CN114103951B - Parameter determination method and related device - Google Patents
Parameter determination method and related device Download PDFInfo
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- CN114103951B CN114103951B CN202010886085.3A CN202010886085A CN114103951B CN 114103951 B CN114103951 B CN 114103951B CN 202010886085 A CN202010886085 A CN 202010886085A CN 114103951 B CN114103951 B CN 114103951B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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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
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the application discloses a parameter determination method and a related device, wherein the method comprises the following steps: acquiring torque request information sent by a whole vehicle controller, wherein the torque request information comprises a first torque parameter; collecting the corresponding accelerator pedal opening and the corresponding vehicle speed of a target vehicle; determining a second torque parameter according to the accelerator pedal opening and the vehicle speed; and determining a final torque output parameter corresponding to the target vehicle according to the first torque parameter and the second torque parameter. According to the method, after the processing equipment acquires the first torque parameter in the torque request information sent by the whole vehicle controller, the first torque parameter can be checked according to the second torque parameter acquired and determined by the processing equipment, and the final torque output parameter is determined by combining the first torque parameter and the second torque parameter, so that the accuracy of the torque parameter is improved, and the driving safety of a user is improved.
Description
Technical Field
The application relates to the technical field of automobile safety, in particular to a parameter determination method and a related device.
Background
The automobile is one of the common choices for people to travel daily, and driving the automobile can bring great convenience to the life of people. With the continuous development of automobile technology, people have increasingly higher requirements on the driving comfort of automobiles, wherein when the automobile runs, the corresponding torque of the automobile is continuously regulated due to the continuous change of the speed of the automobile, and the torque parameter of the automobile directly influences the driving safety of a user.
In the related art, after receiving a requested torque parameter, a motor controller of a vehicle directly adjusts the torque according to the parameter, and the adjustment method has larger error, reduces the driving safety of the vehicle and easily influences the driving safety of a user.
Disclosure of Invention
In order to solve the technical problems, the application provides a parameter determination method, after a processing device obtains a first torque parameter in torque request information sent by a whole vehicle controller, the processing device can verify the first torque parameter according to a second torque parameter acquired and determined by the processing device, and a final torque output parameter is determined by combining the first torque parameter and the second torque parameter, so that the accuracy of the torque parameter is improved, and the driving safety of a user is improved.
The embodiment of the application discloses the following technical scheme:
in a first aspect, the present application provides a method for determining a parameter, the method comprising:
acquiring torque request information sent by a whole vehicle controller, wherein the torque request information comprises a first torque parameter;
collecting the corresponding accelerator pedal opening and the corresponding vehicle speed of a target vehicle;
determining a second torque parameter according to the accelerator pedal opening and the vehicle speed;
and determining a final torque output parameter corresponding to the target vehicle according to the first torque parameter and the second torque parameter.
Optionally, the determining, according to the first torque parameter and the second torque parameter, a final torque output parameter corresponding to the target vehicle includes:
judging whether the absolute value of the difference value of the first torque parameter and the second torque parameter exceeds a first threshold value;
if the average value of the first torque parameter and the second torque parameter is not exceeded, determining the average value of the first torque parameter and the second torque parameter as a first torque output parameter;
if the first torque parameter exceeds the second torque parameter, determining the smaller one of the first torque parameter and the second torque parameter as the first torque output parameter;
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter.
Optionally, the method further comprises:
determining a first estimated torque parameter according to a vehicle speed, a power battery voltage and a power battery current corresponding to the target vehicle;
determining a second estimated torque parameter according to the acceleration corresponding to the target vehicle;
determining a third estimated torque parameter according to the phase current and the rotor position corresponding to the target vehicle;
determining a second torque output parameter according to the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter;
the determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter includes:
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter and the second torque output parameter.
Optionally, the determining a second torque output parameter according to the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter includes:
judging whether the absolute value of the difference value among the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter exceeds a second threshold value;
if the absolute value of the difference does not exceed the second threshold, determining an average of the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter as the second torque output parameter;
if the absolute value of the difference value of the existing part exceeds the second threshold value, determining two parameters with smaller absolute values of the difference values in the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter according to the absolute value of the difference value, and determining the average value of the two parameters as the second torque output parameter;
and if the absolute values of the difference values exceed a second threshold value, determining a preset first error-reporting torque parameter as the second torque output parameter.
Optionally, the determining, according to the first torque output parameter and the second torque output parameter, a final torque output parameter corresponding to the target vehicle includes:
if the first torque output parameter and the second torque output parameter are positive numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a third threshold value or not; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining a preset second error-reporting torque parameter as the final torque output parameter;
if the first torque output parameter and the second torque output parameter are negative numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a fourth threshold value; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining the second error-reporting torque parameter as the final torque output parameter;
and if the positive and negative of the first torque output parameter and the second torque output parameter are different or the first torque output parameter is 0, determining the second error-reporting torque parameter as the final torque output parameter.
In a second aspect, an embodiment of the present application provides a parameter determining apparatus, where the apparatus includes an acquisition unit, a first determining unit, and a second determining unit:
the acquisition unit is used for acquiring torque request information sent by the whole vehicle controller, and the torque request information comprises a first torque parameter;
the acquisition unit is used for acquiring the opening degree and the speed of an accelerator pedal corresponding to the target vehicle;
the first determining unit is used for determining a second torque parameter according to the opening degree of the accelerator pedal and the vehicle speed;
the second determining unit is configured to determine a final torque output parameter corresponding to the target vehicle according to the first torque parameter and the second torque parameter.
Optionally, the second determining unit is specifically configured to:
judging whether the absolute value of the difference value of the first torque parameter and the second torque parameter exceeds a first threshold value;
if the average value of the first torque parameter and the second torque parameter is not exceeded, determining the average value of the first torque parameter and the second torque parameter as a first torque output parameter;
if the first torque parameter exceeds the second torque parameter, determining the smaller one of the first torque parameter and the second torque parameter as the first torque output parameter;
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter.
Optionally, the apparatus further includes a third determining unit, a fourth determining unit, a fifth determining unit, and a sixth determining unit:
the third determining unit is used for determining a first estimated torque parameter according to the vehicle speed, the power battery voltage and the power battery current corresponding to the target vehicle;
the fourth determining unit is used for determining a second estimated torque parameter according to the acceleration corresponding to the target vehicle;
the fifth determining unit is used for determining a third estimated torque parameter according to the phase current and the rotor position corresponding to the target vehicle;
the sixth determining unit is configured to determine a second torque output parameter according to the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter;
the second determining unit is specifically configured to:
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter and the second torque output parameter.
Optionally, the second determining unit is specifically configured to:
judging whether the absolute value of the difference value among the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter exceeds a second threshold value;
if the absolute value of the difference does not exceed the second threshold, determining an average of the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter as the second torque output parameter;
if the absolute value of the difference value of the existing part exceeds the second threshold value, determining two parameters with smaller absolute values of the difference values in the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter according to the absolute value of the difference value, and determining the average value of the two parameters as the second torque output parameter;
and if the absolute values of the difference values exceed a second threshold value, determining a preset first error-reporting torque parameter as the second torque output parameter.
Optionally, the second determining unit is specifically configured to:
if the first torque output parameter and the second torque output parameter are positive numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a third threshold value or not; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining a preset second error-reporting torque parameter as the final torque output parameter;
if the first torque output parameter and the second torque output parameter are negative numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a fourth threshold value; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining the second error-reporting torque parameter as the final torque output parameter;
and if the positive and negative of the first torque output parameter and the second torque output parameter are different or the first torque output parameter is 0, determining the second error-reporting torque parameter as the final torque output parameter.
As can be seen from the above technical solution, the present application provides a parameter determining method and a related device, where after acquiring torque request information sent by a vehicle controller, a processing device does not directly perform torque adjustment according to first torque parameters included in the torque request information, but collects an accelerator opening and a vehicle speed corresponding to a target vehicle, and determines, according to the information, a second torque parameter corresponding to the target vehicle, where the second torque parameter is a predicted value of a torque parameter required by the target vehicle. The processing equipment can combine the first torque parameter and the second torque parameter to determine the final torque output parameter corresponding to the target vehicle, so that the first torque parameter can be checked through the second torque parameter, the accuracy of parameter determination is improved, and the driving safety of a user is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for determining parameters according to an embodiment of the present application;
fig. 2 is a schematic diagram of a method for determining parameters in an actual application scenario according to an embodiment of the present application;
fig. 3 is a block diagram of a parameter determining apparatus according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described below with reference to the accompanying drawings.
The torque parameter is one of parameters which are frequently adjusted in the running process of the vehicle, and the operations of acceleration, deceleration, steering and the like of the vehicle all involve the change of the torque parameter. If the torque parameter is not accurately adjusted, the operation feedback of the vehicle to the user is insensitive, and the problems of vehicle jolt, abnormal shake and the like occur.
In the related art, torque is adjusted by sending a torque request to a motor controller by a whole vehicle controller, wherein the torque request comprises a torque parameter corresponding to the torque adjustment. The motor controller can determine the corresponding three-phase power to the motor through the torque parameter, so that the motor can carry out corresponding torque adjustment. Because the torque request may be disturbed from the outside during the transmission process, the torque parameter received by the motor controller may not be the actual torque parameter that needs to be adjusted by the current vehicle, which may result in inaccurate torque adjustment and affect the driving safety of the user.
In order to solve the technical problems, the application provides a parameter determination method, after a processing device obtains a first torque parameter in torque request information sent by a whole vehicle controller, the processing device can verify the first torque parameter according to a second torque parameter acquired and determined by the processing device, and a final torque output parameter is determined by combining the first torque parameter and the second torque parameter, so that the accuracy of the torque parameter is improved, and the driving safety of a user is improved.
It will be appreciated that the method may be applied to a processing device, which is a processing device with parameter determination functionality, for example a terminal device or a server with parameter determination functionality. The method can be independently executed by the terminal equipment or the server, can also be applied to a network scene of communication between the terminal equipment and the server, and is executed by the cooperation of the terminal equipment and the server. The terminal device may be a computer or the like. The server can be understood as an application server, a Web server, an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server for providing cloud computing service in actual deployment. The terminal and the server may be directly or indirectly connected through wired or wireless communication, which is not limited herein. Meanwhile, in the hardware environment, the technology has been implemented in the following environments: ARM architecture processors, X86 architecture processors; in a software environment, the technology has been implemented in the following environments: android platform, windows xp and above operating system or Linux operating system.
Next, a parameter determination method provided in the embodiments of the present application will be described with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart of a parameter determining method according to an embodiment of the present application. The method comprises the following steps:
s101: torque request information sent by the vehicle controller is obtained.
In the running process of the vehicle, due to factors such as vehicle speed change, road condition change and the like, a driver needs to control the vehicle in time. When a driver controls the vehicle through control elements such as an accelerator, a brake, a gear and the like, a vehicle controller in the vehicle can collect control signals sent by the control elements and analyze the control signals to generate torque request information, wherein the torque request information is used for requesting corresponding torque adjustment from a processing device.
The processing device may obtain torque request information sent by the vehicle controller, the torque request information including the first torque parameter. The first torque parameter refers to a torque parameter requested by the torque request information.
S102: and collecting the corresponding accelerator pedal opening and the corresponding vehicle speed of the target vehicle.
In the process of transmitting the torque request information, the first torque parameter acquired by the processing device may not be the torque parameter actually desired to be requested by the vehicle controller due to possible transmission errors or interference information. Therefore, in order to prevent the erroneous torque parameter from risking the vehicle running, the processing device may verify the acquired first torque parameter.
It will be appreciated that since the change in the torque parameter represents control of the vehicle state, the processing device may first acquire the accelerator pedal opening and the vehicle speed corresponding to the target vehicle when determining the parameter for verifying the first torque parameter. The target vehicle is a vehicle that performs torque adjustment. The processing device may analyze the current running state of the target vehicle by the accelerator opening and the vehicle speed, thereby obtaining parameters for verification.
S203: and determining a second torque parameter according to the opening degree of the accelerator pedal and the vehicle speed.
After obtaining the accelerator opening degree and the vehicle speed, the processing apparatus may determine the second torque parameter according to the accelerator opening degree and the vehicle speed. The second torque parameter is a verification parameter determined by the processing equipment according to the acquired vehicle information. It will be appreciated that the method of determining the second torque parameter may include a variety of methods, and in one possible implementation, the processing device may determine the second torque parameter by the following formula:
T rq2 ＝μD
wherein T is rq2 Is a second torque parameter; mu is a proportional coefficient and is a fixed value, and different values can be designed according to different vehicle types; d is the accelerator opening in units of sensors that can be detected by the processing device.
S204: and determining a final torque output parameter corresponding to the target vehicle according to the first torque parameter and the second torque parameter.
After the second torque parameter is determined and intelligently, the processing equipment can verify the first torque parameter through the second torque parameter to obtain a final torque output parameter after verification. The final torque output parameter refers to a torque parameter that the processing device can output to the motor for torque adjustment.
The method for verifying the first torque parameter through the second torque parameter can comprise various methods. In one possible implementation manner, the processing device may determine whether the absolute value of the difference between the first torque parameter and the second torque parameter exceeds the first threshold, if not, it is indicated that the difference between the torque parameter and the requested torque parameter is smaller, that is, the first torque parameter is more accurate, according to the actual state of the target vehicle, and at this time, an average value of the first torque parameter and the second torque parameter may be determined as the first torque output parameter; if the first torque parameter and the second torque parameter are larger in difference, the smaller torque parameter can be obtained according to the historical data, and the accuracy of the smaller torque parameter is higher in normal condition, so that the processing equipment can determine the smaller one of the first torque parameter and the second torque parameter as the first torque output parameter.
Wherein the first torque output parameter is a torque parameter used to determine a final torque output parameter that is capable of identifying a verification of the second torque parameter to the first torque parameter. For example, let T rq1 As a first torque parameter, T rq2 As a second torque parameter, delta 1 For the first threshold value, if |T rq1 -T rq2 |≤△ 1 Then the first torque output parameter T frq The method comprises the following steps:
if |T rq1 -T rq2 |>△ 1 Then the first torque output parameter T frq The method comprises the following steps:
T frq ＝min(T rq1 ,T rq2 )
as can be seen from the above technical solution, the present application provides a parameter determining method and a related device, where after acquiring torque request information sent by a vehicle controller, a processing device does not directly perform torque adjustment according to first torque parameters included in the torque request information, but collects an accelerator opening and a vehicle speed corresponding to a target vehicle, and determines, according to the information, a second torque parameter corresponding to the target vehicle, where the second torque parameter is a predicted value of a torque parameter required by the target vehicle. The processing equipment can combine the first torque parameter and the second torque parameter to determine the final torque output parameter corresponding to the target vehicle, so that the first torque parameter can be checked through the second torque parameter, the accuracy of parameter determination is improved, and the driving safety of a user is improved.
It will be appreciated that to further improve the accuracy of torque parameter adjustment, the processing device may combine other parameters to determine the final torque output parameter. In one possible implementation, the processing device may use vehicle parameters of the target vehicle, such as vehicle speed, power battery voltage, power battery current, etc., to estimate the torque parameter required by the target vehicle, as these vehicle parameters can be used to represent the driving state of the vehicle.
In order to increase the accuracy of the estimation as much as possible, the processing device may determine different estimated torque parameters depending on a variety of vehicle parameters. The processing device may determine the first estimated torque parameter based on a vehicle speed, a power battery voltage, and a power battery current corresponding to the target vehicle. For example, in one possible implementation, the first estimated torque determination method is as follows:
wherein T is ac1 Representing a first estimated torque parameter in Nm; u is the voltage of the power battery, and the unit is V; i is power battery current, and the unit is A; r is the rolling radius of the wheel, and the unit is m; k is the main reduction ratio. U, I can be measured by the processing device through the sensor, R and K are fixed values, and can be preset in advance by the processing device. η (eta) 1 Is an electric bridge driving machineMechanical efficiency, which is a fixed value; η (eta) 2 For motor efficiency, the processing device may preset different fixed values for the motor under different conditions.
Meanwhile, the processing device may further determine a second estimated torque parameter according to the acceleration corresponding to the target vehicle. As shown in the following formula:
wherein T is ac2 Representing a second estimated torque parameter, wherein M is the mass of the whole vehicle corresponding to the target vehicle, the unit is kg, and the unit is a fixed value corresponding to the target vehicle; a is the acceleration of the target vehicle, and can be detected by the processing equipment through a sensor; r is the rolling radius of the wheels and is a fixed value corresponding to the target vehicle; k is the main reduction ratio and is constant.
Further, the processing device may determine a third estimated torque parameter based on the corresponding phase current and rotor position of the target vehicle. As shown in the following formula:
wherein T is ac2 Representing a third estimated torque parameter; θ is the rotor position, which can be detected by the processing device via a position sensor; i.e a 、i b 、i c The three-phase current is in the unit of A and can be detected by a current sensor; i α 、I β The unit is A for converting the transition current of the coordinate; i d Is direct current, I q The alternating current is the alternating current, and the units are A; p is the pole pair number of the motor and is a fixed value; lambda is motor permanent magnet flux linkage, unit is Wb, fixed value, L d Is a direct axis inductance with the unit of H, L q The unit of the quadrature axis inductance is H, and the unit is a fixed value.
The processing device may determine a second torque output parameter according to the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter, and determine a final torque output parameter corresponding to the target vehicle according to the first torque output parameter and the second torque output parameter.
It will be appreciated that the second torque output parameter may be determined in a number of ways depending on various criteria. In one possible implementation, the processing device may determine whether an absolute value of a difference between the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter exceeds a second threshold. Wherein a difference is generated between every two estimated torque parameters, and thus three absolute differences are generated between the three estimated torque parameters. The processing device may determine the absolute values of the three differences, respectively.
If the absolute value of the difference value does not exceed the second threshold value, that is, the absolute values of the three difference values do not exceed the second threshold value, it is indicated that the three estimated torque parameters are relatively close at this time, and the deviation is relatively small, so that the three estimated values are relatively reliable. The processing device may determine an average of the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter as the second torque output parameter. For example, let the second threshold be delta 2 When |T ac1 -T ac2 |≤△ 2 ，|T ac2 -T ac3 |≤△ 2 ，|T ac1 -T ac3 |≤△ 2 Second torque output parameter T fac As shown in the following formula:
if the absolute value of the partial difference exceeds the second threshold, it is indicated that abnormal parameters exist in the three estimated torque parameters, and at this time, the estimated parameters of which the absolute value of the difference does not exceed the second threshold are closer, and the reliability of the parameters is higher. Therefore, the processing device may determine two parameters of the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter, of which the absolute value of the difference is smaller, from the absolute value of the difference, and determine an average value of the two parameters as the second torque output parameter. For example, if |T ac1 -T ac2 |>△ 2 ，|T ac2 -T ac3 |≤△ 2 ，|T ac1 -T ac3 |>△ 2 The second torque output parameter may be:
if |T ac1 -T ac2 |>△ 2 ，|T ac2 -T ac3 |>△ 2 ，|T ac1 -T ac3 |≤△ 2 The second torque output parameter may be:
if |T ac1 -T ac2 |≤△ 2 ，|T ac2 -T ac3 |>△ 2 ，|T ac1 -T ac3 |>△ 2 The second torque output parameter may be:
if the absolute values of the differences exceed the second threshold, which indicates that the three estimated parameters are abnormal, the processing device may determine the preset first error-reporting torque parameter as the second torque output parameter. The first error-reporting torque parameter is used for identifying that the estimated torque parameters are abnormal. For example, in one possible implementation, the processing device may set 0 to the first error torque parameter. If |T ac1 -T ac2 |>△ 2 ，|T ac2 -T ac3 |>△ 2 ，|T ac1 -T ac3 |>△ 2 The second torque output parameter may be:
T fac ＝0
in addition, since the first torque output parameter and the second torque output parameter may each include a plurality of cases, when determining the final torque output parameter by the first torque output parameter and the second torque output parameter, the processing apparatus may select different parameter determination manners according to different parameter cases.
In one possible implementation, if the first torque output parameter and the second torque output parameter are both positive numbers, it is determined whether a difference between the first torque output parameter and the second torque output parameter is not less than a third threshold. If yes, the first torque output parameter is accurate, and the processing equipment can determine the first torque output parameter as a final torque output parameter; if not, judging that the first torque output parameter and the second torque output parameter have larger errors at the moment, and determining the preset second error-reporting torque parameter as a final torque output parameter by the processing equipment, wherein the second error-reporting torque parameter is used for providing a relatively stable torque adjustment parameter value when the parameters are abnormal.
If the first torque output parameter and the second torque output parameter are both negative numbers, the processing device may determine whether a difference between the first torque output parameter and the second torque output parameter is not less than a fourth threshold. According to the big data analysis result, if yes, the first torque output parameter is accurate, and the processing equipment can determine the first torque output parameter as a final torque output parameter; if not, the processing device may determine the second error-reporting torque parameter as the final torque output parameter, indicating that the two parameters have larger errors at the time.
If the positive and negative of the first torque output parameter and the second torque output parameter are different, or the first torque output parameter is 0, which indicates that the two parameters are abnormal at the moment, the processing equipment can determine the second error-reporting torque parameter as the final torque output parameter.
For example, the processing device may set the third threshold to- Δ 3 The fourth threshold is delta 3 The second error reporting torque parameter is 0. When T is frq >0，T fac >0，T frq -T fac When not less than 0, finally outputting torque T out The method comprises the following steps:
T out ＝T frq
when T is frq >0，T fac >0，-△ 3 ≤T frq -T fac <At 0, the final output torque is:
T out ＝T frq
when T is frq >0，T fac >0，T frq -T fac <-△ 3 The final output torque is then:
T out ＝0
when T is frq >0，T fac <At 0, the final output torque parameters are:
T out ＝0
when T is frq <0，T fac <0，T frq -T fac And when the torque is less than or equal to 0, the final output torque parameters are as follows:
T out ＝T frq
when T is frq <0，T fac <0，0<T frq -T fac ≤△ 3 The final output torque parameters were:
T out ＝T frq
when T is frq <0，T fac <0，T frq -T fac >△ 3 The final output torque parameters were:
T out ＝0
when T is frq <0，T fac >At 0, the final output torque parameters are:
T out ＝0
next, a method for determining parameters provided in the embodiments of the present application will be described with reference to an actual application scenario. In the present practical application scenario, the processing device is a motor controller. Fig. 2 is a schematic diagram of a parameter determining method in an actual application scenario, as shown in fig. 2.
The motor controller may obtain torque request information sent by the vehicle controller, where the torque request information includes a first torque parameter. The motor controller can obtain the corresponding accelerator pedal opening of the target vehicle through an accelerator pedal opening sensor, calculate a second torque parameter through the vehicle speed obtained through a vehicle speed sensor, judge the first torque parameter and the second torque parameter, and obtain a first torque output parameter.
Meanwhile, the motor controller can calculate a first estimated torque parameter according to the vehicle speed, the voltage acquired by the power battery voltage sensor and the current acquired by the power battery current sensor; calculating a second estimated torque parameter according to the acceleration acquired by the acceleration sensor; and calculating a third estimated torque parameter according to the three-phase current and the rotor position acquired by the phase current sensor and the rotor position sensor, and comparing the three estimated torque parameters to obtain a second torque output parameter.
Finally, the motor controller can compare the first torque output parameter with the second torque output parameter to determine a final torque output parameter, and the final torque output parameter and the high voltage provided by the power battery are converted into three-phase current, and the three-phase current is provided for the motor, so that torque adjustment is achieved.
Based on the parameter determining method provided in the foregoing embodiment, the embodiment of the present application further provides a parameter determining device, referring to fig. 3, fig. 3 is a block diagram of a parameter determining device 300, where the device 300 includes an obtaining unit 301, an acquiring unit 302, a first determining unit 303, and a second determining unit 304:
an obtaining unit 301, configured to obtain torque request information sent by the vehicle controller, where the torque request information includes a first torque parameter;
the acquisition unit 302 is used for acquiring the opening degree of an accelerator pedal and the vehicle speed corresponding to the target vehicle;
a first determining unit 303 for determining a second torque parameter according to an accelerator pedal opening and a vehicle speed;
the second determining unit 304 is configured to determine a final torque output parameter corresponding to the target vehicle according to the first torque parameter and the second torque parameter.
In one possible implementation, the second determining unit 304 is specifically configured to:
judging whether the absolute value of the difference value of the first torque parameter and the second torque parameter exceeds a first threshold value;
if the first torque parameter and the second torque parameter do not exceed the first torque parameter, determining an average value of the first torque parameter and the second torque parameter as a first torque output parameter;
if the first torque parameter exceeds the second torque parameter, determining the smaller one of the first torque parameter and the second torque parameter as the first torque output parameter;
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter.
In one possible implementation manner, the apparatus 300 further includes a third determining unit, a fourth determining unit, a fifth determining unit, and a sixth determining unit:
a third determining unit, configured to determine a first estimated torque parameter according to a vehicle speed, a power battery voltage, and a power battery current corresponding to the target vehicle;
a fourth determining unit, configured to determine a second estimated torque parameter according to an acceleration corresponding to the target vehicle;
a fifth determining unit, configured to determine a third estimated torque parameter according to the phase current and the rotor position corresponding to the target vehicle;
a sixth determining unit, configured to determine a second torque output parameter according to the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter;
the second determining unit 304 is specifically configured to:
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter and the second torque output parameter.
In one possible implementation, the second determining unit 304 is specifically configured to:
judging whether the absolute value of the difference value among the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter exceeds a second threshold value;
if the absolute value of the difference value does not exceed the second threshold value, determining the average value of the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter as a second torque output parameter;
if the absolute value of the partial difference exceeds a second threshold, determining two parameters with smaller absolute values of the difference in the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter according to the absolute value of the difference, and determining the average value of the two parameters as a second torque output parameter;
and if the absolute values of the difference values exceed the second threshold value, determining the preset first error-reporting torque parameter as a second torque output parameter.
In one possible implementation, the second determining unit 304 is specifically configured to:
if the first torque output parameter and the second torque output parameter are positive numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a third threshold value; if yes, determining the first torque output parameter as a final torque output parameter; if not, determining a preset second error-reporting torque parameter as a final torque output parameter;
if the first torque output parameter and the second torque output parameter are negative numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a fourth threshold value; if yes, determining the first torque output parameter as a final torque output parameter; if not, determining the second error-reporting torque parameter as a final torque output parameter;
and if the positive and negative of the first torque output parameter and the second torque output parameter are different or the first torque output parameter is 0, determining the second error-reporting torque parameter as a final torque output parameter.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, where the above program may be stored in a computer readable storage medium, and when the program is executed, the program performs steps including the above method embodiments; and the aforementioned storage medium may be at least one of the following media: read-only memory (ROM), RAM, magnetic disk or optical disk, etc., which can store program codes.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. In particular, for the apparatus and system embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, with reference to the description of the method embodiments in part. The apparatus and system embodiments described above are merely illustrative, in which elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing is merely one specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A method of parameter determination, the method comprising:
acquiring torque request information sent by a whole vehicle controller, wherein the torque request information comprises a first torque parameter;
collecting the corresponding accelerator pedal opening and the corresponding vehicle speed of a target vehicle;
determining a second torque parameter according to the accelerator pedal opening and the vehicle speed;
determining a final torque output parameter corresponding to the target vehicle according to the first torque parameter and the second torque parameter;
wherein, the determining, according to the first torque parameter and the second torque parameter, a final torque output parameter corresponding to the target vehicle includes:
judging whether the absolute value of the difference value of the first torque parameter and the second torque parameter exceeds a first threshold value;
if the average value of the first torque parameter and the second torque parameter is not exceeded, determining the average value of the first torque parameter and the second torque parameter as a first torque output parameter;
if the first torque parameter exceeds the second torque parameter, determining the smaller one of the first torque parameter and the second torque parameter as the first torque output parameter;
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter.
2. The method according to claim 1, wherein the method further comprises:
determining a first estimated torque parameter according to a vehicle speed, a power battery voltage and a power battery current corresponding to the target vehicle;
determining a second estimated torque parameter according to the acceleration corresponding to the target vehicle;
determining a third estimated torque parameter according to the phase current and the rotor position corresponding to the target vehicle;
determining a second torque output parameter according to the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter;
the determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter includes:
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter and the second torque output parameter.
3. The method of claim 2, wherein said determining a second torque output parameter from said first estimated torque parameter, said second estimated torque parameter, and said third estimated torque parameter comprises:
judging whether the absolute value of the difference value among the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter exceeds a second threshold value;
if the absolute value of the difference does not exceed the second threshold, determining an average of the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter as the second torque output parameter;
if the absolute value of the difference value of the existing part exceeds the second threshold value, determining two parameters with smaller absolute values of the difference values in the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter according to the absolute value of the difference value, and determining the average value of the two parameters as the second torque output parameter;
and if the absolute values of the difference values exceed a second threshold value, determining a preset first error-reporting torque parameter as the second torque output parameter.
4. The method of claim 2, wherein determining a final torque output parameter corresponding to the target vehicle based on the first torque output parameter and the second torque output parameter comprises:
if the first torque output parameter and the second torque output parameter are positive numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a third threshold value or not; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining a preset second error-reporting torque parameter as the final torque output parameter;
if the first torque output parameter and the second torque output parameter are negative numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a fourth threshold value; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining the second error-reporting torque parameter as the final torque output parameter;
and if the positive and negative of the first torque output parameter and the second torque output parameter are different or the first torque output parameter is 0, determining the second error-reporting torque parameter as the final torque output parameter.
5. A parameter determining device, characterized in that the device comprises an acquisition unit, a first determining unit and a second determining unit:
the acquisition unit is used for acquiring torque request information sent by the whole vehicle controller, and the torque request information comprises a first torque parameter;
the acquisition unit is used for acquiring the opening degree and the speed of an accelerator pedal corresponding to the target vehicle;
the first determining unit is used for determining a second torque parameter according to the opening degree of the accelerator pedal and the vehicle speed;
the second determining unit is used for determining a final torque output parameter corresponding to the target vehicle according to the first torque parameter and the second torque parameter;
wherein the second determining unit is specifically configured to:
judging whether the absolute value of the difference value of the first torque parameter and the second torque parameter exceeds a first threshold value;
if the average value of the first torque parameter and the second torque parameter is not exceeded, determining the average value of the first torque parameter and the second torque parameter as a first torque output parameter;
if the first torque parameter exceeds the second torque parameter, determining the smaller one of the first torque parameter and the second torque parameter as the first torque output parameter;
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter.
6. The apparatus according to claim 5, further comprising a third determination unit, a fourth determination unit, a fifth determination unit, and a sixth determination unit:
the third determining unit is used for determining a first estimated torque parameter according to the vehicle speed, the power battery voltage and the power battery current corresponding to the target vehicle;
the fourth determining unit is used for determining a second estimated torque parameter according to the acceleration corresponding to the target vehicle;
the fifth determining unit is used for determining a third estimated torque parameter according to the phase current and the rotor position corresponding to the target vehicle;
the sixth determining unit is configured to determine a second torque output parameter according to the first estimated torque parameter, the second estimated torque parameter, and the third estimated torque parameter;
the second determining unit is specifically configured to:
and determining a final torque output parameter corresponding to the target vehicle according to the first torque output parameter and the second torque output parameter.
7. The apparatus according to claim 6, wherein the second determining unit is specifically configured to:
judging whether the absolute value of the difference value among the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter exceeds a second threshold value;
if the absolute value of the difference does not exceed the second threshold, determining an average of the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter as the second torque output parameter;
if the absolute value of the difference value of the existing part exceeds the second threshold value, determining two parameters with smaller absolute values of the difference values in the first estimated torque parameter, the second estimated torque parameter and the third estimated torque parameter according to the absolute value of the difference value, and determining the average value of the two parameters as the second torque output parameter;
and if the absolute values of the difference values exceed a second threshold value, determining a preset first error-reporting torque parameter as the second torque output parameter.
8. The apparatus according to claim 6, wherein the second determining unit is specifically configured to:
if the first torque output parameter and the second torque output parameter are positive numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a third threshold value or not; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining a preset second error-reporting torque parameter as the final torque output parameter;
if the first torque output parameter and the second torque output parameter are negative numbers, judging whether the difference value between the first torque output parameter and the second torque output parameter is not smaller than a fourth threshold value; if yes, determining the first torque output parameter as the final torque output parameter; if not, determining the second error-reporting torque parameter as the final torque output parameter;
and if the positive and negative of the first torque output parameter and the second torque output parameter are different or the first torque output parameter is 0, determining the second error-reporting torque parameter as the final torque output parameter.
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