CN108454462A - Control method, device and the vehicle with it of vehicle - Google Patents

Abstract

The invention discloses a kind of control method of vehicle, device and with its vehicle, wherein method includes：Obtain the custom parameter of target user in preset time period；The benchmark demand acceleration under arbitrary pedal aperture, arbitrary motor speed and arbitrary road gradient is obtained, and vehicle demand acceleration is obtained according to custom parameter and benchmark demand acceleration；Demand acceleration is scaled motor side demand torque, and PID adjustings are carried out to motor side demand torque using the difference of actual acceleration and demand acceleration as feedback quantity, to obtain the motor side torque of actual demand.This method can effectively improve the real-time of control, improve the intelligent and applicability of vehicle, promote the driving experience of user according to the in due course adjusting vehicle power performance of the driving habit and road conditions of driver.

Description

Vehicle control method, device, and vehicle having the same

technical field

The invention relates to the technical field of vehicles, in particular to a vehicle control method and device and a vehicle having the same.

Background technique

The related technology realizes the dynamic setting of the vehicle through the external vehicle mode switch (Norma/Eco/Sport), and the driver can set the vehicle mode according to his own preferences, wherein each mode corresponds to a vehicle dynamics distribution principle.

However, the power distribution of related technologies cannot be adjusted in real time according to the driver's needs. The real-time performance is poor, and the intelligence of the vehicle is poor; and when accelerating, it is also affected by the type of road surface and slope, which has poor applicability and greatly reduces the driving experience.

Contents of the invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

Therefore, the first object of the present invention is to provide a vehicle control method, which can effectively improve the real-time control, improve the intelligence and applicability of the vehicle, and improve the driving experience of the user.

A second object of the present invention is to propose a control device for a vehicle.

A third object of the invention is to propose a vehicle.

In order to achieve the above purpose, the embodiment of the first aspect of the present invention proposes a vehicle control method, which includes the following steps: obtaining the habitual parameters of the target user within a preset time period; obtaining any pedal opening, any motor speed and any road gradient Under the base demand acceleration, and according to the customary parameters and the base demand acceleration to obtain the vehicle demand acceleration; convert the demand acceleration into the motor end demand torque; use the difference between the actual acceleration and the demand acceleration as the feedback amount PID (proportion, integral, derivative, proportional-integral-derivative) adjustment is performed on the required torque of the motor to obtain the actual required torque of the motor.

The vehicle control method of the embodiment of the present invention can timely adjust the dynamic performance of the vehicle according to the driver's driving habits and road conditions, thereby realizing the purpose of automatically adapting the vehicle dynamics to the driver's driving habits, effectively improving the real-time performance of the control, and further Improve the intelligence and applicability of the vehicle, and enhance the user's driving experience.

In addition, the vehicle control method according to the above-mentioned embodiments of the present invention may also have the following additional technical features:

Further, in one embodiment of the present invention, before acquiring the habitual parameters of the target user within the preset time period, it also includes: detecting the identity of the target user; obtaining the target user according to the identity custom parameters.

Further, in an embodiment of the present invention, the habit parameters include the frequency of triggering the accelerator pedal within the preset time period, the cumulative time of triggering the accelerator pedal within the preset time period, and the vehicle driving frequency at each preset time period. Set one or more of the accumulative time of the speed interval.

Further, in one embodiment of the present invention, the formula for the required torque at the motor end is:

Among them, i is the reduction ratio, and η is the transmission efficiency.

Further, in one embodiment of the present invention, the motor end torque formula of the actual demand is:

T _a = (C·A·V ² /21.15+f·M·g·cosθ+M·g·sinθ+δ·H·A _b )·r/(i·η)+T(PID),

Among them, C is the air resistance coefficient, A is the windward area (㎡), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the wheel radius, M is the load mass (kg), and g is the gravitational acceleration (m /s ² ), θ is the road gradient (degrees), δ is the conversion coefficient of the car’s rotating mass, H is the customary parameter, A _b is the reference acceleration (m/s) under any pedal opening, any motor speed and any road gradient ² ), i is the reduction ratio, η is the transmission efficiency, and T (PID) is the torque of the closed-loop link.

In order to achieve the above purpose, the embodiment of the second aspect of the present invention proposes a vehicle control device, including: a first acquisition module, used to acquire the habitual parameters of the target user within a preset time period; a second acquisition module, used to acquire The base demand acceleration under any pedal opening, any motor speed and any road gradient, and the vehicle demand acceleration is obtained according to the customary parameters and the base demand acceleration; the calculation module is used to convert the demand acceleration into the motor terminal Demand torque; an adjustment module, configured to use the difference between the actual acceleration and the demand acceleration as a feedback value to perform PID adjustment on the demand torque of the motor end, so as to obtain the actual demand torque of the motor end.

The vehicle control device in the embodiment of the present invention can timely adjust the dynamic performance of the vehicle according to the driver's driving habits and road conditions, thereby realizing the purpose of automatically adapting the vehicle dynamics to the driver's driving habits, effectively improving the real-time performance of the control, and further Improve the intelligence and applicability of the vehicle, and enhance the user's driving experience.

In addition, the vehicle control device according to the above-mentioned embodiments of the present invention may also have the following additional technical features:

Further, in an embodiment of the present invention, the first obtaining module is further configured to detect the identity of the target user, and obtain the habit parameters of the target user according to the identity.

Further, in an embodiment of the present invention, the habit parameters include the frequency of triggering the accelerator pedal within the preset time period, the cumulative time of triggering the accelerator pedal within the preset time period, and the vehicle driving frequency at each preset time period. Set one or more of the accumulative time of the speed interval.

Further, in one embodiment of the present invention, the formula for the required torque at the motor end is:

Wherein, i is the reduction ratio, and η is the transmission efficiency;

Further, in one embodiment of the present invention, the actual required motor end torque is:

T _a = (C·A·V ² /21.15+f·M·g·cosθ+M·g·sinθ+δ·H·A _b )·r/(i·η)+T(PID),

Among them, C is the air resistance coefficient, A is the windward area (㎡), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the wheel radius, M is the load mass (kg), and g is the gravitational acceleration (m /s ² ), θ is the road gradient (degrees), δ is the conversion coefficient of the car’s rotating mass, H is the customary parameter, A _b is the reference acceleration (m/s) under any pedal opening, any motor speed and any road gradient ² ), i is the reduction ratio, η is the transmission efficiency, and T (PID) is the closed-loop link torque.

In order to achieve the above purpose, the embodiment of the third aspect of the present invention provides a vehicle, which includes the above-mentioned control device for the vehicle. The vehicle can adjust the power performance of the whole vehicle in a timely manner according to the driving habits of the driver, so as to realize the purpose of automatically adapting the vehicle dynamics to the driving habits of the driver, effectively improve the real-time performance of the control, and further improve the intelligence and applicability of the vehicle. user's driving experience.

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

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

FIG. 1 is a flow chart of a method for controlling a vehicle according to an embodiment of the present invention;

FIG. 2 is a flowchart of a control method of a vehicle according to a specific embodiment of the present invention; and

Fig. 3 is a schematic structural diagram of a control device for a vehicle according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

The vehicle control method and device according to the embodiments of the present invention and the vehicle with the same will be described below with reference to the accompanying drawings. First, the vehicle control method according to the embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention.

As shown in Figure 1, the control method of the vehicle includes the following steps:

In step S101, habitual parameters of target users within a preset time period are acquired.

For example, the preset time may be the last 10 days, or one month. The specific preset time period can be set by those skilled in the art according to actual conditions, and is not specifically limited here.

In an embodiment of the present invention, before acquiring the habitual parameters of the target user within the preset time period, it further includes: detecting the identity of the target user; and obtaining the habitual parameters of the target user according to the identity.

Specifically, the embodiment of the present invention can record the driving habits of a specific driver in real time through a specific algorithm (for example, the specific algorithm can be ID (identification, identification) identification) in the latest period of time, for example, it is necessary to obtain user A's driving habits Habitual parameters, therefore, when the vehicle acquires the habitual parameters, it needs to first detect the user’s identity, if it is detected as user A, the habitual parameter acquisition is performed; if it is not the user A, the habitual parameter acquisition is not performed, so that Ensure the accuracy of obtaining user habit parameters.

Further, in one embodiment of the present invention, the habit parameters include the trigger frequency of the accelerator pedal within the preset time period, the cumulative time of triggering the accelerator pedal within the preset time period, and the cumulative time of the vehicle running in each preset speed range one or more of.

For example, as shown in Figure 2, the habit parameter can be the frequency of stepping on the accelerator pedal violently within a period of time, where the stepping on the accelerator refers to the driver's rapid stepping on the accelerator pedal; or the accumulated time of deeply stepping on the accelerator pedal within a period of time, The accumulative time of the vehicle driving in each speed range within a period of time, etc., and the driving habit is represented by a quantified parameter H, wherein, the parameter H is adjusted at intervals during this driving process, and the setting of H Variation range (0.7 ~ 1.3).

In step S102, the reference required acceleration under any pedal opening, any motor speed and any road gradient is obtained, and the vehicle required acceleration is obtained according to the customary parameters and the reference required acceleration.

Specifically, as shown in Figure 2, the embodiment of the present invention can calculate the reference demand acceleration Ab(m/s ² ) under any pedal opening, any motor speed, and any road gradient through an open-loop formula; H is used to adjust the vehicle acceleration Ad required by the driver, the formula is as follows:

Ad=H·Ab.

In step S103, the required acceleration is converted into the required torque of the motor end.

It can be understood that the embodiment of the present invention obtains the actual acceleration of the vehicle by differentiating the vehicle speed, and then calculates the wheel torque according to the acceleration, and then converts the wheel torque into the motor end torque, wherein the motor end torque is the motor end torque Torque required.

Specifically, the embodiment of the present invention performs differential processing on the speed of the vehicle to obtain the actual acceleration Aa of the vehicle, and converts the acceleration into wheel torque T. T is mainly composed of four parts: wind resistance, rolling resistance, slope resistance, and acceleration resistance torque , the formula of wheel torque T is as follows:

T=(C·A·V ² /21.15+f·M·g·cosθ+M·g·sinθ+δ·Ad)·r.

Among them, C is the air resistance coefficient, A is the windward area (㎡), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the wheel radius, M is the load mass (kg), and g is the gravitational acceleration (m /s ² ), θ is the slope of the road (degrees), and δ is the conversion factor of the car's rotating mass.

Further, the torque at the wheel end is converted into the required torque T _t at the motor end, the formula is as follows:

Among them, i is the reduction ratio, and η is the transmission efficiency.

In step S104 , the PID adjustment is performed on the demanded torque of the motor end by using the difference between the actual acceleration and the demanded acceleration as a feedback amount, so as to obtain the actual demanded torque of the motor end.

It can be understood that, in the embodiment of the present invention, the motor end demand torque is substituted into the actual demand motor end torque formula to obtain the actual demand motor end torque, so that the vehicle acceleration, wheel torque, and motor end demand torque are substituted into the actual demand motor end torque The torque formula obtains the final demand torque formula, so as to adjust the power parameters of the vehicle according to the obtained final demand torque. Wherein, the final required torque is the actual required motor end torque.

Specifically, as shown in Fig. 2, the PID adjustment torque is obtained according to the difference between the actual acceleration A _a and the required vehicle acceleration Ad, and combined with the required torque at the motor end, the actual required motor end torque is obtained. In the embodiment of the present invention, the actual demanded motor end torque T _a is expressed in an open-loop plus closed-loop manner, wherein, in one embodiment of the present invention, the actual demanded motor end torque formula is:

T _a =T _t +T(PID),

Among them, T _t is the torque of the open-loop link, and T(PID) is the torque of the closed-loop link.

It should be noted that T _t is an open-loop link, and its physical meaning is: theoretically, the motor end torque required to achieve the required acceleration A _d ; T (PID) is a closed-loop link, and its physical meaning is: when the torque T _t cannot To ensure that the actual vehicle acceleration A _a reaches A _d (that is, A _a ≠ A _d ), the driver's demand torque is corrected by T(PID), and the feedback factor is: A _a -A _d .

Further, in one embodiment of the present invention, the embodiment of the present invention integrates the above formulas to obtain the final required torque, that is, the formula for the actual required motor end torque is:

T _a = (C·A·V ² /21.15+f·M·g·cosθ+M·g·sinθ+δ·H·A _b )·r/(i·η)+T(PID),

Among them, C is the air resistance coefficient, A is the windward area (㎡), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the wheel radius, M is the load mass (kg), and g is the gravitational acceleration (m /s ² ), θ is the road gradient (degrees), δ is the conversion coefficient of the car’s rotating mass, H is the customary parameter, A _b is the reference acceleration (m/s) under any pedal opening, any motor speed and any road gradient ² ), i is the reduction ratio, and η is the transmission efficiency.

To sum up, after the above derivation, it can be ensured that the actual acceleration A _a of the vehicle meets the acceleration A _d required by the driver. The method of the embodiment of the present invention can not only reduce the influence of the type of road surface and the slope of the road surface on the acceleration performance of the electric vehicle, but also can timely adjust the dynamic performance of the vehicle according to the driving habits of the driver, so as to meet the individuality of different drivers on the acceleration performance of the vehicle to meet the demand for better driving experience.

According to the vehicle control method proposed in the embodiment of the present invention, the power performance of the whole vehicle can be adjusted in a timely manner according to the driver's driving habits and road conditions, so as to realize the purpose of automatically adapting the vehicle power performance to the driver's driving habits, and effectively improve the real-time performance of the control , thereby improving the intelligence and applicability of the vehicle, and improving the user's driving experience.

Next, a vehicle control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 3 is the control device of the vehicle of an embodiment of the present invention

As shown in FIG. 3 , the vehicle control device 10 includes: a first acquisition module 100 , a second acquisition module 200 , a calculation module 300 and an adjustment module 400 .

Wherein, the first acquiring module 100 is used to acquire habitual parameters of target users within a preset time period. The second acquisition module 200 is used to acquire the reference required acceleration under any pedal opening, any motor speed and any road gradient, and obtain the vehicle acceleration according to the customary parameters and the reference required acceleration. The calculation module 300 is used to obtain the actual acceleration according to the vehicle speed differentiation, and obtain the wheel torque according to the actual acceleration, so as to obtain the motor end torque. The adjustment module 400 is used to perform PID adjustment on the torque of the motor end, so as to obtain the actual required torque of the motor end. The device 10 of the embodiment of the present invention can timely adjust the power performance of the vehicle according to the driver's driving habits and road conditions, effectively improve the real-time control, improve the intelligence and applicability of the vehicle, and improve the driving experience of the user.

Further, in an embodiment of the present invention, the first acquisition module 100 is also configured to detect the identity of the target user, and obtain the habit parameters of the target user according to the identity.

Further, in one embodiment of the present invention, the habit parameters include the trigger frequency of the accelerator pedal within the preset time period, the cumulative time of triggering the accelerator pedal within the preset time period, and the cumulative time of the vehicle running in each preset speed range one or more of.

Further, in one embodiment of the present invention, the motor-side demand torque formula is:

Wherein, i is the reduction ratio, and η is the transmission efficiency;

Further, in one embodiment of the present invention, the actual required motor end torque is:

T _a = (C·A·V ² /21.15+f·M·g·cosθ+M·g·sinθ+δ·H·A _b )·r/(i·η)+T(PID),

Among them, C is the air resistance coefficient, A is the windward area (㎡), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the wheel radius, M is the load mass (kg), and g is the gravitational acceleration (m /s ² ), θ is the road gradient (degrees), δ is the conversion coefficient of the car’s rotating mass, H is the customary parameter, A _b is the reference acceleration (m/s) under any pedal opening, any motor speed and any road gradient ² ), i is the reduction ratio, and η is the transmission efficiency.

It should be noted that, the foregoing explanations of the embodiment of the vehicle control method are also applicable to the vehicle control device of this embodiment, and will not be repeated here.

According to the vehicle control device proposed in the embodiment of the present invention, the power performance of the vehicle can be adjusted in a timely manner according to the driver's driving habits and road conditions, so as to realize the purpose of automatically adapting the vehicle power performance to the driver's driving habits, and effectively improve the real-time performance of the control , thereby improving the intelligence and applicability of the vehicle, and improving the user's driving experience.

In addition, the embodiment of the invention also proposes a vehicle, which includes the above-mentioned vehicle control device. The vehicle can adjust the power performance of the whole vehicle in a timely manner according to the driving habits of the driver, so as to realize the purpose of automatically adapting the vehicle dynamics to the driving habits of the driver, effectively improve the real-time performance of the control, and further improve the intelligence and applicability of the vehicle. user's driving experience.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. A control method for a vehicle, comprising the following steps: Obtain the habitual parameters of the target user within the preset time period; Obtaining the base demand acceleration under any pedal opening, any motor speed and any road gradient, and obtaining the vehicle demand acceleration according to the customary parameters and the base demand acceleration; converting the required acceleration into a required torque at the motor end; and Using the difference between the actual acceleration and the required acceleration as a feedback amount to perform PID adjustment on the required torque of the motor end, so as to obtain the actual required torque of the motor end. 2. The control method of the vehicle according to claim 1, further comprising: Detecting the identity of the target user; The habit parameters of the target user are obtained according to the identity. 3. The vehicle control method according to claim 1 or 2, characterized in that the habit parameters include the frequency of triggering the accelerator pedal within the preset time period, the cumulative number of triggers of the accelerator pedal within the preset time period One or more of the time and the cumulative time the vehicle travels in each preset speed range. 4. The control method of the vehicle according to claim 1, characterized in that, the motor terminal demand torque formula is: Among them, i is the reduction ratio, and η is the transmission efficiency. 5. The vehicle control method according to claim 1 or 4, characterized in that, the motor end torque formula of the actual demand is: T _a = (C·A·V ² /21.15+f·M·g·cosθ+M·g·sinθ+δ·H·A _b )·r/(i·η)+T(PID), Among them, C is the air resistance coefficient, A is the windward area (㎡), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the wheel radius, M is the load mass (kg), and g is the gravitational acceleration (m /s ² ), θ is the road gradient (degrees), δ is the conversion coefficient of the car’s rotating mass, H is the customary parameter, A _b is the reference acceleration (m/s) under any pedal opening, any motor speed and any road gradient ² ), i is the reduction ratio, η is the transmission efficiency, and T (PID) is the closed-loop link torque. 6. A control device for a vehicle, comprising: The first obtaining module is used to obtain the habitual parameters of the target user within the preset time period; The second obtaining module is used to obtain the reference required acceleration under any pedal opening, any motor speed and any road surface gradient, and obtain the required acceleration of the whole vehicle according to the customary parameters and the reference required acceleration; A calculation module, configured to convert the required acceleration into a required torque at the motor end; and An adjustment module, configured to use the difference between the actual acceleration and the required acceleration as a feedback value to perform PID adjustment on the required torque at the motor end, so as to obtain the actual required torque at the motor end. 7. The vehicle control device according to claim 6, wherein the first acquisition module is further configured to detect the identity of the target user, and obtain the habitual parameters of the target user according to the identity . 8. The vehicle control device according to claim 6 or 7, wherein the habit parameters include the frequency of triggering the accelerator pedal within the preset time period, the cumulative number of triggers of the accelerator pedal within the preset time period One or more of the time and the cumulative time the vehicle travels in each preset speed range. 9. The control device of the vehicle according to claim 6, characterized in that, the motor terminal demand torque formula is: Wherein, i is the reduction ratio, and η is the transmission efficiency; The motor end torque formula of the actual demand is: T _a = (C·A·V ² /21.15+f·M·g·cosθ+M·g·sinθ+δ·H·A _b )·r/(i·η)+T(PID), Among them, C is the air resistance coefficient, A is the windward area (㎡), V is the vehicle speed (km/h), f is the rolling resistance coefficient, r is the wheel radius, M is the load mass (kg), and g is the gravitational acceleration (m /s ² ), θ is the road gradient (degrees), δ is the conversion coefficient of the car’s rotating mass, H is the customary parameter, A _b is the reference acceleration (m/s) under any pedal opening, any motor speed and any road gradient ² ), i is the reduction ratio, η is the transmission efficiency, and T (PID) is the closed-loop link torque. 10. A vehicle, characterized by comprising: the vehicle control device according to any one of claims 6-9.