CN112440758A - Vehicle and starting control method and control device thereof - Google Patents
Vehicle and starting control method and control device thereof Download PDFInfo
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- CN112440758A CN112440758A CN201910826539.5A CN201910826539A CN112440758A CN 112440758 A CN112440758 A CN 112440758A CN 201910826539 A CN201910826539 A CN 201910826539A CN 112440758 A CN112440758 A CN 112440758A
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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
- B60L15/2081—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 for drive off on a slope
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- 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
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Abstract
The invention discloses a vehicle and a control method and a control device for starting the vehicle, wherein the control method comprises the following steps: recognizing that a vehicle is in an idle starting state, and acquiring idle torque of the vehicle according to the current speed of the vehicle; acquiring the current gradient of a road on which the vehicle runs, and acquiring the gradient compensation torque of the vehicle according to the current gradient; and acquiring the driving torque of the vehicle according to the idle speed torque and the gradient compensation torque, and driving the vehicle by using the driving torque. The control method provided by the embodiment of the invention can realize the hill idling starting, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize a brake to prevent the vehicle from sliding, has higher flexibility and greatly improves the driving performance of the vehicle.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle start control method, a vehicle start control device, a vehicle, an electronic device, and a computer-readable storage medium.
Background
At present, when a vehicle starts on a slope, the vehicle is easy to slide. In order to solve the problem of vehicle sliding during vehicle starting, the chinese patent publication No. CN108583368A discloses a hill starting system for an electric vehicle and a control method thereof. In the invention, the electric automobile is provided with the vehicle control unit, the brake and the hand brake, the vehicle control unit controls the brake torque and the motor torque, and the vehicle control unit gradually reduces the brake torque and improves the motor torque after a driver steps on an accelerator pedal, thereby realizing the vehicle hill start.
With this hill start method, there are the following problems: firstly, idling starting cannot be realized, and a driver can realize hill starting only by stepping on an accelerator pedal; secondly, the driving performance of the vehicle is poor, the vehicle is braked firstly when starting on a slope, then the driver steps on an accelerator pedal to release the brake and then starts, and the real driving intention of the driver is interfered.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above.
Therefore, an object of the present invention is to provide a starting control method for a vehicle, which can implement hill-idle starting, determine a driving torque required for starting the vehicle by using a gradient of a road on which the vehicle is traveling, prevent the vehicle from slipping without using a brake, have high flexibility, and greatly improve drivability of the vehicle.
A second object of the present invention is to provide a vehicle start control device.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose an electronic device.
A fifth object of the present invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a starting control method for a vehicle, including: recognizing that a vehicle is in an idle starting state, and acquiring idle torque of the vehicle according to the current speed of the vehicle; acquiring the current gradient of a road on which the vehicle runs, and acquiring the gradient compensation torque of the vehicle according to the current gradient; and acquiring the driving torque of the vehicle according to the idle speed torque and the gradient compensation torque, and driving the vehicle by using the driving torque.
According to the starting control method of the vehicle, the vehicle is recognized to be in an idle starting state, idle torque of the vehicle is obtained according to the current speed of the vehicle, the current gradient of a road on which the vehicle runs is collected at the same time, gradient compensation torque of the vehicle is obtained according to the current gradient, driving torque of the vehicle is obtained according to the idle torque and the gradient compensation torque, and finally the vehicle is driven by the driving torque. Therefore, the control method can realize the hill idling starting, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize the brake to prevent the vehicle from sliding, has higher flexibility, and greatly improves the driving performance of the vehicle.
In addition, the starting control method for the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
in one embodiment of the present invention, after driving the vehicle with the driving torque, the method further includes: detecting whether the vehicle is currently in a slope slipping state; and if the vehicle is in a slope slipping state, controlling to increase the slope compensation torque so as to update the driving torque, continuously driving the vehicle by using the updated driving torque, and returning to the subsequent steps of re-detecting whether the vehicle is in the slope slipping state or not until the slope slipping state disappears when the vehicle is driven by the updated driving torque.
In one embodiment of the present invention, the detecting whether the vehicle is currently in a downhill state includes: determining the steering of a driving motor in the vehicle, and determining a first direction of the vehicle speed according to the steering;
acquiring the current gear of the vehicle, and identifying a second direction of the vehicle speed represented by the gear; and recognizing that the first direction is inconsistent with the second direction, determining that the vehicle is in a slope slipping state currently.
In one embodiment of the present invention, the obtaining a gradient compensation torque of the vehicle according to the current gradient includes: identifying whether the current gradient is one of preset gradient values; and if the current gradient is one of the preset gradient values, positioning on a gradient compensation torque curve corresponding to the one of the preset gradient values according to the current vehicle speed to obtain the gradient compensation torque.
In one embodiment of the present invention, the obtaining a gradient compensation torque of the vehicle according to the current gradient further comprises: if the current gradient is not one of the preset gradient values, determining two adjacent preset gradient values of the current gradient; obtaining a slope compensation torque curve corresponding to the current slope according to the slope compensation torque curves corresponding to the two adjacent preset slope values; and positioning on a slope compensation torque curve corresponding to the current slope according to the current vehicle speed to obtain the slope compensation torque.
In one embodiment of the present invention, after driving the vehicle with the driving torque, further comprises:
detecting the opening degree of an accelerator pedal, determining that the vehicle is in an acceleration state according to the opening degree of the accelerator pedal, and acquiring the required torque of the vehicle according to the opening degree of the accelerator pedal; and updating the driving torque according to the required torque, the reacquired idle torque and the reacquired gradient compensation torque, and continuously driving the vehicle by using the updated driving torque.
In order to achieve the above object, a second aspect of the present invention provides a vehicle start control device, including: the first acquisition module is used for identifying that a vehicle is in an idle starting state and acquiring idle torque of the vehicle according to the current speed of the vehicle; the second acquisition module is used for acquiring the current gradient of a road on which the vehicle runs and acquiring the gradient compensation torque of the vehicle according to the current gradient; and the third obtaining module is used for obtaining the driving torque of the vehicle according to the idle speed torque and the gradient compensation torque, and driving the vehicle by using the driving torque.
According to the starting control device of the vehicle, the first obtaining module is used for identifying that the vehicle is in an idle starting state, the idle torque of the vehicle is obtained according to the current speed of the vehicle, the second obtaining module is used for collecting the current gradient of a road on which the vehicle runs so as to obtain the gradient compensation torque of the vehicle according to the current gradient, and the third obtaining module is used for obtaining the driving torque of the vehicle according to the idle torque and the gradient compensation torque so as to drive the vehicle by using the driving torque. Therefore, the control device can realize hill idling starting, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize a brake to prevent the vehicle from sliding, has higher flexibility, and greatly improves the driving performance of the vehicle.
In order to achieve the above object, a third aspect of the present invention provides a vehicle including the vehicle start control apparatus according to the second aspect of the present invention.
The vehicle provided by the embodiment of the invention can realize the hill idling starting through the starting control device of the vehicle, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize a brake to prevent the vehicle from sliding, has higher flexibility, and greatly improves the driving performance of the vehicle.
In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the vehicle starting control method according to the embodiment of the first aspect of the invention.
According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored on the memory, so that the hill idle starting can be realized, the driving torque required by the vehicle starting is determined by utilizing the gradient of the road on which the vehicle runs, the vehicle is prevented from sliding without utilizing a brake, the flexibility is higher, and the driving performance of the vehicle is greatly improved.
To achieve the above object, a fifth aspect of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a method for controlling starting of a vehicle according to the first aspect of the present invention.
The computer readable storage medium of the embodiment of the invention can realize the hill idle starting by storing the computer program and executing the computer program by the processor, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize a brake to prevent the vehicle from sliding, has higher flexibility and greatly improves the driving performance of the vehicle.
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.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method of starting control of a vehicle according to an embodiment of the invention;
FIG. 2 is a slope compensation torque graph according to an exemplary embodiment of the present disclosure;
FIG. 3 is a block schematic diagram of a launch control system for a vehicle in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a block schematic diagram of a launch control apparatus for a vehicle according to one embodiment of the present invention;
FIG. 5 is a block schematic diagram of a launch control apparatus for a vehicle according to another embodiment of the present invention;
FIG. 6 is a block schematic diagram of a launch control apparatus for a vehicle according to yet another embodiment of the invention; and
FIG. 7 is a block schematic diagram of a vehicle according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A start control method for a vehicle, a start control device for a vehicle, an electronic apparatus, and a computer storage medium according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for controlling a start of a vehicle according to an embodiment of the present invention. In an embodiment of the present invention, the vehicle may include an electric car, a fuel car, and the like.
As shown in fig. 1, a vehicle start control method according to an embodiment of the present invention includes the steps of:
and S1, recognizing that the vehicle is in an idle starting state, and acquiring the idle torque of the vehicle according to the current speed of the vehicle. It should be noted that the idling starting described in this embodiment is not supplied with oil when the automobile starts, and the purpose of starting is achieved by directly slowly lifting the clutch.
Specifically, the vehicle may identify whether the vehicle is currently in an idle-start state through a corresponding sensor or device, for example, a manual transmission vehicle, may detect current states of a vehicle clutch pedal and an accelerator pedal through a pedal position sensor, and may detect current gear information of the vehicle through a gear sensor, so as to determine whether the vehicle is currently in the idle-start state according to the current states of the vehicle clutch pedal and the accelerator pedal and the current gear information of the vehicle. The automatic transmission vehicle can detect the current gear information of the vehicle through the gear sensor, detect the current state of an accelerator pedal of the vehicle through the pedal position sensor, and determine whether the vehicle is in an idle starting state currently according to the current state of the accelerator pedal of the vehicle and the current gear information of the vehicle.
In addition, when the vehicle is in an idle-off state, the idle torque of the vehicle depends on the current vehicle speed of the vehicle, and the relationship between them is generally preset, for example, a preset vehicle speed-idle torque curve. The vehicle can be positioned on a preset vehicle speed-idle torque curve according to the current vehicle speed so as to obtain the current idle torque.
It should be noted that the vehicle speed-idle torque curve described in this embodiment may be calibrated based on the vehicle's own conditions. For example, the vehicle speed-idle torque curve may be calibrated at the standard load of the vehicle, which is related to the vehicle speed and gradually decays as the vehicle speed increases, e.g., the idle torque may be 700N · m when the vehicle speed is 0km/h and typically decays to 0N · m when the vehicle speed is 5 km/h.
And S2, acquiring the current gradient of the road on which the vehicle runs, and acquiring the gradient compensation torque of the vehicle according to the current gradient. Wherein the current grade may be a percentage of the current driving road above the horizontal plane, e.g., the current grade is 5%.
In one embodiment of the present invention, obtaining the gradient compensation torque of the vehicle according to the current gradient may include identifying whether the current gradient is one of the preset gradient values, and if the current gradient is one of the preset gradient values, positioning on a gradient compensation torque curve corresponding to the one of the preset gradient values according to the current vehicle speed to obtain the gradient compensation torque. The preset gradient value may be calibrated according to an actual condition, and the gradient compensation torque curve corresponding to the preset gradient value may also be calibrated according to the actual condition, the preset gradient value may be multiple, for example, 5%, 10%, 15%, 20%, 30%, 40%, etc., and the corresponding gradient compensation torque curve may also be multiple.
In another embodiment of the present invention, if the current gradient is not one of the preset gradient values, two adjacent preset gradient values of the current gradient may be determined, then the gradient compensation torque curve corresponding to the current gradient may be obtained according to the gradient compensation torque curves corresponding to the two adjacent preset gradient values, and then the gradient compensation torque may be obtained by positioning on the gradient compensation torque curve corresponding to the current gradient according to the current vehicle speed.
The current gradient of the road on which the vehicle runs can be acquired through a gradient sensor or a gradient calculation model. In addition, the preset gradient value and the corresponding gradient compensation torque curve can be preset in a storage space of the vehicle, for example, the vehicle controller.
The slope compensation torque curve corresponding to the preset slope value can be calibrated according to the conditions of the vehicle, for example, the slope compensation torque curve can be calibrated under the standard load of the vehicle, and is related to the vehicle speed and the preset slope value, under the standard load of the vehicle, the greater the slope is when the vehicle speed is the same, the greater the corresponding slope compensation torque is, and under the standard load of the vehicle, the greater the vehicle speed is when the slope is the same, the smaller the corresponding slope compensation torque is.
For example, as shown in fig. 2, it is assumed that the predetermined gradient values of the vehicle are 5%, 10%, 20%, and 30% respectively, which correspond to a 5% gradient compensation torque curve, a 10% gradient compensation torque curve, a 20% gradient compensation torque curve, and a 30% gradient compensation torque curve, respectively. When the vehicle speed is 5km/h, the slope compensation torque corresponding to the preset slope value is attenuated to 0N m.
When the current gradient value acquired by the vehicle is 20%, firstly identifying that 20% is one of preset gradient values of the vehicle, and then positioning on a 20% gradient compensation torque curve corresponding to the 20% of the preset gradient value according to the current vehicle speed to obtain a gradient compensation torque; when the current gradient value collected by the vehicle is 15%, firstly, it is recognized that 15% is not one of the preset gradient values of the vehicle, then, two adjacent preset gradient values of 15% of the current gradient value are determined to be 10% and 20%, then, a 15% gradient compensation torque curve is determined according to the 10% gradient compensation torque curve and the 20% gradient compensation torque curve, an interpolation method can be adopted, the specific steps of the interpolation method are not repeated, and finally, according to the current vehicle speed, positioning is carried out on the 15% gradient compensation torque curve to obtain the gradient compensation torque.
And S3, acquiring the driving torque of the vehicle according to the idle speed torque and the gradient compensation torque, and driving the vehicle by using the driving torque.
Specifically, as shown in fig. 3, when the vehicle is in an idle starting state, the vehicle controller of the vehicle may obtain a current vehicle speed of the vehicle in real time, call a preset vehicle speed-idle torque curve from a storage space of the vehicle controller, and position the vehicle speed-idle torque curve according to the current vehicle speed to obtain the current idle torque. Then, the vehicle controller of the vehicle can acquire the current gradient of the road on which the vehicle runs through the gradient sensor, call a plurality of preset gradient values and corresponding gradient compensation torque curves from a storage space of the vehicle controller, judge whether the acquired current gradient is one of the preset gradient values, and if so, position the vehicle controller on the gradient compensation torque curve corresponding to the preset gradient value according to the current vehicle speed to obtain the gradient compensation torque.
If not, the vehicle controller of the vehicle can firstly determine two preset gradient values adjacent to the acquired current gradient from the plurality of preset gradient values, then obtain a gradient compensation torque curve corresponding to the current gradient according to the gradient compensation torque curves corresponding to the two adjacent preset gradient values by adopting an interpolation method, and then position the vehicle controller on the gradient compensation torque curve corresponding to the current gradient according to the current vehicle speed to obtain the gradient compensation torque.
Finally, the vehicle controller of the vehicle can calculate the driving torque of the vehicle according to the obtained idle torque and the gradient compensation torque, and send the driving torque to the driving motor controller of the vehicle, so that the driving motor controller drives the vehicle through the driving motor according to the driving torque.
In the embodiment of the invention, the driving the vehicle by using the driving torque may include that when the vehicle is in an idle starting state and runs on a road without a slope, the slope compensation torque is 0, and the driving torque is only the idle torque, that is, the vehicle is driven by using only the idle torque as the driving torque, so that the vehicle can be ensured to start smoothly; when the vehicle is in an idle starting state and runs on a road with a slope, the driving torque is the sum of the idle torque and the slope compensation torque, namely the sum of the idle torque and the slope compensation torque is used as the driving torque to drive the vehicle, and the vehicle can be ensured to start stably. Wherein the drive torque can be generated by the drive motor.
In one embodiment of the invention, after driving the vehicle with the driving torque, the method may further include detecting whether the vehicle is currently in a downhill state, if the vehicle is in the downhill state, controlling to increase the gradient compensation torque to update the driving torque, continuing to drive the vehicle with the updated driving torque, and returning to re-detect whether the vehicle is currently in the downhill state and the subsequent steps until the downhill state disappears when the vehicle is driven with the updated driving torque.
The method comprises the steps of detecting whether a vehicle is in a slope slipping state or not, determining the steering direction of a driving motor in the vehicle, determining a first direction of the vehicle speed according to the steering direction, obtaining the current gear of the vehicle, identifying a second direction of the vehicle speed represented by the gear, and determining that the vehicle is in the slope slipping state if the first direction is identified to be inconsistent with the second direction. And if the first direction is consistent with the second direction, determining that the vehicle is not in a slope slipping state currently.
It should be noted that the control increasing the gradient compensation torque described in this embodiment may be a control increasing the gradient compensation torque step by step, i.e., one step at a time.
Specifically, as shown in fig. 3, during the starting process of the vehicle, the vehicle controller of the vehicle may first obtain the steering direction of the driving motor, and obtain the current gear of the vehicle through the gear detecting unit, then determining the current running direction of the vehicle according to the steering direction of the driving motor, and determining the target running direction of the vehicle according to the current gear of the vehicle, and then judging whether the current running direction of the vehicle is consistent with the target running direction of the vehicle, if not, the vehicle is in a slope slipping state, the vehicle controller can control the slope compensation torque to increase by one step, and calculating a driving torque by using the idle torque corresponding to the current vehicle speed and the increased gradient compensation torque, and sending the updated driving torque to a driving motor controller of the vehicle so that the driving motor controller drives the vehicle through a driving motor according to the driving torque. And then returning to re-detect whether the vehicle is in a slope slipping state or not and the subsequent steps until the slope slipping state disappears when the vehicle is driven by the updated driving torque.
For example, as shown in fig. 2, it is assumed that the plurality of preset gradient values of the vehicle are 5%, 10%, 20%, 30%, respectively. If the vehicle is controlled to run by the driving torque containing the 10% gradient compensation torque currently, the vehicle controller of the vehicle detects whether the vehicle is in a slope slipping state currently, if so, the vehicle controller controls to increase the gradient compensation torque to be 20% gradient compensation torque corresponding to the current vehicle speed, and updates the current driving torque to be the sum of the idle torque corresponding to the current vehicle speed and the 20% gradient compensation torque corresponding to the current vehicle speed. And then returning to re-detecting whether the vehicle is in a slope slipping state at present and subsequent steps, if the vehicle is detected to be still in the slope slipping state, controlling the slope compensation torque to be increased to 30% of slope compensation torque corresponding to the current vehicle speed, and updating the current driving torque to the sum of the idle torque corresponding to the current vehicle speed and the 30% of slope compensation torque corresponding to the current vehicle speed. And repeating the steps until the slope slipping state disappears when the vehicle is driven by the updated driving torque.
Thus, when the vehicle is in a downhill state, the gradient compensation torque of the vehicle is increased step by step until the downhill state disappears. The slope compensation torque can be increased rapidly by adopting a calibrated rising rate and a rising period so as to ensure that the driving motor has no abnormal sound and no impact in the torque increasing process, ensure that the torque increasing time is short and prevent the slope slipping from continuing.
Further, as shown in fig. 3, after the vehicle is driven by using the driving torque, the method may further include detecting an opening degree of an accelerator pedal, determining whether the vehicle is in an acceleration state according to the opening degree of the accelerator pedal, acquiring a required torque of the vehicle according to the opening degree of an accelerator step, updating the driving torque according to the required torque, the reacquired idle torque, and the reacquired gradient compensation torque, and continuing to drive the vehicle by using the updated driving torque. The opening degree of the accelerator pedal can be obtained by arranging a pedal position sensor at the accelerator pedal of the vehicle.
It should be noted that if it is determined that the vehicle is in an acceleration state according to the opening degree of the accelerator pedal, that is, the vehicle is not in an idle-start state (has exited the idle-start state), the idle torque at this time should be 0N · m. And simultaneously acquiring the required torque of the vehicle according to the opening degree of the accelerator pedal, and updating the driving torque to the sum of the acquired required torque and the gradient compensation torque.
In summary, according to the start control method of the vehicle in the embodiment of the present invention, it is first recognized that the vehicle is in an idle start state, the idle torque of the vehicle is obtained according to the current speed of the vehicle, the current gradient of the road on which the vehicle is traveling is simultaneously acquired, the gradient compensation torque of the vehicle is obtained according to the current gradient, then the driving torque of the vehicle is obtained according to the idle torque and the gradient compensation torque, and finally the vehicle is driven by using the driving torque. Therefore, the control method can realize the hill idling starting, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize the brake to prevent the vehicle from sliding, has higher flexibility, and greatly improves the driving performance of the vehicle.
Fig. 4 is a block schematic diagram of a launch control apparatus for a vehicle according to one embodiment of the invention.
As shown in fig. 4, the vehicle start control device 1000 according to the embodiment of the present invention includes a first acquiring module 100, a second acquiring module 200, and a third acquiring module 300.
The first obtaining module 100 is configured to identify that a vehicle is in an idle-speed starting state, and obtain an idle-speed torque of the vehicle according to a current vehicle speed of the vehicle.
The second obtaining module 200 is configured to collect a current gradient of a road on which the vehicle is traveling, and obtain a gradient compensation torque of the vehicle according to the current gradient.
The third obtaining module 300 is configured to obtain a driving torque of the vehicle according to the idle torque and the gradient compensation torque, and drive the vehicle with the driving torque.
In an embodiment of the present invention, as shown in fig. 5, the third obtaining module 300 may further include: a hill fall detection unit 301, a torque update unit 302, and a drive unit 303.
Wherein the downhill detecting unit 301 is configured to detect whether the vehicle is currently in a downhill state after driving the vehicle with the driving torque.
The torque updating unit 302 is configured to control to increase the gradient compensation torque to update the driving torque when the vehicle is in a downhill state.
The driving unit 303 is configured to continue to drive the vehicle with the updated driving torque, and return to re-detect whether the vehicle is currently in a slope slipping state and subsequent steps until the slope slipping state disappears when the vehicle is driven with the updated driving torque.
In an embodiment of the present invention, the hill-drop detection unit 301 is specifically configured to determine a steering direction of a driving motor in the vehicle, determine a first direction of a vehicle speed according to the steering direction, obtain a current gear of the vehicle, identify a second direction of the vehicle speed represented by the gear, and determine that the vehicle is currently in a hill-drop state if the first direction and the second direction are not consistent.
In an embodiment of the invention, the second obtaining module 200 is configured to identify whether the current gradient is one of preset gradient values, and if the current gradient is one of the preset gradient values, the second obtaining module locates on a gradient compensation torque curve corresponding to the one of the preset gradient values according to the current vehicle speed to obtain the gradient compensation torque.
In an embodiment of the present invention, the second obtaining module 200 is further configured to determine two adjacent preset gradient values of the current gradient when the current gradient is not one of the preset gradient values, obtain a gradient compensation torque curve corresponding to the current gradient according to the gradient compensation torque curves corresponding to the two adjacent preset gradient values, and position on the gradient compensation torque curve corresponding to the current gradient according to the current vehicle speed to obtain the gradient compensation torque.
In an embodiment of the present invention, as shown in fig. 6, the starting control device 1000 of the vehicle may further include a pedal detection module 400, configured to detect an opening degree of an accelerator pedal after driving the vehicle with the driving torque, determine that the vehicle is in an acceleration state according to the opening degree of the accelerator pedal, and obtain a required torque of the vehicle according to the opening degree of the accelerator pedal.
The third obtaining module 300 is further configured to update the driving torque according to the requested torque, the reacquired idle torque, and the reacquired grade compensation torque, and continue to drive the vehicle with the updated driving torque.
It should be noted that, for details that are not disclosed in the vehicle starting control device according to the embodiment of the present invention, please refer to details that are disclosed in the vehicle starting control method according to the embodiment of the present invention, and details are not described here again.
To sum up, the vehicle starting control device according to the embodiment of the present invention identifies that the vehicle is in an idle starting state through the first obtaining module, obtains the idle torque of the vehicle according to the current speed of the vehicle, simultaneously collects the current gradient of a road on which the vehicle is traveling through the second obtaining module, obtains the gradient compensation torque of the vehicle according to the current gradient, then obtains the driving torque of the vehicle according to the idle torque and the gradient compensation torque through the third obtaining module, and finally drives the vehicle by using the driving torque. Therefore, the control device can realize hill idling starting, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize a brake to prevent the vehicle from sliding, has higher flexibility, and greatly improves the driving performance of the vehicle.
In order to implement the above embodiment, the present invention further provides a vehicle, as shown in fig. 7, a vehicle 10000 includes the above vehicle start control device 1000.
The vehicle provided by the embodiment of the invention can realize the hill idling starting by the starting control device of the vehicle, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize the brake to prevent the vehicle from sliding, has higher flexibility, and greatly improves the driving performance of the vehicle.
In order to implement the above embodiments, the present invention further provides an electronic device, which includes a memory and a processor; the processor reads the executable program codes stored in the memory to run programs corresponding to the executable program codes, so as to realize the starting control method of the vehicle.
According to the electronic equipment provided by the embodiment of the invention, the processor executes the computer program stored on the memory, so that the hill idle starting can be realized, the driving torque required by the vehicle starting is determined by utilizing the gradient of the road on which the vehicle runs, the vehicle is prevented from sliding without utilizing a brake, the flexibility is higher, and the driving performance of the vehicle is greatly improved.
In order to implement the above embodiments, the present invention also provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the above-described vehicle starting control method.
The computer readable storage medium of the embodiment of the invention can realize the hill idle starting by storing the computer program and executing the computer program by the processor, determines the driving torque required by the vehicle starting by utilizing the gradient of the road on which the vehicle runs, does not need to utilize a brake to prevent the vehicle from sliding, has higher flexibility and greatly improves the driving performance of the vehicle.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. 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.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A starting control method for a vehicle, characterized by comprising the steps of:
recognizing that a vehicle is in an idle starting state, and acquiring idle torque of the vehicle according to the current speed of the vehicle;
acquiring the current gradient of a road on which the vehicle runs, and acquiring the gradient compensation torque of the vehicle according to the current gradient;
and acquiring the driving torque of the vehicle according to the idle speed torque and the gradient compensation torque, and driving the vehicle by using the driving torque.
2. The method of claim 1, wherein after said driving the vehicle with the drive torque, further comprising:
detecting whether the vehicle is currently in a slope slipping state;
and if the vehicle is in a slope slipping state, controlling to increase the slope compensation torque so as to update the driving torque, continuously driving the vehicle by using the updated driving torque, and returning to the subsequent steps of re-detecting whether the vehicle is in the slope slipping state or not until the slope slipping state disappears when the vehicle is driven by the updated driving torque.
3. The method of claim 2, wherein said detecting whether the vehicle is currently in a downhill state comprises:
determining the steering of a driving motor in the vehicle, and determining a first direction of the vehicle speed according to the steering;
acquiring the current gear of the vehicle, and identifying a second direction of the vehicle speed represented by the gear;
and recognizing that the first direction is inconsistent with the second direction, determining that the vehicle is in a slope slipping state currently.
4. The method of any of claims 1-3, wherein said obtaining a grade compensation torque of the vehicle based on the current grade comprises:
identifying whether the current gradient is one of preset gradient values;
and if the current gradient is one of the preset gradient values, positioning on a gradient compensation torque curve corresponding to the one of the preset gradient values according to the current vehicle speed to obtain the gradient compensation torque.
5. The method of claim 4, further comprising:
if the current gradient is not one of the preset gradient values, determining two adjacent preset gradient values of the current gradient;
obtaining a slope compensation torque curve corresponding to the current slope according to the slope compensation torque curves corresponding to the two adjacent preset slope values;
and positioning on a slope compensation torque curve corresponding to the current slope according to the current vehicle speed to obtain the slope compensation torque.
6. The method of any of claims 1-3, further comprising, after driving the vehicle with the drive torque:
detecting the opening degree of an accelerator pedal, determining that the vehicle is in an acceleration state according to the opening degree of the accelerator pedal, and acquiring the required torque of the vehicle according to the opening degree of the accelerator pedal;
and updating the driving torque according to the required torque, the reacquired idle torque and the reacquired gradient compensation torque, and continuously driving the vehicle by using the updated driving torque.
7. A start control device for a vehicle, characterized by comprising:
the first acquisition module is used for identifying that a vehicle is in an idle starting state and acquiring idle torque of the vehicle according to the current speed of the vehicle;
the second acquisition module is used for acquiring the current gradient of a road on which the vehicle runs and acquiring the gradient compensation torque of the vehicle according to the current gradient;
and the third obtaining module is used for obtaining the driving torque of the vehicle according to the idle speed torque and the gradient compensation torque, and driving the vehicle by using the driving torque.
8. A vehicle, characterized by comprising: a starting control device for a vehicle according to claim 7.
9. An electronic device comprising a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for implementing the method for controlling a start of a vehicle according to any one of claims 1 to 6.
10. A computer-readable storage medium, in which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method for controlling take-off of a vehicle according to any one of claims 1-6.
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| CN201910826539.5A CN112440758A (en) | 2019-09-03 | 2019-09-03 | Vehicle and starting control method and control device thereof |
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