kind of flow chart of crawling torque output control method in the embodiment of the present invention.The system
Dynamic pedal aperture crawling torque output control method can include step S101 to step S102.Wherein, the crawling torque is defeated
Discharge control method is used for new-energy automobile.
Step S101：In starting, the variable condition of master cylinder pressure is detected；
Step S102：Start to reduce in response to the master cylinder pressure, export crawling torque targets value.
In the specific implementation of step S101, whether for vehicle in starting state, the judgement that will enter crawling can
To be based on following elements：Gas pedal aperture is less than default aperture threshold value, the vehicle is not in parked state and vehicle shelves
Position is in drive shift or reverse gear.If above-mentioned condition all meets, it can determine that vehicle is in starting state, i.e., it will be compacted
Row.Certainly, if the Rule of judgment of starting is not limited to this, and can also be other any appropriate ways.
Wherein, gas pedal aperture, which can be used for defining gas pedal, tramples depth, such as can use 0~100%
Signal states accelerator open degree, and 0 represents and do not step on the gas, and 100% represent throttle maximum opening of stepping on.According to crawling in background technology
The definition of pattern when gas pedal is operated, can represent that driver has intention operation automobile and enters driving mode, and then judge
Driver does not have crawling intention.As a unrestricted example, the default aperture threshold value can be set as 3%.
Parked state can be used for defining the parking brake condition of vehicle, can be with table when vehicle does not release parked state
Show that vehicle is not in starting state, driver does not have crawling intention.
Automobile gear level information can include drive shift, reverse gear, neutral gear, parking position switch etc., when vehicle is in neutral gear and parking
During shelves, it can represent that vehicle is not in starting state, driver does not have crawling intention.
Master cylinder pressure is the pressure of the master cylinder in braking system.Master cylinder pressure can embody indirectly drives
The power that the person of sailing is applied on brake pedal either brake pedal tramples depth.Specifically, it is stepped on when driver steps on braking
During plate, the master cylinder piston of hydraulic braking system pushes forward, since the liquid in master cylinder and entire hydraulic braking system can not press
Contracting, the power of master cylinder piston effect are transmitted to the inner surface of whole system by liquid, are referred to as master cylinder pressure.
Specifically, the variable condition of master cylinder pressure may be used to indicate operational circumstances of the driver to brake pedal.System
Dynamic pedal is operated deeper, and master cylinder pressure is bigger；Brake pedal is released, and master cylinder pressure also accordingly reduces.
Further, after the gas pedal aperture can be detected via pedal jaw opening sensor, pass through Vehicle Controller
Local area network (Controller Area Network, CAN) is got in the form of vehicle body CAN signal；The parking shape of vehicle
State, automobile gear level information and master cylinder pressure can be directly obtained by CAN.
In the specific implementation of step S102, start to reduce in response to the master cylinder pressure, export crawling torque mesh
Scale value.
In specific implementation, crawling torque targets value is just exported when master cylinder pressure starts and reduces, can accelerated compacted
Row torque responsive speed.This is because master cylinder pressure, which starts to reduce, means that driver starts to discharge brake pedal, at this time
Output crawling torque targets value can shorten the crawling since driver and operate to the interval time of motor output crawling torque.
Relative to crawling torque in the prior art, is exported again after driver discharges brake pedal completely, the present invention is implemented
Example efficiently solve the problems, such ass that crawling torque responsive lags.When vehicle is in crawling starting on the ramp with certain slope,
Crawling pressure is exported at once when driver starts and discharges brake pedal, helps avoid vehicle and rollback occurs.
Further, when exporting crawling torque, conventional filtering setting method setting filtering may be used, so that torque
Gentle output.
In the present embodiment, the crawling torque targets value can be determined according to the vehicle-state, and then described in control
Motor exports the crawling torque targets value.
Relative to preset crawling torque drive vehicle traveling only after brake pedal discharges, is exported in the prior art, originally
Inventive embodiments can determine according to the vehicle-state and export crawling torque, so as to fulfill the lasting control to crawling torque
It is adjusted with real-time, helps to meet drive demand different when crawling starting is carried out under different operating modes.
In a specific embodiment, the vehicle-state can include the change rate of the master cylinder pressure, for
Identical master cylinder pressure, the change rate of the master cylinder pressure is negative value and absolute value is bigger, the crawling torque
Desired value is bigger.
This is because when the master cylinder pressure increases, the change rate of the master cylinder pressure is positive value, is represented
Driver is stepping on brake pedal, can be identified as driver and accelerate to be intended to without crawling.Only in the master cylinder pressure
During reduction, the change rate of the master cylinder pressure is negative value, represents driver just in releasing of brake pedal, ability is it needs to be determined that simultaneously
Export crawling torque targets value.
Further, when the change rate of the master cylinder pressure is negative value, if master cylinder pressure slowly reduces, table
Show that driver slowly lifts brake pedal, the crawling that can be identified as driver accelerates intention weaker, can export at this time
Smaller crawling torque targets value；If master cylinder pressure quickly reduces, represent that driver quickly lifts brake pedal,
The crawling that can be identified as driver accelerates intention stronger, can export larger crawling torque targets value at this time.
Further, in the change rate for calculating master cylinder pressure, conventional filtering setting method may be used to meter
Obtained change rate setting filtering, to obtain gentle numerical value.
A kind of method that change rate according to the master cylinder pressure determines crawling torque targets value is referred to Fig. 2.
The method may include step S201 to step S203.
Step S201：According to the change rate of master cylinder pressure, determine corresponding with the change rate of the master cylinder pressure
Crawling levels of acceleration.
Step S202：Crawling torque output corresponding with the crawling levels of acceleration is searched according to the crawling levels of acceleration
Scheme, different crawling levels of acceleration correspond to different crawling torque output schemes.
Step S203：The crawling torque targets value is determined using the obtained crawling torque output scheme is searched.
In the specific implementation of step S201, the crawling levels of acceleration is used to indicate to be needed to pass through electricity in vehicle crawling
The crawling torque of machine output, crawling levels of acceleration is higher, represents that the crawling torque exported by motor is bigger.
As a unrestricted example, crawling levels of acceleration can be divided into three classes：Inhibit, is gentle and radical.
It is the first order, such as during inhibition rank in crawling levels of acceleration, the change rate of the corresponding master cylinder pressure>0,
It can be identified as driver at this time to accelerate to be intended to without crawling, correspondingly, do not export crawling torque.
It is the second level, such as during flat grade in crawling levels of acceleration, the change rate of the corresponding master cylinder pressure<0,
And absolute value is smaller, the crawling that can be identified as driver accelerates intention weaker, correspondingly, exports smaller crawling torque targets
Value is suitable for it is expected the driver that vehicle slowly accelerates under crawling state.
It is the third level, such as during radical rank in crawling levels of acceleration, the change rate of the corresponding master cylinder pressure<0,
And absolute value is larger, the crawling that can be identified as driver accelerates intention stronger, correspondingly, exports larger crawling torque targets
Value is suitable for it is expected the driver that vehicle quickly accelerates under crawling state.
As a unrestricted example, can set when the change rate of the master cylinder pressure is less than -20Bar/s
When, enter the crawling levels of acceleration of radical rank from the crawling levels of acceleration of flat grade.
In the specific implementation of step S202, searched according to the crawling levels of acceleration corresponding with the crawling levels of acceleration
Crawling torque output scheme, different crawling levels of acceleration corresponds to different crawling torque output schemes.
In specific implementation, crawling torque output scheme has correspondence with the crawling levels of acceleration.For each
Grade crawling levels of acceleration, such as inhibit, gentle and radical rank, all with preset crawling torque output scheme.Pass through selection
Crawling levels of acceleration, you can control motor exports the crawling torque targets value in corresponding crawling torque output scheme.
In the specific implementation of step S203, the crawling torque output scheme obtained using lookup determines the crawling
Torque targets value.
In a concrete application of the embodiment of the present invention, the crawling torque output scheme is used to indicate the crawling and turns round
The correspondence of square desired value and product term, the product term are multiplying for basic crawling torque value and crawling torque rejection coefficient
Product.
Specifically, for each specific crawling levels of acceleration, crawling torque output scheme is used to indicate basic crawling torque
Value, crawling torque rejection coefficient and the crawling torque targets value have correspondence.Calculate the crawling torque targets value
Formula can be：
Crawling torque targets value=basis crawling torque value * crawling torque rejection coefficients；
Wherein, the basic crawling torque value has correspondence with speed, and the speed is faster, and the basis crawling is turned round
Square value is smaller.
The crawling torque rejection coefficient has correspondence, the speed with the speed and the master cylinder pressure
Faster, the master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller.
In specific implementation, can detailed speed and base be obtained by the method for real vehicle calibration test according to calibration software
The correspondence and speed of plinth crawling torque value, master cylinder pressure and the correspondence of crawling torque rejection coefficient.
It is understood that parameter (such as speed, master cylinder pressure) and correspondence due to that can set in testing
The product term (such as basic crawling torque value, crawling torque rejection coefficient) of acquisition is all limited, for number not after tested
According to part, interpolation method acquisition may be used, so as to obtain complete correspondence.Specifically, interpolation method is also known as " interpolation method ",
If function f (x) known functional values done in certain section can be utilized, specific function is made, on other aspects in section
By the use of the value of this specific function as the approximation of function f (x), so as to obtain the computational methods of unknown numerical value.
Another in the embodiment of the present invention is preferably applied, and the crawling torque output scheme is used to indicate the crawling
The correspondence of torque targets value and product term, the product term be basic crawling torque value with gradient compensation torque and with it is compacted
The product of row torque rejection coefficient.
Specifically, for each specific crawling levels of acceleration, crawling torque output scheme is used to indicate basic crawling torque
Value, crawling torque rejection coefficient, gradient compensation torque and the crawling torque targets value have correspondence.Calculate the crawling
The formula of torque targets value can be：
Crawling torque targets value=(basic crawling torque value+gradient compensation torque) * crawling torque rejection coefficients；
Wherein, the basic crawling torque value has correspondence with speed, and the speed is faster, and the basis crawling is turned round
Square value is smaller.
The crawling torque rejection coefficient has correspondence, the speed with the speed and the master cylinder pressure
Faster, the master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller.
The gradient compensation torque has correspondence with road conditions value of slope and the speed, and the road conditions value of slope is got over
Greatly, the speed is slower, and the gradient compensation torque is bigger.
In specific implementation, can also detailed road conditions slope be obtained by the method for real vehicle calibration test according to calibration software
Angle value, speed and the correspondence of basic crawling torque value.
Wherein, the road conditions value of slope is calculated according to following one or more vehicle parameters：Longitudinal acceleration,
Speed, motor speed.
When the vehicle is still, can the road conditions value of slope be obtained by following calculation formula.
Wherein, β represents road conditions value of slope；
aLongtAccThe longitudinal acceleration of vehicle is represented, is used to indicate on ramp vehicle its own gravity in vehicle heading
On component formed acceleration；
G is acceleration of gravity.
When vehicle is in transport condition, road conditions value of slope is related with longitudinal acceleration, speed and motor speed, Ke Yitong
Existing conventional Calculation Method is crossed to obtain.
Further, the ramp angles, the longitudinal acceleration of vehicle can be directly obtained by CAN.
Relative in the prior art, identical crawling torque is pacifically provided which for ramp, and then be easy to cause motor
Stall generates heat, and the embodiment of the present invention can adjust corresponding crawling torque according to the road conditions gradient residing for vehicle, so as to effectively
Vehicle is avoided in uphill starting, due to crawling torque not enough and occur motor rotation blockage fever the problem of, effectively to motor into
Row protection.
Further, relative in the prior art only using speed as the single preset crawling of vehicle status parameters decision
Torque, the embodiment of the present invention can determine according to a variety of vehicle status parameters and export crawling torque, be turned round so as to fulfill to crawling
The lasting control of square and in real time adjusting help to meet current increasingly complicated driving cycles and the operational requirements of driver.
In another specific embodiment, for determine crawling torque targets value institute according to vehicle-state can include system
The change rate of dynamic pedal aperture, for identical brake pedal aperture, the change rate of the brake pedal aperture for negative value and
Absolute value is bigger, and the crawling torque targets value is bigger.
This is because when the brake pedal aperture increases, the change rate of the brake pedal aperture is positive value, is represented
Driver just in brake pedal, can be identified as driver and accelerate to be intended to without crawling.Only in the brake pedal aperture
During reduction, the change rate of the brake pedal aperture is negative value, represents driver just in releasing of brake pedal, ability is it needs to be determined that simultaneously
Export crawling torque targets value.
Further, when the change rate of the brake pedal aperture is negative value, if brake pedal aperture slowly reduces, table
Show that driver slowly lifts brake pedal, the crawling that can be identified as driver accelerates intention weaker, can export at this time
Smaller crawling torque targets value；If brake pedal aperture quickly reduces, represent that driver quickly lifts brake pedal,
The crawling that can be identified as driver accelerates intention stronger, can export larger crawling torque targets value at this time.
A kind of change rate according to the brake pedal aperture in another described specific embodiment determines that crawling is turned round
The method of square desired value is referred to Fig. 3.The method may include step S301 to step S303.
Step S301：According to the change rate of brake pedal aperture, determine corresponding with the change rate of the brake pedal aperture
Crawling levels of acceleration.
Step S302：Crawling torque output corresponding with the crawling levels of acceleration is searched according to the crawling levels of acceleration
Scheme, different crawling levels of acceleration correspond to different crawling torque output schemes.
Step S303：The crawling torque targets value is determined using the obtained crawling torque output scheme is searched.
In the specific implementation of step S301, the crawling levels of acceleration is used to indicate to be needed to pass through electricity in vehicle crawling
The crawling torque of machine output, crawling levels of acceleration is higher, represents that the crawling torque exported by motor is bigger.
As a unrestricted example, crawling levels of acceleration can be divided into three classes：Inhibit, is gentle and radical.
It is the first order, such as during inhibition rank in crawling levels of acceleration, the change rate of the corresponding brake pedal aperture>0,
It can be identified as driver at this time to accelerate to be intended to without crawling, correspondingly, do not export crawling torque.
It is the second level, such as during flat grade in crawling levels of acceleration, the change rate of the corresponding brake pedal aperture<0,
And absolute value is smaller, the crawling that can be identified as driver accelerates intention weaker, correspondingly, exports smaller crawling torque targets
Value is suitable for it is expected the driver that vehicle slowly accelerates under crawling state.
It is the third level, such as during radical rank in crawling levels of acceleration, the change rate of the corresponding brake pedal aperture<0,
And absolute value is larger, the crawling that can be identified as driver accelerates intention stronger, correspondingly, exports larger crawling torque targets
Value is suitable for it is expected the driver that vehicle quickly accelerates under crawling state.
As a unrestricted example, can set when the change rate of the brake pedal aperture is less than -30%/s
When, enter the crawling levels of acceleration of radical rank from the crawling levels of acceleration of flat grade.
Further, after the brake pedal aperture can be detected via pedal jaw opening sensor, with vehicle body CAN signal
Form is got.
In specific implementation, the execution of step S302 and step S303 refers to the step S202 and step S203 in Fig. 2
Description performed, details are not described herein again.
In embodiments of the present invention, it can determine that every preset time according to prefixed time interval and export crawling and turn round
Square adjusts, helps preferably to meet driver defeated to crawling torque so as to fulfill the lasting control to crawling torque and in real time
The demand gone out.As a unrestricted example, prefixed time interval can be set as 200ms.
With reference to Fig. 4, Fig. 4 is a kind of structure diagram of crawling torque output-controlling device in the embodiment of the present invention.
The crawling torque output-controlling device can include detection module 41 and output module 42.
Wherein described detection module 41 is suitable for, in starting, detecting the variable condition of master cylinder pressure.The output mould
Block 42 is adapted for the master cylinder pressure and starts to reduce, and exports crawling torque targets value.
Further, a kind of structure diagram of output module 42 in the embodiment of the present invention is referred to Fig. 5.Such as Fig. 5
Shown, the output module 42 can include the first determination sub-module 51 and the first output sub-module 52.
Wherein, first determination sub-module 51 is suitable for determining the crawling torque targets value according to vehicle-state.It is described
First output sub-module 52 is suitable for control motor and exports the crawling torque targets value.
Further, a kind of structure diagram of first determination sub-module 51 in the embodiment of the present invention is referred to figure
6.As shown in fig. 6, first determination sub-module 51, which can include the second determination sub-module 511, first, searches 512 and of submodule
Third determination sub-module 513.
Wherein, second determination sub-module 511 is suitable for according to the change rate of the master cylinder pressure, determine with it is described
The corresponding crawling levels of acceleration of change rate of master cylinder pressure.Described first, which searches submodule 512, is suitable for according to the crawling
Levels of acceleration searches crawling torque output scheme corresponding with the crawling levels of acceleration, and different crawling levels of acceleration corresponds to not
Same crawling torque output scheme.The third determination sub-module 513 is suitable for exporting using the crawling torque that lookup obtains
Scheme determines the crawling torque targets value.
The embodiment of the invention also discloses another first determination sub-modules 51, and structure diagram is referred to Fig. 7.Such as
Shown in Fig. 7, first determination sub-module 51 can include the 4th determination sub-module 514, second and search submodule 515 and the 5th
Determination sub-module 516.
Wherein, the 4th determination sub-module 514 is suitable for according to brake pedal aperture change rate, determines to step on the braking
The corresponding crawling levels of acceleration of plate aperture change rate.Described second, which searches submodule 515, is suitable for according to the crawling levels of acceleration
Crawling torque output scheme corresponding with the crawling levels of acceleration is searched, different crawling levels of acceleration corresponds to different crawlings
Torque output scheme.5th determination sub-module 516 is suitable for determining using the crawling torque output scheme that lookup obtains
The crawling torque targets value.
More detailed contents about the crawling torque output-controlling device are please referred to be exported previously for crawling torque
The associated description of control method, which is not described herein again.
The embodiment of the present invention additionally provides a kind of automobile, and the automobile includes above-mentioned crawling torque output-controlling device, institute
Above-mentioned brake pedal aperture crawling torque output control method can be performed by stating automobile.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in computer readable storage medium, to store
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (19)
1. a kind of crawling torque output control method, which is characterized in that include the following steps：
In starting, the variable condition of master cylinder pressure is detected；
Start to reduce in response to the master cylinder pressure, export crawling torque targets value.
2. crawling torque output control method according to claim 1, which is characterized in that the output crawling torque targets
Value includes：
The crawling torque targets value is determined according to vehicle-state；
Motor is controlled to export the crawling torque targets value.
3. crawling torque output control method according to claim 2, which is characterized in that the vehicle-state includes described
The change rate of master cylinder pressure, for identical master cylinder pressure, the change rate of the master cylinder pressure for negative value simultaneously
And absolute value is bigger, the crawling torque targets value is bigger.
4. crawling torque output control method according to claim 3, which is characterized in that described to be determined according to vehicle-state
The crawling torque targets value includes：
According to the change rate of the master cylinder pressure, determine that crawling corresponding with the change rate of the master cylinder pressure accelerates
Grade；
Crawling torque output scheme corresponding with the crawling levels of acceleration is searched according to the crawling levels of acceleration, different is compacted
Row levels of acceleration corresponds to different crawling torque output schemes；
The crawling torque targets value is determined using the obtained crawling torque output scheme is searched.
5. crawling torque output control method according to claim 2, which is characterized in that the vehicle-state includes braking
The change rate of pedal aperture, for identical brake pedal aperture, the change rate of the brake pedal aperture is for negative value and absolutely
Bigger to being worth, the crawling torque targets value is bigger.
6. crawling torque output control method according to claim 5, which is characterized in that described to be determined according to vehicle-state
The crawling torque targets value includes：
According to the change rate of the brake pedal aperture, determine that crawling corresponding with the change rate of the brake pedal aperture accelerates
Grade；
Crawling torque output scheme corresponding with the crawling levels of acceleration is searched according to the crawling levels of acceleration, different is compacted
Row levels of acceleration corresponds to different crawling torque output schemes；
The crawling torque targets value is determined using the obtained crawling torque output scheme is searched.
7. the crawling torque output control method according to claim 4 or 6, which is characterized in that the crawling torque output
Scheme is used to indicate the correspondence of the crawling torque targets value and product term, the product term be basic crawling torque value and
The product of crawling torque rejection coefficient；
Wherein, the basic crawling torque value has correspondence with speed, and the speed is faster, the basis crawling torque value
It is smaller；
The crawling torque rejection coefficient has correspondence with the speed and the master cylinder pressure, and the speed is got over
Soon, the master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller.
8. the crawling torque output control method according to claim 4 or 6, which is characterized in that the crawling torque output
Scheme is used to indicate the correspondence of the crawling torque targets value and product term, the product term be basic crawling torque value with
Gradient compensation torque and with crawling torque rejection coefficient product；
Wherein, the basic crawling torque value has correspondence with speed, and the speed is faster, the basis crawling torque value
It is smaller；
The crawling torque rejection coefficient has correspondence with the speed and the master cylinder pressure, and the speed is got over
Soon, the master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller；
The gradient compensation torque has correspondence with road conditions value of slope and the speed, and the road conditions value of slope is bigger, institute
It is slower to state speed, the gradient compensation torque is bigger.
9. crawling torque output control method according to claim 8, which is characterized in that the road conditions value of slope is basis
One or more vehicle parameters are calculated below：Longitudinal acceleration, speed, motor speed.
10. a kind of crawling torque output-controlling device, which is characterized in that including：
Detection module, suitable in starting, detecting the variable condition of master cylinder pressure；
Output module is adapted for the master cylinder pressure and starts to reduce, and exports crawling torque targets value.
11. crawling torque output-controlling device according to claim 10, which is characterized in that the output module includes：
First determination sub-module, suitable for determining the crawling torque targets value according to vehicle-state；
First output sub-module exports the crawling torque targets value suitable for control motor.
12. crawling torque output-controlling device according to claim 11, which is characterized in that the vehicle-state includes institute
The change rate of master cylinder pressure is stated, for identical master cylinder pressure, the change rate of the master cylinder pressure is negative value
And absolute value is bigger, and the crawling torque targets value is bigger.
13. crawling torque output-controlling device according to claim 12, which is characterized in that first determination sub-module
Including：
Second determination sub-module suitable for the change rate according to the master cylinder pressure, determines and the master cylinder pressure
The corresponding crawling levels of acceleration of change rate；
First searches submodule, is turned round suitable for searching crawling corresponding with the crawling levels of acceleration according to the crawling levels of acceleration
Square output scheme, different crawling levels of acceleration correspond to different crawling torque output schemes；
Third determination sub-module, the crawling torque output scheme suitable for being obtained using lookup determine the crawling torque targets
Value.
14. crawling torque output-controlling device according to claim 11, which is characterized in that the vehicle-state includes system
The change rate of dynamic pedal aperture, for identical brake pedal aperture, the change rate of the brake pedal aperture for negative value and
Absolute value is bigger, and the crawling torque targets value is bigger.
15. crawling torque output-controlling device according to claim 14, which is characterized in that first determination sub-module
Including：
4th determination sub-module, suitable for according to brake pedal aperture change rate, determining and the brake pedal aperture change rate pair
The crawling levels of acceleration answered；
Second searches submodule, is turned round suitable for searching crawling corresponding with the crawling levels of acceleration according to the crawling levels of acceleration
Square output scheme, different crawling levels of acceleration correspond to different crawling torque output schemes；
5th determination sub-module, the crawling torque output scheme suitable for being obtained using lookup determine the crawling torque targets
Value.
16. the crawling torque output-controlling device according to claim 13 or 15, which is characterized in that the crawling torque is defeated
Go out the correspondence that scheme is used to indicate the crawling torque targets value and product term, the product term is basic crawling torque value
With the product of crawling torque rejection coefficient；
Wherein, the basic crawling torque value has correspondence with speed, and the speed is faster, the basis crawling torque value
It is smaller；
The crawling torque rejection coefficient has correspondence with the speed and the master cylinder pressure, and the speed is got over
Soon, the master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller.
17. the crawling torque output-controlling device according to claim 13 or 15, which is characterized in that the crawling torque is defeated
Go out the correspondence that scheme is used to indicate the crawling torque targets value and product term, the product term is basic crawling torque value
With gradient compensation torque and with crawling torque rejection coefficient product；
Wherein, the basic crawling torque value has correspondence with speed, and the speed is faster, the basis crawling torque value
It is smaller；
The crawling torque rejection coefficient has correspondence with the speed and the master cylinder pressure, and the speed is got over
Soon, the master cylinder pressure is bigger, and the crawling torque rejection coefficient is smaller；
The gradient compensation torque has correspondence with road conditions value of slope and the speed, and the road conditions value of slope is bigger, institute
It is slower to state speed, the gradient compensation torque is bigger.
18. crawling torque output-controlling device according to claim 17, which is characterized in that the road conditions value of slope is root
The next item down or multinomial vehicle parameter are calculated according to this：Longitudinal acceleration, speed, motor speed.
19. a kind of automobile, which is characterized in that the automobile is exported including claim 10 to 18 any one of them crawling torque
Control device.
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| CN112406866A (en) * | 2020-11-18 | 2021-02-26 | 东风汽车有限公司 | Starting control method in automatic parking mode, storage medium and vehicle-mounted electronic device |
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