CN106585612B - A kind of pure electric automobile stabilization control method and device - Google Patents
A kind of pure electric automobile stabilization control method and device Download PDFInfo
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- CN106585612B CN106585612B CN201611199907.0A CN201611199907A CN106585612B CN 106585612 B CN106585612 B CN 106585612B CN 201611199907 A CN201611199907 A CN 201611199907A CN 106585612 B CN106585612 B CN 106585612B
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000006641 stabilisation Effects 0.000 title claims abstract description 14
- 238000011105 stabilization Methods 0.000 title claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 90
- 230000008859 change Effects 0.000 claims abstract description 16
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 51
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000007935 neutral effect Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Classifications
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W30/20—Reducing vibrations in the driveline
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0604—Throttle position
- B60W2510/0609—Throttle change rate
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Transmission Device (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of pure electric automobile stabilization control methods, it include: in the case that the speed of target vehicle is zero and driving torque is zero, monitor the gear situation of change of selector, when monitoring that selector is switched to forward gear or reverses gear, under the premise of brake pedal does not unclamp also, the driving torque is increased into preset first torque, and preset first torque is reduced to zero immediately.In the case where the speed of target vehicle is in preset first vehicle speed range, whether monitoring gas pedal is totally released, and when gas pedal is totally released, driving torque is reduced to preset second torque.Therefore, by above method, it not will lead to vehicle and generate shake, and when vehicle carries out normal driving, target torque can be rapidly reached, solve the problems, such as that cause throttle to respond slack-off by the method for reduction torque increase in the prior art.
Description
Technical field
The present invention relates to technical field of vehicle control more particularly to a kind of pure electric automobile stabilization control method and device.
Background technique
In pure electric automobile, in the gear engagement of differential mechanism link, bore between tooth and basin tooth in design and installation
Certain gap can be retained, can prevent cone tooth and basin tooth in thermal expansion from generating locked situation in this way.In addition to this, due to
Gap can be also generated in the connecting link of each component for the error transmission system processed and assembled.These above-mentioned gaps can
To be referred to as the gap of transmission system.
Due to the presence in transmission system gap, the meeting under certain operating conditions so that transmission system generate impact and shake,
For example, when vehicle start, vehicle frequent pine in low speed steps on the gas or in the case where brake pedal, is likely to make
It obtains transmission system and generates impact and shake.
In the prior art, when vehicle start, when the torque increase in small torque by significantly reducing each step-length
It is impacted to eliminate, but the used time that will lead to arrival target torque is elongated, vehicle start is slack-off.When vehicle is in low speed,
Impact and shake can be eliminated by reducing the method for torque increase, but when torque restores again, will lead to arrival target
The used time of torque elongated problem, that is, throttle response can be slack-off.
Summary of the invention
In view of this, the invention proposes a kind of pure electric automobile stabilization control method and device, by the method and
Device solves in the prior art, eliminates impact and shake using the method for reducing torque increase and causes throttle response slack-off
The problem of.
A kind of pure electric automobile stabilization control method in the present invention, comprising:
The speed of monitoring objective vehicle；
In the case where the speed of the target vehicle is zero and driving torque is zero, the gear variation feelings of selector are monitored
Condition, when monitoring that selector is switched to forward gear or reverses gear, under the premise of brake pedal does not unclamp also, by the driving
Torque increases to preset first torque, and preset first torque is reduced to zero immediately；
In the case where the speed of the target vehicle is in preset first vehicle speed range, whether monitoring gas pedal is complete
It is complete to unclamp, when gas pedal is totally released, the driving torque is reduced to preset second torque.
Optionally, in the case where the speed of the target vehicle is in preset first vehicle speed range, monitoring throttle is stepped on
Whether plate is totally released, and when gas pedal is totally released, also wraps after the driving torque is reduced to preset second torque
It includes:
Whether monitoring brake pedal within preset first time is stepped on；
If monitoring that brake pedal is stepped within preset first time, the driving torque is reduced to preset third
Torque.
Optionally, in the case where the speed of the target vehicle is in preset first vehicle speed range, monitoring throttle is stepped on
Whether plate is totally released, and when gas pedal is totally released, also wraps after the driving torque is reduced to preset second torque
It includes:
Whether monitoring gas pedal within preset second time is stepped on；
If being stepped in preset second monitoring in time to gas pedal, according to preset conventional driving method to the vehicle
It is driven.
Optionally, in the case that the speed of the target vehicle is in preset first vehicle speed range, gas pedal is monitored
Whether it is totally released, when gas pedal is totally released, after the driving torque is reduced to preset second torque further include:
Within the preset third time, the situation of change of gas pedal and brake pedal is monitored；
If brake pedal is not stepped within the preset third time and gas pedal is not also stepped on, the driving torque is subtracted
It is small to zero.
Optionally, further includes:
Before the speed of the target vehicle is less than preset second speed, whether monitoring gas pedal is stepped on；
If monitoring, gas pedal is stepped on, and is driven according to preset conventional driving method to vehicle；
If gas pedal is not stepped on, the driving torque is reduced to zero.
A kind of pure electric automobile stabilization control device in the present invention, comprising:
First monitoring unit, the speed for monitoring objective vehicle；
First moment of torsion control unit, in the case where the speed of the target vehicle is zero and driving torque is zero,
Monitor selector gear situation of change, when monitoring that selector is switched to forward gear or reverses gear, brake pedal also not
Under the premise of release, the driving torque is increased into preset first torque, and immediately subtracts preset first torque
It is small to zero；
Second moment of torsion control unit, for situation of the speed in the target vehicle in preset first vehicle speed range
Under, whether monitoring gas pedal is totally released, and when gas pedal is totally released, the driving torque is reduced to preset the
Two torques.
Optionally, further includes:
Third monitoring unit, for monitoring whether the brake pedal within preset first time is stepped on；
Third moment of torsion control unit, if for monitoring that brake pedal is stepped within preset first time, by the drive
Dynamic torque is reduced to preset third torque.
Optionally, further includes:
4th monitoring unit, for monitoring whether the gas pedal within preset second time is stepped on；
First driving unit, if for being stepped in preset second monitoring in time to gas pedal, according to preset normal
Rule driving method drives the vehicle.
Optionally, further includes:
5th monitoring unit, for monitoring the situation of change of gas pedal and brake pedal within the preset third time；
4th moment of torsion control unit, if within the preset third time brake pedal do not step on and gas pedal not yet
It steps on, the driving torque is reduced to zero.
Optionally, further includes:
6th monitoring unit before being less than preset second speed for the speed in the target vehicle, monitors throttle
Whether pedal is stepped on；
Second driving unit, if for monitoring that gas pedal is stepped on, according to preset conventional driving method to vehicle into
Row driving；
The driving torque is reduced to zero if not stepping on for gas pedal by the 5th moment of torsion control unit.
In the present embodiment, in the case that the speed of target vehicle is zero and driving torque is zero, the gear of selector is monitored
Position situation of change, will under the premise of brake pedal does not unclamp also when monitoring that selector is switched to forward gear or reverses gear
The driving torque increases to preset first torque, and preset first torque is reduced to zero immediately.Wherein, described
First torque can eliminate transmission system gap, but generation between each component of transmission system will not be allowed to impact.In the target carriage
In the case where in preset first vehicle speed range, whether monitoring gas pedal is totally released, when gas pedal is totally released
When, the driving torque is reduced to preset second torque.Wherein second torque makes transmission system in driving direction
On will not generate gap.Therefore, when vehicle start, by the method for preset first torque of increase, transmission system is eliminated
Gap, thus when vehicle normally starts, it will not being present such that between each component of transmission system because of transmission system gap
Generate impact.When vehicle be in run at a low speed when, in the case that throttle is totally released, not by the torque on driving direction also
It is that driving torque is reduced instantly to zero, but driving torque is reduced to the second torque, so that transmission system will not be in driving side
Gap is generated upwards, so that impact be generated between will not leading to each component of transmission system.Based on above method, so that transmission system
Each component between will not generate impact, thus will not cause vehicle generate shake, and when vehicle carry out normal driving when, can
It is rapidly reached target torque, is solved in the prior art, the method by reducing torque increase leads to the use for reaching target torque
The problem of Shi Bianchang.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the schematic diagram in transmission system gap provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of pure electric automobile stabilization control method provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of pure electric automobile stabilization control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of pure electric automobile stabilization control device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Inventor it has been investigated that, transmission system can generate impact in the following two cases, and then tremble vehicle
It is dynamic.The first situation: for vehicle before starting, each component of transmission system is in free state, i.e. each component of transmission system does not all have
There is the traction by any power, and there are gaps between each component of transmission system.It is complete in gap when vehicle start
The moment of elimination can generate impact between each component of transmission system, and then vehicle is caused to be shaken.Second situation: work as vehicle
When being in low-speed running state, when driver frequently steps on-unclamps throttle or suddenly the case where stepping on brake, so that
Torque frequently interrupts recovery.As shown in Figure 1, when throttle unclamps suddenly or steps on brake suddenly, driving torque (driving side
Upward torque) it can interrupt suddenly, the gap (example as shown in figure 1 101 shown in) of transmission system in the driven direction increases suddenly,
Transmission system gap (example as shown in figure 1 201 shown in) on anti-driven direction reduces, and on driving direction and anti-driven direction
Gap can constantly change, and lead to that impact can be generated between component, and then vehicle is caused to generate shake.In the prior art, for
A kind of situation and second situation, are to eliminate impact by the way of reducing torque increase.But this reduction torque increase
Mode will lead to the used time elongated problem for reaching target torque when an increase in torque, that is, throttle caused to respond slack-off ask
Topic.
Based on this, in the embodiment of the present invention, in the case that the speed of target vehicle is zero and driving torque is zero, monitoring
The gear situation of change of selector is not unclamped also when monitoring that selector is switched to forward gear or reverses gear in brake pedal
Under the premise of, the driving torque is increased into preset first torque, and be immediately reduced to preset first torque
Zero.Wherein, first torque will not make vehicle generate acceleration, while between can eliminating transmission system in the driven direction
Gap.Therefore, when vehicle start, by the method for preset first torque of increase, the gap of transmission system is eliminated, to work as vehicle
When normal starting, impact will not be generated because of being present such that between each component of transmission system for transmission system gap.Institute
In the case where target vehicle is stated in preset first vehicle speed range, whether monitoring gas pedal is totally released, and works as gas pedal
When being totally released, the driving torque is reduced to preset second torque.Wherein second torque will not be such that vehicle generates
Acceleration, while transmission system will not be made to generate gap in the driven direction.Therefore, when vehicle, which is in, to be run at a low speed, when
In the case that throttle is totally released, driving torque is not reduced instantly to zero, but driving torque is reduced to preset second
Torque, so that transmission system will not generate gap in the driven direction, so that punching be generated between will not leading to each component of transmission system
It hits.By method mentioned above, so that impact will not be generated between each component of transmission system, to vehicle will not be caused to generate
Shake, and when vehicle carries out normal driving, it can be rapidly reached target torque, solved in the prior art, reduction is passed through
The method of torque increase leads to the used time for reaching target torque elongated problem.
Illustrative methods
It is a kind of pure electric automobile stabilization control method provided in an embodiment of the present invention with reference to Fig. 2.In the present embodiment,
The method may include:
S201: the speed of monitoring objective vehicle.
S202: when the speed of the target vehicle is zero and driving torque is zero, the gear variation feelings of selector are monitored
Condition, when monitoring that selector is switched to forward gear or reverses gear, under the premise of brake pedal does not unclamp also, by the driving
Torque increases to preset first torque, and preset first torque is reduced to zero immediately.
In the present embodiment, it should be noted that preset first torque will not make vehicle generate acceleration, while can disappear
Except the gap of transmission system in the driven direction.
In the present embodiment, when the speed of the target vehicle is zero and driving torque is zero, the gear of selector is monitored
Situation of change, wherein the gear variation of selector may include several situations below:
Situation one: the gear of selector is switched to forward gear by neutral gear.
Situation two: the gear of selector is switched to by neutral gear to reverse gear.
Situation three: the gear of selector is switched to forward gear by reversing gear.
Situation four: selector is switched to by forward gear and is reversed gear.
For the above each case, S202 be can specifically include:
In the case where the speed of the target vehicle is zero and driving torque is zero, when monitor the gear of selector by
Neutral gear is reversed gear when being switched to forward gear, is switched to the moment of forward gear in selector gear and brake pedal not yet unclamps
When, the driving torque is increased into preset first torque, after increasing to the first torque, is turned round immediately by described preset first
Square is reduced to zero.
In the case where the speed of the target vehicle is zero and driving torque is zero, when monitor the gear of selector by
Neutral gear or forward gear are switched to when reversing gear, when selector gear is switched to the moment reversed gear and brake pedal not yet unclamps,
The driving torque is increased into preset first torque, after increasing to the first torque, immediately by preset first torque
It is reduced to zero.
In the present embodiment, it should be noted that the driving torque is it is to be understood that torque on driving direction.
S203: in the case where the speed of the target vehicle is in preset first vehicle speed range, gas pedal is monitored
Whether it is totally released, when gas pedal is totally released, the driving torque is reduced to preset second torque.
In the present embodiment, it should be noted that speed is in default range, it can be understood as vehicle is in and runs at a low speed
State can indicate driving torque being reduced to zero when the gas pedal of vehicle is totally released or touches on the brake pedal.Its
In, second torque will not make vehicle generate acceleration, while transmission system will not be made to occur gap in the driven direction.
In the present embodiment, when monitoring that gas pedal is totally released, it is equivalent to and monitors driving torque being reduced to zero
Instruction still when receiving the instruction that driving torque is reduced to zero, driving torque is not reduced to zero, but will drive
Dynamic torque is reduced to preset second torque.
In the present embodiment, can also include: after S203
Within preset first time, whether brake pedal is stepped on for monitoring；
If monitoring that brake pedal is stepped within preset first time, the driving torque is reduced to preset third
Torque.
In the present embodiment, it should be noted that the third torque will not make vehicle generate acceleration, while will not make
It obtains transmission system and generates gap in the driven direction.
In the present embodiment, preset second torque and preset third torque can be identical torque and be also possible to difference
Torque.That is it after driving torque is reduced to preset second torque, within preset first time, monitors to brake
Pedal is stepped on, and the driving torque can be reduced to preset third torque at this time, third torque at this time is than preset
The smaller torque of second torque, can so save the consumption of energy, reduce the output of power；In addition to this, driving is turned round
Square can also keep preset second torque to remain unchanged.
In the present embodiment, after driving torque is reduced to preset third torque, can also include:
Before the speed of the target vehicle is less than preset second speed, whether monitoring gas pedal is stepped on；If prison
It measures gas pedal to step on, vehicle is driven according to preset conventional driving method；It, will be described if gas pedal is not stepped on
Driving torque is reduced to zero.
In the present embodiment, if the speed of target vehicle monitors that gas pedal is stepped on before being less than preset second speed
Under, target vehicle can quickly restore driving torque, and the response that not will cause throttle is slack-off；If not monitoring, throttle is stepped on,
The speed of namely target vehicle has been less than preset second speed, due to third torque very little existing between transmission system, this
When the torque is reset, will not make to generate impact between each component of transmission system, and then not will lead to vehicle shake.
In the present embodiment, can also include: after S203
Within preset second time, whether gas pedal is stepped on for monitoring；
If being stepped in preset second monitoring in time to gas pedal, according to preset conventional driving method to the vehicle
It is driven.
In the present embodiment, after driving torque is reduced to preset second torque, if being monitored within preset second time
It is stepped on to gas pedal, conventional driving can be carried out to vehicle.During torque is increased, since torque increases step-length not
Reduce, cracking can increase to target torque, will not lead to the problem of throttle respond it is slack-off.
In the present embodiment, can also include: after S203
In the situation of change of preset third monitoring in time brake pedal and gas pedal；
If brake pedal is not stepped within the preset third time and gas pedal is not also stepped on, the driving torque is subtracted
It is small to zero.
In the present embodiment, after S203, within the preset third time, brake pedal and gas pedal can also be monitored
The case where, if brake pedal and gas pedal are not stepped within the preset third time, also indicate that vehicle possibility will
Parking, can be reduced to zero for the driving torque at this time, due to the second torque existing between transmission system at this time be one compared with
Small torque will not make to generate impact between each component of transmission system, and then will not make vehicle even if the second torque is removed
Generate impact.
In the present embodiment, it should be noted that above-mentioned preset first time, preset second time and default
The third time can be the identical time, the time can also be different respectively.
In the present embodiment, when vehicle start, by the method for preset first torque of increase, eliminates transmission system and driving
Gap on dynamic direction, to will not be present such that transmission system because of transmission system gap when vehicle normally starts
Each component between generate impact.When vehicle, which is in, to be run at a low speed, in the case that gas pedal is totally released, driving is not turned round
Square is reduced instantly to zero, but driving torque is reduced to the second torque, so that transmission system will not generate in the driven direction
Gap, so that impact be generated between will not leading to each component of transmission system.Based on above method, so that each component of transmission system
Between will not generate impact, thus will not cause vehicle generate shake, and when vehicle carry out normal driving when, can be rapidly reached
Target torque.In compared to the prior art, the method that torque increase is reduced, the present invention can be faster by vehicle traction to mesh
Mark torque, will not lead to the problem of throttle respond it is slack-off.
With reference to Fig. 3, the flow diagram that the method for vehicle shake is eliminated when speed is in preset range, institute are shown
The method of stating may include:
S301: when the speed of the target vehicle is in default range, whether monitoring gas pedal is totally released.
S302: if gas pedal is totally released, the driving torque is reduced to preset second torque.
S303: in the situation of change of preset 4th monitoring in time brake pedal and gas pedal.
S304: if within preset 4th time, monitoring that brake pedal is stepped on, and the driving torque is reduced to default
Third torque.
S305: if within preset 4th time, monitoring that gas pedal is stepped on, according to preset conventional driving method pair
Vehicle is driven.
S306: if within preset 4th time, brake pedal and gas pedal are not stepped on, and the driving torque is subtracted
It is small to zero.
S307: after the driving torque is reduced to preset third torque, it is less than in the speed of the target vehicle pre-
If the second speed before, monitoring gas pedal whether step on.
S308: if monitoring, gas pedal is stepped on, and is driven according to preset conventional driving method to vehicle.
S309: if gas pedal is not stepped on, the driving torque is reduced to zero.
In the present embodiment, when in the range that speed is in default, when throttle is totally released or brake pedal is stepped on,
Driving torque is not reduced to zero, but driving torque is reduced to preset value, so that each contact component of transmission system
Between will not generate impact, and then not will lead to vehicle generate shake.Within preset 4th time, if gas pedal is by again
It steps on, torque can respond rapidly to and will not generate impact and shake, and will not extend the response time of throttle, preset
If brake pedal in the 4th time, is reduced to preset third torque for driving torque, can save the consumption of energy in this way,
Reduce the output of power；After driving torque is reduced to preset third torque, it is less than in the speed of the target vehicle default
The second speed before, if monitoring, brake is unclamped and throttle is stepped on, and is carried out according to preset conventional driving method to vehicle
Conventional driving, target vehicle can rapidly restore driving torque at this time, if the speed of target vehicle is being less than preset second
After before speed, throttle is not stepped on, that is, speed has been less than preset second speed, the driving torque is reduced to zero,
At this time due to driving torque very little, removing third torque will not make to generate impact between each component of transmission system, and then not
It will lead to vehicle and generate shake.
Example devices
With reference to Fig. 4, a kind of structural schematic diagram of pure electric automobile stabilization control device of the embodiment of the present invention is shown.At this
In embodiment, the apparatus may include:
First monitoring unit 401, the speed for monitoring objective vehicle；
First moment of torsion control unit 402, for the case where the speed of the target vehicle is zero and driving torque is zero
Under, monitor the gear situation of change of selector, when monitoring that selector is switched to forward gear or reverses gear, brake pedal also
Under the premise of not unclamping, the driving torque is increased into preset first torque, and immediately by preset first torque
It is reduced to zero；
Second moment of torsion control unit 403, for the speed in the target vehicle in preset first vehicle speed range
In the case of, whether monitoring gas pedal is totally released, and when gas pedal is totally released, the driving torque is reduced to default
The second torque.
Optionally, further includes:
Third monitoring unit, for monitoring whether the brake pedal within preset first time is stepped on；
Third moment of torsion control unit, if for monitoring that brake pedal is stepped within preset first time, by the drive
Dynamic torque is reduced to preset third torque.
Optionally, further includes:
4th monitoring unit, for monitoring whether the gas pedal within preset second time is stepped on；
Driving unit, if for being stepped in preset second monitoring in time to gas pedal, according to preset conventional drive
Flowing mode drives the vehicle.
Optionally, further includes:
5th monitoring unit, for monitoring the situation of change of gas pedal and brake pedal within the preset third time；
4th moment of torsion control unit, if within the preset third time brake pedal do not step on and gas pedal not yet
It steps on, the driving torque is reduced to zero.
Optionally, further includes:
6th monitoring unit, for monitoring whether the gas pedal within preset 4th time is stepped on；
7th monitoring unit, if within preset 4th time gas pedal do not step on, monitor the target vehicle
Speed whether be less than preset second speed；
5th moment of torsion control unit, if the driving torque is reduced to zero for being less than preset second speed.
The device provided through this embodiment, by the method for preset first torque of increase, is eliminated when vehicle start
The gap of transmission system, to will not be present such that transmission system because of transmission system gap when vehicle normally starts
Each component between generate impact.It, will not be on driving direction in the case that throttle is totally released when vehicle, which is in, to be run at a low speed
Torque i.e. driving torque be reduced instantly to zero, but driving torque is reduced to the second torque, so that transmission system is not
Gap can be generated in the driven direction, so that impact be generated between will not leading to each component of transmission system.Based on above method, make
Transmission system each component between will not generate impact, thus will not cause vehicle generate shake, and when vehicle carry out normally
When driving, it can be rapidly reached target torque, solved in the prior art, the method by reducing torque increase causes to reach mesh
Mark the used time elongated problem of torque.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of pure electric automobile stabilization control method, which is characterized in that the described method includes:
The speed of monitoring objective vehicle；
In the case where the speed of the target vehicle is zero and driving torque is zero, the gear situation of change of selector is monitored,
When monitoring that selector is switched to forward gear or reverses gear, under the premise of brake pedal does not unclamp also, the driving is turned round
Square increases to preset first torque, and preset first torque is reduced to zero immediately；
In the case where the speed of the target vehicle is in preset first vehicle speed range, whether monitoring gas pedal is completely loose
It opens, when gas pedal is totally released, the driving torque is reduced to preset second torque；
Whether monitoring brake pedal within preset first time is stepped on；
If monitoring that brake pedal is stepped within preset first time, the driving torque is reduced to preset third and is turned round
Square；
Before the speed of the target vehicle is less than preset second speed, whether monitoring gas pedal is stepped on；
If monitoring, gas pedal is stepped on, and is driven according to preset conventional driving method to vehicle；
If gas pedal is not stepped on, the driving torque is reduced to zero.
2. the method according to claim 1, wherein the target vehicle speed in preset first speed
In the case where in range, whether monitoring gas pedal is totally released, and when gas pedal is totally released, the driving torque is subtracted
It is small to after preset second torque further include:
Whether monitoring gas pedal within preset second time is stepped on；
If being stepped in preset second monitoring in time to gas pedal, according to preset conventional driving method to the vehicle into
Row driving.
3. the method according to claim 1, wherein the speed of the target vehicle is in preset first speed model
In the case where in enclosing, whether monitoring gas pedal is totally released, and when gas pedal is totally released, the driving torque is reduced
To after preset second torque further include:
Within the preset third time, the situation of change of gas pedal and brake pedal is monitored；
If brake pedal is not stepped within the preset third time and gas pedal is not also stepped on, the driving torque is reduced to
Zero.
4. a kind of pure electric automobile stabilization control device, which is characterized in that described device includes:
First monitoring unit, the speed for monitoring objective vehicle；
First moment of torsion control unit, for monitoring in the case where the speed of the target vehicle is zero and driving torque is zero
The gear situation of change of selector is not unclamped also when monitoring that selector is switched to forward gear or reverses gear in brake pedal
Under the premise of, the driving torque is increased into preset first torque, and be immediately reduced to preset first torque
Zero；
Second moment of torsion control unit, in the case where the speed of the target vehicle is in preset first vehicle speed range,
Whether monitoring gas pedal is totally released, and when gas pedal is totally released, the driving torque is reduced to preset second
Torque；
Third monitoring unit, for monitoring whether the brake pedal within preset first time is stepped on；
Third moment of torsion control unit, if turning round the driving for monitoring that brake pedal is stepped within preset first time
Square is reduced to preset third torque；
6th monitoring unit before being less than preset second speed for the speed in the target vehicle, monitors gas pedal
Whether step on；
Second driving unit, if being driven according to preset conventional driving method to vehicle for monitoring that gas pedal is stepped on
It is dynamic；
The driving torque is reduced to zero if not stepping on for gas pedal by the 5th moment of torsion control unit.
5. device according to claim 4, which is characterized in that further include:
4th monitoring unit, for monitoring whether the gas pedal within preset second time is stepped on；
First driving unit, if for being stepped in preset second monitoring in time to gas pedal, according to preset conventional drive
Flowing mode drives the vehicle.
6. device according to claim 5, which is characterized in that further include:
5th monitoring unit, for monitoring the situation of change of gas pedal and brake pedal within the preset third time；
4th moment of torsion control unit, if for brake pedal not to be stepped within the preset third time and gas pedal is not also stepped on
Under, the driving torque is reduced to zero.
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| CN109421728B (en) * | 2017-08-21 | 2020-08-11 | 上海汽车集团股份有限公司 | Self-adaptive anti-shake control method and device for automobile |
| CN108583365B (en) * | 2018-03-12 | 2021-03-26 | 上海伊控动力系统有限公司 | Tooth surface reversing anti-shake control method for electric automobile |
| CN108501769B (en) * | 2018-04-28 | 2020-09-25 | 北京新能源汽车股份有限公司 | Starting control method and device and automobile |
| KR102703732B1 (en) * | 2018-11-16 | 2024-09-09 | 현대자동차주식회사 | Apparatus for controlling driving assistance of vehicle, system having the same and method thereof |
| CN111376907B (en) * | 2018-12-29 | 2021-11-02 | 北京宝沃汽车有限公司 | Engine torque compensation value obtaining method and device, controller and automobile |
| CN111332134B (en) * | 2020-03-25 | 2021-08-17 | 东风汽车集团有限公司 | Motor jitter prevention control system and method for hydrogen fuel cell vehicle |
| CN113771643B (en) * | 2021-08-13 | 2023-03-10 | 上万清源智动车有限公司 | Processing method for eliminating shake of pure electric passenger vehicle during zero-crossing torque |
| CN115384513B (en) * | 2022-08-31 | 2024-05-14 | 东风柳州汽车有限公司 | Vehicle control method, device, equipment and storage medium |
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