CN118372677B - Vehicle getting rid of poverty mode control method and device - Google Patents
Vehicle getting rid of poverty mode control method and device Download PDFInfo
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- CN118372677B CN118372677B CN202410792544.XA CN202410792544A CN118372677B CN 118372677 B CN118372677 B CN 118372677B CN 202410792544 A CN202410792544 A CN 202410792544A CN 118372677 B CN118372677 B CN 118372677B
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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
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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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Abstract
The application provides a vehicle escape mode control method and device, and belongs to the field of new energy automobiles. The method comprises the following steps: judging whether the vehicle enters a escaping mode or not based on the running state of the vehicle; after the vehicle enters the escape mode, matching the torque loading step length and the torque limiting coefficient of the vehicle motor based on the speed difference between the vehicle axles; determining basic torque of the vehicle in a escaping mode according to the torque loading step length and the initial torque of the vehicle, determining speed limiting torque of the vehicle based on the product of a torque limiting coefficient and the basic torque, and performing torque adjustment on a motor of the vehicle based on the speed limiting torque; and adjusting the torque loading step length and the torque limiting coefficient according to the variable quantity of the vehicle running state after the torque adjustment, returning to the step of determining the basic torque of the vehicle according to the torque loading step length, and carrying out torque adjustment on the motor again until the vehicle running state meets the preset condition, and exiting the getting-out mode. The vehicle escaping mode control method and device provided by the application can improve the escaping capability of the vehicle after entering the escaping mode.
Description
Technical Field
The application relates to the technical field of new energy automobiles, in particular to a vehicle escape mode control method and device.
Background
When the tractor pulls the vehicle, the gravity center is located at the rear, and when the vehicle reaches a discharging point and adopts side discharging, the problem that the slag is poured to the vicinity of a single-side driving wheel can be faced, so that the running stability and performance of the vehicle are affected. When the unilateral tire is blocked by the slag, the slag exists near the tire at one side, the tire and the ground cannot be in direct contact, the driving attachment coefficient is reduced, and when a driver steps on an accelerator for torque, the driving wheel is easier to slip according to the normal torque speed, the adhesion force between the tire and the ground is further reduced once the driving wheel starts to rapidly slip, and the escaping capability is further reduced.
At present, after a vehicle enters a getting rid of poverty mode, a differential lock mode is adopted, so that the acting force of a road surface can act on wheels with driving force, and the vehicle gets rid of poverty. However, when the slag is present near the tire and the tire cannot be in direct contact with the ground, the acting force between the wheel and the road surface is small, and the vehicle can not be well removed.
Disclosure of Invention
In view of the above, the present application provides a method and apparatus for controlling a vehicle getting rid of trapping mode, which can improve the getting rid of trapping capability of the vehicle after entering the getting rid of trapping mode.
Specifically, the application is realized by the following technical scheme:
The first aspect of the application provides a vehicle escape mode control method, which comprises the following steps:
judging whether the vehicle enters a escaping mode or not based on the running state of the vehicle;
After the vehicle enters the escape mode, matching the torque loading step length and the torque limiting coefficient of the vehicle motor based on the speed difference between the vehicle axles;
the torque loading step length is used for representing the variation of the motor torque of the vehicle in adjacent calculation periods, the smaller the torque limiting coefficient is, the larger the limiting amplitude of the motor torque is, the torque loading step length is reduced along with the increase of the speed difference between the vehicle shafts, the attenuation rate is gradually reduced, the torque limiting coefficient is reduced along with the increase of the speed difference between the vehicle shafts, and the attenuation rate is gradually increased;
determining basic torque of the vehicle in a getting-out mode according to the torque loading step length and the initial torque of the vehicle, determining speed limiting torque of the vehicle based on the product of the torque limiting coefficient and the basic torque, and performing torque adjustment on a motor of the vehicle based on the speed limiting torque;
And adjusting the torque loading step length and the torque limiting coefficient according to the variable quantity of the running state of the vehicle after the torque adjustment, returning to the step of determining the basic torque of the vehicle according to the torque loading step length, and carrying out torque adjustment on the motor again until the running state of the vehicle meets the preset condition, and exiting the escape mode.
The application provides a vehicle escape mode control device, which comprises a judging module, a matching module and a processing module;
The judging module is used for judging whether the vehicle enters a escaping mode or not based on the running state of the vehicle;
the matching module is used for matching the torque loading step length and the torque limiting coefficient of the vehicle motor based on the speed difference between the vehicle axles after the vehicle enters the escaping mode;
the torque loading step length is used for representing the variation of the motor torque of the vehicle in adjacent calculation periods, the smaller the torque limiting coefficient is, the larger the limiting amplitude of the motor torque is, the torque loading step length is reduced along with the increase of the speed difference between the vehicle shafts, the attenuation rate is gradually reduced, the torque limiting coefficient is reduced along with the increase of the speed difference between the vehicle shafts, and the attenuation rate is gradually increased;
the processing module is used for determining the basic torque of the vehicle in the escape mode according to the torque loading step length and the initial torque of the vehicle, determining the speed limiting torque of the vehicle based on the product of the torque limiting coefficient and the basic torque, and performing torque adjustment on the motor of the vehicle based on the speed limiting torque;
The processing module is further configured to adjust the torque loading step size and the torque limiting coefficient according to the variable quantity of the vehicle running state after the torque adjustment, return to the step of determining the base torque of the vehicle according to the torque loading step size, and perform torque adjustment on the motor again until the vehicle running state meets a preset condition, and exit the getting-out mode.
According to the vehicle escape mode control method and device, whether the vehicle enters an escape mode is judged based on the running state of the vehicle, after the vehicle enters the escape mode, the torque loading step length and the torque limiting coefficient of a vehicle motor are matched based on the speed difference between vehicle shafts, further, the basic torque of the vehicle in the escape mode is determined according to the torque loading step length and the initial torque of the vehicle, the speed limiting torque of the vehicle is determined based on the product of the torque limiting coefficient and the basic torque, the motor of the vehicle is subjected to torque adjustment based on the speed limiting torque, finally, the torque loading step length and the torque limiting coefficient are adjusted according to the change amount of the running state of the vehicle after the torque adjustment, the step of determining the basic torque of the vehicle according to the torque loading step length is returned, the torque adjustment is performed on the motor again until the running state of the vehicle meets the preset condition, and the escape mode is exited. Therefore, the method and the device provided by the application can judge whether the vehicle enters the escape mode or not in time by optimizing the method for identifying the vehicle entering the escape mode so as to make corresponding adjustment, ensure timely response and treatment under the fault, improve the response speed and further ensure the stability and safety of drivers during the running of the vehicle. In addition, after the motor is in the escaping state, the motor is not limited to rotate by the maximum amplitude, but limited by the small amplitude in the earlier stage, so that the mode of increasing the limiting amplitude is further deteriorated, on one hand, the interference on the running state of the motor can be reduced in more time, the motor can always keep in the efficient or near-efficient running state, and the motor can not repeatedly run in the mode with larger gap between the efficient and the low-efficient, so that the response speed, the running efficiency and the service life of the motor of the vehicle are improved, and on the other hand, the problem that the vehicle cannot escape due to limited control force of the coefficient is avoided through the change of the step length and the change of the coefficient, and the success rate of escaping is further improved.
Drawings
FIG. 1 is a flowchart of a vehicle escape mode control method according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a first curve shown in an exemplary embodiment of the present application;
FIG. 3 is a schematic illustration of a second curve shown in an exemplary embodiment of the present application;
fig. 4 is a schematic structural diagram of a first embodiment of a vehicle escape mode control device according to the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this disclosure, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.
The application provides a vehicle escape mode control method and device, which can improve escape capability of a vehicle after entering an escape mode.
According to the vehicle escape mode control method and device, whether the vehicle enters an escape mode is judged based on the running state of the vehicle, after the vehicle enters the escape mode, the torque loading step length and the torque limiting coefficient of a vehicle motor are matched based on the speed difference between vehicle shafts, further, the basic torque of the vehicle in the escape mode is determined according to the torque loading step length and the initial torque of the vehicle, the speed limiting torque of the vehicle is determined based on the product of the torque limiting coefficient and the basic torque, the motor of the vehicle is subjected to torque adjustment based on the speed limiting torque, finally, the torque loading step length and the torque limiting coefficient are adjusted according to the change amount of the running state of the vehicle after the torque adjustment, the step of determining the basic torque of the vehicle according to the torque loading step length is returned, the torque adjustment is performed on the motor again until the running state of the vehicle meets the preset condition, and the escape mode is exited. Therefore, the method and the device provided by the application can judge whether the vehicle enters the escape mode or not in time by optimizing the method for identifying the vehicle entering the escape mode so as to make corresponding adjustment, ensure timely response and treatment under the fault, improve the response speed and further ensure the stability and safety of drivers during the running of the vehicle. In addition, after the motor is in the escaping state, the motor is not limited to rotate by the maximum amplitude, but limited by the small amplitude in the earlier stage, so that the mode of increasing the limiting amplitude is further deteriorated, on one hand, the interference on the running state of the motor can be reduced in more time, the motor can always keep in the efficient or near-efficient running state, and the motor can not repeatedly run in the mode with larger gap between the efficient and the low-efficient, so that the response speed, the running efficiency and the service life of the motor of the vehicle are improved, and on the other hand, the problem that the vehicle cannot escape due to limited control force of the coefficient is avoided through the change of the step length and the change of the coefficient, and the success rate of escaping is further improved.
Specific examples are given below to describe the technical solution of the present application in detail.
Fig. 1 is a flowchart of a first embodiment of a vehicle escape mode control method according to the present application. Referring to fig. 1, the method provided in this embodiment may include:
S101, judging whether the vehicle enters a escaping mode or not based on the running state of the vehicle.
The running state of the vehicle refers to different working states or modes of the vehicle during running, and may include a vehicle speed state (different speed segments such as stationary, low speed, medium speed, and high speed), a wheel speed state (rotational speeds of respective wheel axles), a motor output state, and the like. It should be noted that the escape mode is a special vehicle operation mode, and aims to automatically escape from danger or resume normal running under difficult road conditions by controlling and adjusting vehicle operation parameters such as motor rotation speed, wheel speed and the like.
Specifically, the present application includes the following three methods for determining whether a vehicle enters a escaping mode based on a vehicle running state, which are described in detail below:
The first method specifically comprises the following steps:
Detecting an inter-axle differential lock state and an on-off state of an inter-wheel differential lock of the vehicle;
displaying a lock state prompt according to the switch state;
and judging whether to enter a escaping mode or not based on the lock state prompt, the running state of the vehicle and the speed difference between the vehicle axles.
It should be noted that, through manual judgment by an expert, the expert may refer to a driver of the vehicle, where the states of the inter-axle differential lock and the inter-wheel differential lock of the vehicle are usually displayed through specific display or indicator lights on an instrument panel of the vehicle. The differential lock can help a driver to know the working state of the differential lock, and then when the differential lock between the vehicle axles and the differential lock between the wheels are in a locking state, and the speed difference between the front axle and the rear axle of the vehicle is larger than a preset threshold value, the driver can manually judge that the vehicle enters the escaping mode currently. Specifically, when the differential lock between the axles of the vehicle and the differential lock between the wheels are in a locking state, a specific display or indicator lamp on the instrument panel of the vehicle can flash at a designated frequency by adopting a striking color or continuously changing the color while being lightened, or can also flash at a designated frequency by setting an alarm prompt to display a lock state prompt so as to remind a driver of timely making adjustment. It should be noted that, when either or both of the inter-axle differential lock and the inter-wheel differential lock are in the locked state, the current vehicle may be determined to enter the escape mode.
The second method specifically comprises the following steps:
(1) Detecting a multi-dimensional running state of the vehicle, wherein the multi-dimensional running state at least comprises a wheel axle running speed state, a wheel driving state of the vehicle, a running path state of the vehicle and a speed limiting state of the vehicle.
The multidimensional running state of the vehicle may be detected by a sensor, a vehicle control system, or the like. Specifically, the wheel axle operating speed state in the multi-dimensional operating state includes at least a front axle speed, a rear axle speed, and a front-rear axle speed difference of the vehicle; the wheel drive state of the vehicle includes at least a current gear of the vehicle; the driving path state of the vehicle at least comprises a steering wheel angle of the vehicle; the speed limit state of the vehicle includes at least an inter-axle differential of the vehicle in an unoccluded differential state. The hand brake state of the vehicle is always a released state during running.
(2) And identifying a torque adjustment requirement of the vehicle based on the multi-dimensional running state, wherein a front-rear wheel axle speed difference limiting requirement is identified based on the wheel axle running speed state, a vehicle future running condition is identified based on the wheel driving state of the vehicle and the running path state of the vehicle, an interfered state of the vehicle is identified based on the speed limiting state of the vehicle, and the torque adjustment requirement is comprehensively determined based on the wheel axle speed difference limiting requirement, the vehicle future running condition and the interfered state.
When the speed difference of the front wheel axle and the rear wheel axle is detected to exceed the set threshold value, the speed difference is indicated to be limited, and whether the future running condition of the vehicle can further increase the speed difference of the wheel axle can be judged by identifying the future running condition of the vehicle, so that the state of the vehicle can be further deteriorated to determine whether the vehicle is accidentally speed deviation or truly enters a running state needing to get rid of the trouble; on the other hand, the torque distribution can be optimized, and the vehicle is ensured to have good driving performance and stability under the changed road conditions. The method comprises the steps of obtaining an interfered state of a vehicle through a speed limiting state of the vehicle (the speed limiting state of the vehicle at least comprises an inter-axle differential wheel differential speed non-closed state of the vehicle, a series of adjustment can be generated for ensuring smooth running of the vehicle under the condition that the inter-axle differential wheel differential speed of the vehicle is not closed, historical interference record information is obtained by storing data formed by the adjustment, and when the same situation happens again, the adjustment can be performed according to the existing information), whether the vehicle is subjected to torque adjustment or interference can be identified, wherein the interfered state possibly indicates that the vehicle is subjected to special situations before or is subjected to driving interference, namely the historical interference record information is included, and further torque optimization is needed according to previous adjustment experience.
Compared with the prior art which judges according to experience, the method provided by the invention firstly judges automatically according to the detection of the operation parameters, thereby improving the scientificity of judgment; secondly, the sporadic, sudden or misjudged state is eliminated according to the future running condition and the interfered state, namely, the misjudged state or the state which can be quickly recovered by itself or is interfered to be quickly recovered is not required to enter a escaping mode for adjustment, the operand of escaping control is reduced, and the running stability and safety are ensured; and finally, comprehensively identifying the future state comprehensively determined by the current state and the future driving working condition and the interfered state to enter a escaping mode, thereby improving the accuracy of identification.
(3) And judging whether to enter a escaping mode or not based on the torque adjustment requirement.
For example, in an embodiment, a multi-dimensional running state of the vehicle is detected, at this time, if the speed difference between the front axle and the rear axle of the vehicle is greater than or equal to 3km/h, and the speed difference is kept at 3S, the steering wheel angle is smaller than plus or minus 360 degrees, the driving gear is 1 gear or 2 gear, the differential speed between the differential gears between the axles is closed, and the hand brake is in a released state, then the vehicle is judged to enter a getting rid of poverty mode.
The third method specifically comprises the following steps:
Detecting the multidimensional running state of the vehicle, identifying the torque adjustment requirement of the vehicle based on the multidimensional running state, further judging whether to enter a trapping mode or not by combining the states of the differential lock between the vehicle axles and the differential lock between the wheels on a vehicle instrument panel after the torque adjustment requirement, and determining to enter the trapping mode when any one of the conditions accords with the trapping mode.
S102, after the vehicle enters the escape mode, the torque loading step length and the torque limiting coefficient of the vehicle motor are matched based on the speed difference between the vehicle shafts.
The torque loading step represents the change amount of torque in each period, and can be used for adjusting the output torque of the vehicle motor. The torque limiting coefficient refers to a ratio or coefficient for limiting the torque output by a motor of a vehicle and is used for controlling the maximum torque output of a power system of the vehicle under a specific condition, the torque limiting coefficient can be used for adjusting the power characteristic of the vehicle and improving the driving stability and controllability, and the value range of the torque limiting coefficient is usually between 0 and 1.
After judging that the vehicle enters the escape mode, the vehicle enters the speed limiting mode, and the indicator lamp on the instrument panel of the vehicle is lightened and blinks at a designated frequency. For example, in one embodiment, the vehicle enters the out-of-order mode with the highest speed limit of the vehicle at 12km/h, lights up a lameness indicator on the vehicle dashboard, and blinks at 2 Hz. When the vehicle does not enter the escape mode, the torque loading step length is a normal value, the torque limiting coefficient is 1, and no torque limiting is performed.
Further, a torque loading step size and a torque limiting coefficient of the vehicle motor are matched based on a speed difference between vehicle shafts (front and rear shafts), wherein the torque loading step size is used for representing a change amount of motor torque of a vehicle in an adjacent calculation period, the smaller the torque limiting coefficient is, the larger the limit amplitude of the motor torque is, the torque loading step size is reduced along with the increase of the speed difference between the vehicle shafts, the attenuation rate is gradually reduced, the torque limiting coefficient is reduced along with the increase of the speed difference between the vehicle shafts, and the attenuation rate is gradually increased.
It is to be noted that, it can be understood that when the rear axle of the vehicle continuously slips and the speed difference between the front axle and the rear axle is larger and larger, the torque loading step is rapidly reduced at the beginning stage because of smaller speed difference between the front axle and the rear axle, so as to ensure that the torque loading state of the motor of the vehicle can be rapidly adjusted, and the torque loading step needs to be slowed down and reduced along with the increase of speed difference between the front axle and the rear axle of the vehicle, so that the front axle is not excessively changed due to the torque loading of the motor in the adjacent calculation period, the rear axle slips and the speed of the front axle is excessively increased, and the vehicle is directly caused to lose balance and slide. Meanwhile, in order to prevent the tires of the vehicle from slipping more seriously and to adapt to the torque loading state of the motor, an upper limit value is set for the torque loading step length, when the speed difference between the axles of the vehicle is larger and larger, the vehicle enters a escaping mode to indicate that the vehicle cannot be restored to a normal running state through the vehicle, and at the moment, the torque loading step length which cannot be adjusted or is not adjusted is too small, and a lower limit value of the torque loading step length needs to be set. Thus, the torque loading step decreases with increasing speed difference between the vehicle axles, and the decay rate decreases stepwise.
It should be noted that, when the rear axle of the vehicle continuously slips and the speed difference between the front axle and the rear axle increases gradually, the torque amplitude to be adjusted is smaller at the beginning stage due to smaller speed change between the front axle and the rear axle, the torque limiting coefficient slowly decreases, and as the speed difference between the axles of the vehicle increases, the torque amplitude to be adjusted increases, the original torque limiting amplitude cannot meet the requirement, and the torque limiting coefficient decreases rapidly at the moment, so that the tire is prevented from slipping more seriously due to overlarge torque output by the motor.
Specifically, based on the speed difference between the vehicle axles matching the torque loading step length and the torque limiting coefficient of the vehicle motor, a relation between the speed difference between the vehicle axles and the torque limiting coefficient can be established to form a first curve; and establishing a relation between the speed difference between the vehicle axles and the torque loading step length to form a second curve. Wherein, the abscissa of the first curve is the speed difference between the axles of the vehicle, and the ordinate is the torque limiting coefficient; the abscissa of the second curve is the speed difference between the vehicle axles, and the ordinate is the torque loading step.
The relationship between the inter-axle speed difference of different types of vehicles and the torque loading step length and the torque limiting coefficient of the vehicle motor is different. When matching the torque loading step and the torque limiting coefficient of the vehicle motor based on the vehicle inter-axle speed difference, the type of vehicle needs to be considered.
Specifically, the process of establishing the first curve is as follows:
(1) And generating a first curve according to the operation data of the similar vehicle type historical getting rid of poverty model, wherein the first curve is used for representing the relation between the speed difference between shafts and the torsion limiting coefficient, and the first curves of different types of vehicles are different.
(2) Matching the torque limiting coefficient according to the speed difference between the vehicle axles; the first curve is a curve decreasing in a designated interval, the curve change rate of the first curve is smaller than a first preset threshold value in the decreasing process, the curve change rate is larger than a second threshold value in the decreasing process, and the first threshold value is smaller than the second threshold value.
Fig. 2 is a schematic diagram of a first curve according to an exemplary embodiment of the present application. Referring to fig. 2, when the first curve is smaller than a first preset threshold value in the designated interval, the decreasing trend of the curve is gentle; when the designated section is larger than the first preset threshold, the decreasing trend of the curve is strong, and the curve stops when the maximum value of the designated section is reached, and the upper limit of the torque limiting coefficient is 1. Specifically, in fig. 2, the designated section is that the speed difference between the vehicle axles is between 3km/h and 15km/h, when the speed difference between the vehicle axles is less than 3km/h, the torque limiting coefficient is at least 0.3 when the speed difference between the vehicle axles is 15 km/h.
Specifically, the process of creating the second curve is as follows:
(1) And generating a second curve according to the operation data of the similar vehicle type historical getting rid of poverty model, wherein the second curve is used for representing the relation between the speed difference between shafts and the torque loading step length, and the second curves of different types of vehicles are different.
(2) Matching the torque loading step according to the speed difference between the vehicle axles; the second curve is a curve decreasing in a designated interval, the curve change rate of the second curve is larger than a third threshold value when the second curve is smaller than a second preset threshold value in the decreasing process, the curve change rate is smaller than a fourth threshold value when the second curve is larger than the second preset threshold value, and the third threshold value is larger than the fourth threshold value.
Fig. 3 is a schematic diagram of a second curve according to an exemplary embodiment of the present application. Referring to fig. 3, when the second curve is smaller than the second preset threshold value in the designated interval, the decreasing trend of the curve is severe; when the designated section is larger than the second preset threshold, the decreasing trend of the curve is gentle, and the curve stops when the maximum value of the designated section is reached. Specifically, in fig. 2, the designated section is that the speed difference between the vehicle axles is between 3km/h and 15km/h, when the speed difference between the vehicle axles is less than 3km/h, the torque loading step length is kept in a default state, and when the speed difference between the vehicle axles is up to 15km/h, the torque loading step length reaches the lower limit value of 0.5n·m for each period, namely, the torque loading step length of 0.5n·m for each period is adjusted in order to ensure the running safety of the vehicle.
As an optional embodiment, a combination relationship exists between a curve corresponding to the torque limiting coefficient and a curve change slope corresponding to the torque loading step length, so that the aim that the motor torque change quantity is minimum and the speed difference change quantity between shafts is maximum after the two are combined is fulfilled. Specifically, the method comprises:
Generating a first curve and a second curve according to the similar vehicle model historical escaping model operation data, wherein the first curve is used for representing the relation between the inter-axle speed difference and the torque limiting coefficient, and the second curve is used for representing the relation between the inter-axle speed difference and the torque loading step length;
Sampling the first curve and the second curve with a preset period, and calculating the curve change slope of a sampling point to obtain a plurality of intervention data sets, wherein each intervention data set is an intervention data set formed by the curve change slopes of the first curve and the second curve at the same sampling time point;
Optimizing the plurality of intervention data sets based on an optimal efficiency goal;
and adjusting the first curve and the second curve based on the optimized result.
In the optimizing the plurality of intervention data sets based on the optimal efficiency target, the optimal efficiency target at least comprises that the torque variation of the motors in adjacent periods is minimum, meanwhile, the speed difference variation between shafts is maximum, and the optimizing at least comprises that the curve variation slope of sampling points of a first curve and/or a second curve in the intervention data sets is increased or decreased, so that the torque variation of the motors is minimum and the speed difference variation between shafts is maximum after the torque loading step length and the torque limiting coefficient obtained based on the curve variation slope are combined.
After the curve is obtained, the slope of the curve can be optimized in a combined way according to the participation degree of the two change curves in the final motor torque adjustment and the high-efficiency target, namely, the slope is optimized to improve the execution efficiency, and meanwhile, the slopes of the first curve and the second curve can be enabled to meet the constraint of the result based on the objective function, so that the scientificity and the effectiveness of the regulation and control instruction in the escaping mode are improved.
The adjusting the first curve and the second curve based on the optimized result specifically includes modifying curve change slopes of sampling points of the first curve and the second curve based on the optimized result, and smoothing the modified first curve and the modified second curve based on a constraint of monotonic change to obtain an adjusted first curve and an adjusted second curve.
On the premise of ensuring the scientificity and effectiveness of the instruction, in order to avoid forming a curve with high and low fluctuation due to slope modification, the invention smoothes the curve based on constraint conditions, avoids the negligence of regulation and control force according to the change of speed, and ensures the efficiency and consistency of the escaping regulation and control instruction.
And S103, determining the basic torque of the vehicle in the escape mode according to the torque loading step length and the initial torque of the vehicle, determining the speed limiting torque of the vehicle based on the product of the torque limiting coefficient and the basic torque, and performing torque adjustment on a motor of the vehicle based on the speed limiting torque.
The base torque may be calculated from an initial torque of the vehicle and a torque loading step, and is typically a value obtained by adding or subtracting the torque loading step from the initial torque.
For example, in one embodiment, the initial torque of the vehicle is 110 N.m, the torque loading step is 10 N.m for each cycle, and when the vehicle tires slip, the torque limiting is required, and the obtained base torque is 100 N.m. At this time, if the obtained torque limiter coefficient is 0.5, it is known that the torque limiter torque is 50n·m. Further, 100 N.m. required for adjusting the motor of the vehicle is changed to 50 N.m.
The motor of the vehicle should be adjusted in combination with the torque required by the driver, while the motor of the vehicle is adjusted in torque based on the speed-limiting torque.
S104, adjusting the torque loading step length and the torque limiting coefficient according to the change amount of the vehicle running state after torque adjustment, returning to the step of determining the basic torque of the vehicle according to the torque loading step length, and carrying out torque adjustment on the motor again until the vehicle running state meets the preset condition, and exiting the escaping mode.
Specifically, the running state of the vehicle can be changed after the torque is adjusted, and the torque loading step length and the torque limiting coefficient also need to be synchronously adjusted at the moment so as to ensure the stable running of the vehicle. For example, when slip occurs, the slip rate of the vehicle has been reduced through torque adjustment, and if the original torque loading step and torque limiting coefficient are kept, the safety of the driver is affected.
According to the vehicle escape mode control method provided by the application, whether the vehicle enters an escape mode is judged based on the running state of the vehicle, after the vehicle enters the escape mode, the torque loading step length and the torque limiting coefficient of a vehicle motor are matched based on the speed difference between vehicle shafts, further, the basic torque of the vehicle in the escape mode is determined according to the torque loading step length and the initial torque of the vehicle, the speed limiting torque of the vehicle is determined based on the product of the torque limiting coefficient and the basic torque, the motor of the vehicle is subjected to torque adjustment based on the speed limiting torque, finally, the torque loading step length and the torque limiting coefficient are adjusted according to the variation of the running state of the vehicle after the torque adjustment, the step of determining the basic torque of the vehicle according to the torque loading step length is returned, the motor is subjected to torque adjustment again until the running state of the vehicle meets the preset condition, and the escape mode is exited. Therefore, the method provided by the application can judge whether the vehicle enters the escape mode or not in time by optimizing the method for identifying the vehicle entering the escape mode so as to make corresponding adjustment, ensures timely response and treatment under the fault, improves the response speed, and further ensures the stability and safety of drivers when the vehicle runs. In addition, after the motor is in the escaping state, the motor is not limited to rotate by the maximum amplitude, but limited by the small amplitude in the earlier stage, so that the mode of increasing the limiting amplitude is further deteriorated, on one hand, the interference on the running state of the motor can be reduced in more time, the motor can always keep in the efficient or near-efficient running state, and the motor can not repeatedly run in the mode with larger gap between the efficient and the low-efficient, so that the response speed, the running efficiency and the service life of the motor of the vehicle are improved, and on the other hand, the problem that the vehicle cannot escape due to limited control force of the coefficient is avoided through the change of the step length and the change of the coefficient, and the success rate of escaping is further improved.
The application also provides an embodiment of the vehicle getting rid of the trapped state control device corresponding to the embodiment of the vehicle getting rid of the trapped state control method.
Fig. 4 is a schematic structural diagram of a first embodiment of a vehicle escape mode control device according to the present application. Referring to fig. 4, the apparatus provided in this embodiment includes a judging module 410, a matching module 420, and a processing module 430;
wherein the judging module 410 is configured to judge whether the vehicle enters the escape mode based on the running state of the vehicle;
the matching module 420 is configured to match a torque loading step size and a torque limiting coefficient of a vehicle motor based on a speed difference between vehicle axles after the vehicle enters the escaping mode;
the torque loading step length is used for representing the variation of the motor torque of the vehicle in adjacent calculation periods, the smaller the torque limiting coefficient is, the larger the limiting amplitude of the motor torque is, the torque loading step length is reduced along with the increase of the speed difference between the vehicle shafts, the attenuation rate is gradually reduced, the torque limiting coefficient is reduced along with the increase of the speed difference between the vehicle shafts, and the attenuation rate is gradually increased;
The processing module 430 is configured to determine a base torque of the vehicle in a escaping mode according to the torque loading step size and an initial torque of the vehicle, determine a speed limit torque of the vehicle based on a product of the torque limit coefficient and the base torque, and perform torque adjustment on a motor of the vehicle based on the speed limit torque;
The processing module 430 is further configured to adjust the torque loading step size and the torque limiting coefficient according to the change amount of the vehicle running state after the torque adjustment, return to the step of determining the base torque of the vehicle according to the torque loading step size, and re-adjust the torque of the motor until the vehicle running state meets a preset condition, and exit the getting-out mode.
The apparatus of this embodiment may be used to execute the steps of the method embodiment shown in fig. 1, and the specific implementation principle and implementation process are similar, and are not described herein again.
The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the 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 purposes of the present application. Those of ordinary skill in the art will understand and implement the present application without undue burden.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.
Claims (10)
1. A vehicle escape mode control method, the method comprising:
judging whether the vehicle enters a escaping mode or not based on the running state of the vehicle;
After the vehicle enters the escape mode, matching the torque loading step length and the torque limiting coefficient of the vehicle motor based on the speed difference between the vehicle axles;
the torque loading step length is used for representing the variation of the motor torque of the vehicle in adjacent calculation periods, the smaller the torque limiting coefficient is, the larger the limiting amplitude of the motor torque is, the torque loading step length is reduced along with the increase of the speed difference between the vehicle shafts, the attenuation rate is gradually reduced, the torque limiting coefficient is reduced along with the increase of the speed difference between the vehicle shafts, and the attenuation rate is gradually increased;
determining basic torque of the vehicle in a getting-out mode according to the torque loading step length and the initial torque of the vehicle, determining speed limiting torque of the vehicle based on the product of the torque limiting coefficient and the basic torque, and performing torque adjustment on a motor of the vehicle based on the speed limiting torque;
And adjusting the torque loading step length and the torque limiting coefficient according to the variable quantity of the running state of the vehicle after the torque adjustment, returning to the step of determining the basic torque of the vehicle according to the torque loading step length, and carrying out torque adjustment on the motor again until the running state of the vehicle meets the preset condition, and exiting the escape mode.
2. The method according to claim 1, wherein the determining whether the vehicle enters the escape mode comprises:
Detecting an inter-axle differential lock state and an on-off state of an inter-wheel differential lock of the vehicle;
displaying a lock state prompt according to the switch state;
and judging whether to enter a escaping mode or not based on the lock state prompt, the running state of the vehicle and the speed difference between the vehicle axles.
3. The method according to claim 1, wherein the determining whether the vehicle enters the escape mode comprises:
Detecting a multi-dimensional running state of the vehicle, wherein the multi-dimensional running state at least comprises a wheel axle running speed state, a wheel driving state of the vehicle, a running path state of the vehicle and a speed limiting state of the vehicle;
Identifying a torque adjustment requirement of a vehicle based on the multi-dimensional running state, wherein a front-rear wheel axle speed difference limit requirement is identified based on the wheel axle running speed state, a vehicle future running condition is identified based on a wheel driving state of the vehicle and a running path state of the vehicle, an interfered state of the vehicle is identified based on a speed limit state of the vehicle, and the torque adjustment requirement is comprehensively determined based on the wheel axle speed difference limit requirement, the vehicle future running condition and the interfered state;
and judging whether to enter a escaping mode or not based on the torque adjustment requirement.
4. A method according to claim 3, wherein the wheel axle operating speed conditions include at least a front axle speed, a rear axle speed, and a front-rear axle speed difference of the vehicle; the wheel driving state of the vehicle at least comprises the current gear of the vehicle; the running path state of the vehicle at least comprises a steering wheel angle of the vehicle; the speed limit state of the vehicle includes at least an inter-axle differential non-closed state of the vehicle.
5. The method of claim 1, wherein a first curve is generated according to historical model operation data of similar vehicle models, the first curve is used for representing the relation between speed difference and torque limiting coefficient between axles, and first curves of different types of vehicles are different;
matching the torque limiting coefficient according to the speed difference between the vehicle axles;
The first curve is a curve decreasing in a designated interval, the curve change rate of the first curve is smaller than a first preset threshold value in the decreasing process, the curve change rate is larger than a second threshold value in the decreasing process, and the first threshold value is smaller than the second threshold value.
6. The method of claim 1, wherein a second curve is generated according to historical model operation data of similar vehicle models, the second curve being used for representing a relationship between an inter-axle speed difference and a torque loading step, and different types of vehicle second curves being different;
matching the torque loading step according to the speed difference between the vehicle axles;
The second curve is a curve decreasing in a designated interval, the curve change rate of the second curve is larger than a third threshold value when the second curve is smaller than a second preset threshold value in the decreasing process, the curve change rate is smaller than a fourth threshold value when the second curve is larger than the second preset threshold value, and the third threshold value is larger than the fourth threshold value.
7. The method according to claim 1, wherein the method further comprises:
Generating a first curve and a second curve according to the similar vehicle model historical escaping model operation data, wherein the first curve is used for representing the relation between the inter-axle speed difference and the torque limiting coefficient, and the second curve is used for representing the relation between the inter-axle speed difference and the torque loading step length;
Sampling the first curve and the second curve with a preset period, and calculating the curve change slope of a sampling point to obtain a plurality of intervention data sets, wherein each intervention data set is an intervention data set formed by the curve change slopes of the first curve and the second curve at the same sampling time point;
Optimizing the plurality of intervention data sets based on an optimal efficiency goal;
and adjusting the first curve and the second curve based on the optimized result.
8. The method according to claim 7, wherein:
In the optimization of the intervention data sets based on the optimal efficiency targets, the optimal efficiency targets at least comprise the minimum change amount of the motor torque in adjacent periods, and the maximum change amount of the speed difference between shafts;
The optimizing at least comprises increasing or decreasing the curve change slope of the sampling points of the first curve and/or the second curve in the intervention data set, so that the motor torque change amount is minimum and the inter-axle speed difference change amount is maximum after the torque loading step length and the torque limiting coefficient obtained based on the curve change slope are combined.
9. The method according to claim 7, wherein said adjusting the first curve and the second curve based on the optimized result comprises:
modifying the curve change slope of the sampling points of the first curve and the second curve based on the optimized result;
And smoothing the modified first curve and the modified second curve based on the constraint of monotonic change to obtain an adjusted first curve and an adjusted second curve.
10. The vehicle escape mode control device is characterized by comprising a judging module, a matching module and a processing module;
The judging module is used for judging whether the vehicle enters a escaping mode or not based on the running state of the vehicle;
the matching module is used for matching the torque loading step length and the torque limiting coefficient of the vehicle motor based on the speed difference between the vehicle axles after the vehicle enters the escaping mode;
the torque loading step length is used for representing the variation of the motor torque of the vehicle in adjacent calculation periods, the smaller the torque limiting coefficient is, the larger the limiting amplitude of the motor torque is, the torque loading step length is reduced along with the increase of the speed difference between the vehicle shafts, the attenuation rate is gradually reduced, the torque limiting coefficient is reduced along with the increase of the speed difference between the vehicle shafts, and the attenuation rate is gradually increased;
the processing module is used for determining the basic torque of the vehicle in the escape mode according to the torque loading step length and the initial torque of the vehicle, determining the speed limiting torque of the vehicle based on the product of the torque limiting coefficient and the basic torque, and performing torque adjustment on the motor of the vehicle based on the speed limiting torque;
The processing module is further configured to adjust the torque loading step size and the torque limiting coefficient according to the variable quantity of the vehicle running state after the torque adjustment, return to the step of determining the base torque of the vehicle according to the torque loading step size, and perform torque adjustment on the motor again until the vehicle running state meets a preset condition, and exit the getting-out mode.
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| CN111452624A (en) * | 2019-01-22 | 2020-07-28 | 上海汽车集团股份有限公司 | Low-attachment starting and escaping control method and device |
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| CN113561791A (en) * | 2020-04-29 | 2021-10-29 | 罗伯特·博世有限公司 | Torque redistribution adjustment method, corresponding control unit and electric vehicle |
| CN115107530B (en) * | 2022-05-30 | 2024-11-12 | 江铃汽车股份有限公司 | Electric vehicle escape mode control method and system |
| CN117622130A (en) * | 2022-08-10 | 2024-03-01 | 罗伯特·博世有限公司 | Anti-slip control method and equipment for torque between electric drive axle shafts of multi-axle vehicle |
| CN116985644A (en) * | 2023-08-30 | 2023-11-03 | 三一汽车制造有限公司 | Recovery torque intervention control method and system and vehicle |
| CN117507830A (en) * | 2023-11-28 | 2024-02-06 | 广汽埃安新能源汽车股份有限公司 | Vehicle control method, device, storage medium and equipment |
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| CN111452624A (en) * | 2019-01-22 | 2020-07-28 | 上海汽车集团股份有限公司 | Low-attachment starting and escaping control method and device |
| CN112224208A (en) * | 2020-09-11 | 2021-01-15 | 上海万捷汽车控制系统有限公司 | Vehicle antiskid and escaping system and method |
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