CN114274791B - Torque control method for forward and reverse switching in running direction of pure electric vehicle - Google Patents
Torque control method for forward and reverse switching in running direction of pure electric vehicle Download PDFInfo
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Abstract
The invention relates to the field of electric automobile control, in particular to a torque control method for advancing and switching in the running direction of a pure electric automobile. The invention provides a torque control method for switching running directions, aiming at the problems of rolling caused by the sudden stop of a pure electric vehicle in reversing running and incapability of quick response. Firstly, the driving intention is monitored through a gear switching mechanism, the current driving environment is monitored through the input of an external perception sensor (such as a camera, a radar and the like), and the torque change rate is automatically adjusted after the monitored data are processed and judged. The control method adjusts the torque change rate in real time by monitoring the road condition information and the safety risk, and improves the smoothness of the vehicle on the premise of ensuring the safety of the vehicle. Is particularly suitable for pure electric vehicles.
Description
Technical Field
The invention relates to the field of electric automobile control, in particular to a torque control method for advancing and switching in the running direction of a pure electric automobile.
Background
In actual road driving of a vehicle, it is often necessary to change the traveling direction of the vehicle, such as forward or reverse, due to the road environment and subjective intention of the driver. At present, almost all automobiles are provided with a driving gear and a reverse gear for being convenient for a driver to operate, and pure electric automobiles are no exception.
Compared with the traditional fuel oil vehicle, the pure electric vehicle can change the running direction of the vehicle by changing the power output direction of the motor, so that most electric vehicles are not provided with mechanical power reversing devices at present, and the running direction switching of the vehicle is realized by changing the power output direction of the motor. For safety and protection of power and transmission systems, electric vehicles currently have a reversing protection function, i.e. when the vehicle is traveling in a certain direction and the speed is higher than a calibration value, the driver sends a reversing request opposite to the current traveling direction by pulling a gear lever or other forms, the vehicle will not respond to the request, but will keep the current traveling direction or cut off the power output until the vehicle speed falls below the calibration value, and the traveling direction switching can not be performed.
Considering the requirements of comfort and smoothness of the vehicle, the vehicle generally does not respond to the corresponding torque request at this time immediately after executing the reversing request, but slowly approaches the requested torque from the current torque. If the response speed is too slow, the behavior of the vehicle during actual running is as follows: when the vehicle runs in a certain direction and the vehicle speed is lower than a standard value but not return to zero, the driver sends a reversing request, and the vehicle still runs in the target direction after running for a certain distance in the original running direction, if the driving experience of the driver is not enough or the road condition environment in the original running direction is not carefully observed, the vehicle is easy to collide, pit and other accidents are easily caused. If the response speed is too high, the deceleration of the vehicle suddenly changes, so that the vehicle is jerked.
In summary, the torque control method for switching the current driving direction is that the torque slope of the constant change rate or the constant change curve changes, if the change rate is set too large, the vehicle is in a jerk in the reversing process, if the change rate is set too small, the vehicle slides a certain distance along the original driving direction and then drives along the target direction, and the change rate cannot be automatically adjusted according to the driving intention and the road environment. According to the invention, the driving intention is monitored through the gear switching mechanism, the current driving environment and the safety risk are monitored through the input of the external sensing sensor (such as a camera, a radar and the like), and the torque change rate is automatically adjusted after the monitoring data are processed and judged, so that the balance of smoothness and driving safety is realized.
Disclosure of Invention
The invention provides a torque control method for advancing and switching the running direction of a pure electric vehicle, aiming at the problems of rolling caused by the fact that an electric vehicle is in a sudden stop in reversing running and cannot respond quickly in the prior art.
In order to solve the problems, the invention provides the following technical scheme:
a torque control method for advancing and switching in the running direction of a pure electric vehicle comprises the following steps:
s1, monitoring opening degrees of an accelerator pedal and a brake pedal through an opening degree sensor of the accelerator pedal and the brake pedal, obtaining running request torque corresponding to a current state after data processing, and then monitoring a current intention running direction D of a driver through a gear controller ex Namely, through gear judgment, if the gear is a D gear, namely a forward gear, the intended running direction is forward running, if the gear is an R gear, namely a reverse gear, the intended running direction is reverse running, and if the gear is a neutral gear or a parking gear, the running direction is not intended; the current real-time speed v of the vehicle is obtained through the data processing of the speed sensor, and the current running direction D is judged through the speed v pr The vehicle speed v is positive value and is forward running, the vehicle speed v is negative value and is backward running, the vehicle speed v is zero and has no current running direction, and the vehicle is in a static state;
the road environment information of the current running direction of the vehicle is monitored through an external perception sensor, and the distance between surrounding obstacles and the vehicle and the type of the obstacles can be obtained after the processing; if pedestrians, vehicles or objects with the height higher than the lowest height of the chassis of the vehicles or pits or stagger platforms with the depth exceeding 2/3 of the radius of the outer hub of the vehicle are detected, judging that the vehicle is provided with an obstacle; obtaining the minimum distance L between the obstacle and the vehicle through numerical analysis, and obtaining the real-time response torque of the vehicle in the current state through a motor controller;
s2, obtaining the current intention running direction and judging D after the current running direction is obtained ex 、D pr If the two directions are the same, if the two directions are consistent or the running direction is not intended, responding with the torque request in the current state, and ending; if the current intention is in the driving direction D ex With the current travelling direction D pr In a different manner, the processing time is different, then the next step is performed;
s3, judging whether the absolute value |v| of the current vehicle speed is higher than v 1 If |v|>v 1 Then respond to zero power output and re-compare if |v|v +. 1 Then the next step is performed; wherein v is 1 A speed threshold value for responding to zero power output of the vehicle is a calibration value; v 1 The calibration principle of (2) is that the vehicle speed is v 1 When the vehicle runs at a constant speed, the driving gear is switched to be reverse, the accelerator pedal is rapidly pressed to 100 percent of opening, the driving feel of the vehicle is acceptable, the vehicle has no obvious setback and no safety risks such as slipping and idling of the driving wheel, and the like, and v is increased as much as possible under the condition that the precondition is met 1 To increase driving latitude;
s4, judging whether the obstacle in S1 exists in the range of the front distance L1 in the current running direction of the vehicle, if not, responding to the torque by using the maximum slope value R 1 Closing to the target torque, and ending; if yes, carrying out the next step;
l1 and R1 are calibration values, L1 is v in S3 for the vehicle 1 When the vehicle runs, the power output is interrupted, the vehicle can only slide to the shortest distance from the inertia to the stationary state of the vehicle, when the distance between an obstacle and the vehicle exceeds the distance, the vehicle is considered to have no collision risk, the calibration criterion of R1 is to ensure the smoothness of the vehicle, namely the vehicle has better smoothness when the vehicle changes torque by taking R1 as the maximum slope, and the acceleration change value is within 0.2 g;
s5, judging whether the distance between the dangerous factors and the vehicle is greater than L2, if the distance is greater than L2, enabling the response torque to be close to the target torque by using a maximum slope value R2, and ending; if the distance is smaller than L2, the response torque is close to the target torque by a maximum slope value R2, meanwhile, a mechanical braking system is activated, the target mechanical braking force is obtained according to the MAP1 table lookup, and the process is finished;
wherein L2 and R2 are calibration values, the calibration basis is that firstly, proper torque maximum change slope R2 is set according to the driving requirement of the vehicle, and the vehicle is provided with v in S3 1 The vehicle runs at a constant speed, the running gear is switched to be reverse, the accelerator pedal is rapidly pressed to 20% of opening, the torque is changed according to the maximum change slope R2, and the shortest distance that the vehicle can be stationary only by means of motor torque change is L2; at the same time need to satisfy L2<L1，R2>R1; MAP1 is a calibratable two-axis MAP, the two axes respectively correspond to the distance L from the obstacle and the target mechanical braking force F, and the specific calibration principle is vehicle v 1 The vehicle runs at a constant speed, is braked by the braking force of F at the position away from the obstacle L, and can be completely braked before colliding with the obstacleAnd the value of F can be properly reduced on the premise that the vehicle can be completely braked and prevented from colliding with an obstacle, so that the smoothness of the whole vehicle is ensured.
The beneficial effects are that:
the invention provides a torque control method for switching running directions, aiming at the problems of rolling caused by the sudden stop of a pure electric vehicle in reversing running and incapability of quick response. Firstly, the driving intention is monitored through a gear switching mechanism, the current driving environment is monitored through the input of an external perception sensor (such as a camera, a radar and the like), and the torque change rate is automatically adjusted after the monitored data are processed and judged.
The control method adjusts the torque change rate in real time by monitoring the road condition information and the safety risk, and improves the smoothness of the vehicle on the premise of ensuring the safety of the vehicle. Is particularly suitable for pure electric vehicles.
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FIG. 1 is a flow chart of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by one of ordinary skill in the art without inventive faculty, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
A torque control method for advancing and switching in the running direction of a pure electric vehicle is basically characterized in that:
firstly, the basic state of the vehicle is judged by monitoring the intended running direction of the vehicle, the real-time speed and the actual running direction of the vehicle, road conditions and dangerous factors in a certain range in front of the actual running direction of the vehicle, the request torque corresponding to the current state of the vehicle and the response torque. The requested torque is directly responded to if the current intended direction of travel of the vehicle coincides with the actual direction of travel or is unintentional in the direction of travel (neutral or park) or is not in the actual direction of travel (vehicle stationary).
If the intended running direction is inconsistent with the actual running direction, the vehicle speed condition is firstly judged, the power output is interrupted and continuously monitored when the vehicle speed is too fast, and the safety risk in a certain range in front of the current running direction is judged when the vehicle speed is reduced to be within a reasonable range. If the safety risk is not found, the response torque is close to the target torque according to the smaller slope so as to ensure the smoothness of the vehicle, and if the safety risk is found, the response torque is close to the target torque according to the larger slope so as to ensure the safety of the vehicle. And in the reversing process, if the distance between the vehicle and the obstacle with safety risk factors such as roadblocks, pits, staggering tables, pedestrians, vehicles and the like is too close, the mechanical braking system is activated to provide mechanical braking force so as to ensure that the vehicle cannot contact the obstacle.
Specifically, as shown in fig. 1, the method comprises the following steps:
s1, firstly, the opening degree of an accelerator pedal and the opening degree of a brake pedal are monitored through an opening degree sensor of the accelerator pedal and an opening degree sensor of the brake pedal, and the running request torque corresponding to the current state is obtained after data processing, wherein the main method comprises the following steps: the brake pedal opening sensor acquires analog signals, the analog signals are converted into digital signals with the percentage through processing, and the digital signals are converted into corresponding request torque according to a preset palmap, wherein the content of the analog signals is the prior art; then the current intended driving direction D of the driver is monitored by the gear controller ex Namely, through gear judgment, if the gear is a D gear, namely a forward gear, the intended running direction is forward running, if the gear is an R gear, namely a reverse gear, the intended running direction is reverse running, and if the gear is a neutral gear or a parking gear, the running direction is not intended; the current real-time speed v of the vehicle is obtained through the data processing of the speed sensor, and the current running direction D is judged through the speed v pr The vehicle speed v is positive value and is forward running, the vehicle speed v is negative value and is backward running, the vehicle speed v is zero and has no current running direction, and the vehicle is in a static state;
the road environment information of the current running direction of the vehicle is monitored through external sensing sensors such as parking radar, full-view cameras and laser radar, the information is processed into the prior art, and the distance between surrounding obstacles and the vehicle and the type of the obstacles can be obtained after the information is processed. If pedestrians, vehicles or objects with a height higher than the lowest height of the chassis of the vehicles or pits or stagger platforms with a depth exceeding 2/3 of the radius of the outer hub of the vehicle are detected, the vehicles are judged to be provided with obstacles. Obtaining the minimum distance L between the obstacle and the vehicle through numerical analysis, and obtaining the real-time response torque of the vehicle in the current state through a motor controller;
s2, obtaining the current intention running direction and judging D after the current running direction is obtained ex 、D pr If the two directions are the same, if the two directions are consistent or the running direction is not intended, or the current running direction (the vehicle is stationary), responding with the torque request in the current state, and ending; if the current intention is in the driving direction D ex With the current travelling direction D pr Otherwise, the next step is performed.
S3, judging whether the absolute value |v| of the current vehicle speed is higher than v 1 If |v|>v 1 Then respond to zero power output and re-compare if |v|v +. 1 Then the next step is performed; wherein v is 1 The speed threshold value of the vehicle responding to zero power output is a calibration value, and can be adjusted according to the actual performance and the running working condition of the vehicle; v 1 The calibration principle of (2) is that the vehicle speed is v 1 When the vehicle runs at a constant speed, the driving gear is switched to be reverse, the accelerator pedal is rapidly pressed to 100 percent of opening, the driving feel of the vehicle is acceptable, the vehicle has no obvious setback and no safety risks such as slipping and idling of the driving wheel, and the like, and v is increased as much as possible under the condition that the precondition is met 1 To increase driving latitude.
S4, judging whether the obstacle in S1 exists in the range of the front distance L1 in the current running direction of the vehicle, if not, responding to the torque by using the maximum slope value R 1 Closing to the target torque, and ending; if so, the next step is performed. L1 and R1 are calibration values, and can be adjusted according to the actual performance and running conditions of the vehicle.
L1 is v in S3 for a vehicle 1 When the vehicle runs, the power output is interrupted, the vehicle can only slide to the shortest distance of the vehicle to be stationary by means of inertia, when the distance between an obstacle and the vehicle exceeds the distance, the vehicle is considered to have no collision risk, and the calibration criterion of R1 is to ensure the smoothness of the vehicle, namely the vehicle has better flatness when the vehicle changes torque by taking R1 as the maximum slopeThe acceleration change value is within 0.2 g.
S5, judging whether the distance between the dangerous factors and the vehicle is greater than L2, if the distance is greater than L2, enabling the response torque to be close to the target torque with a maximum slope value R2, and ending. The concept of risk factors in this step is always the same as the concept of obstructions in step S1. If the distance is smaller than L2, the response torque approaches the target torque with a maximum slope value R2, meanwhile, a mechanical braking system is activated, and the target mechanical braking force is obtained according to the MAP1 table lookup and is ended. L2 and R2 are calibration values, the calibration basis is that firstly, proper torque maximum change slope R2 is set according to the driving requirement of the vehicle, and the vehicle is driven by v in S3 1 The vehicle runs at a constant speed, the running gear is switched to be reverse, the accelerator pedal is rapidly pressed to 20% of opening, the torque changes according to the maximum change slope R2, and the shortest distance that the vehicle can be stationary only by means of motor torque change is L2. At the same time need to satisfy L2<L1，R2>R1.MAP1 is a calibratable two-axis MAP, the two axes respectively correspond to the distance L from the obstacle and the target mechanical braking force F, and the specific calibration principle is vehicle v 1 The vehicle runs at a constant speed, the vehicle is braked by the braking force of F at the position away from the obstacle L, the vehicle can be completely braked before colliding with the obstacle, and the value of F can be properly reduced on the premise that the vehicle can be completely braked and cannot collide with the obstacle, so that the smoothness of the whole vehicle is ensured.
And after the control is finished, returning to a starting state, and repeating the control flow.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (1)
1. The torque control method for advancing and switching the running direction of the pure electric vehicle is characterized by comprising the following steps of:
s1, monitoring opening degrees of an accelerator pedal and a brake pedal through an opening degree sensor of the accelerator pedal and the brake pedal, obtaining running request torque corresponding to a current state after data processing, and then monitoring a current intention running direction D of a driver through a gear controller ex Namely, through gear judgment, if the gear is a D gear, namely a forward gear, the intended running direction is forward running, if the gear is an R gear, namely a reverse gear, the intended running direction is reverse running, and if the gear is a neutral gear or a parking gear, the running direction is not intended; the current real-time speed v of the vehicle is obtained through the data processing of the speed sensor, and the current running direction D is judged through the speed v pr The vehicle speed v is positive value and is forward running, the vehicle speed v is negative value and is backward running, the vehicle speed v is zero and has no current running direction, and the vehicle is in a static state;
the road environment information of the current running direction of the vehicle is monitored through an external perception sensor, and the distance between surrounding obstacles and the vehicle and the type of the obstacles can be obtained after the processing; if pedestrians, vehicles or objects with the height higher than the lowest height of the chassis of the vehicles or pits or stagger platforms with the depth exceeding 2/3 of the radius of the outer hub of the vehicle are detected, judging that the vehicle is provided with an obstacle; obtaining the minimum distance L between the obstacle and the vehicle through numerical analysis, and obtaining the real-time response torque of the vehicle in the current state through a motor controller;
s2, obtaining the current intention running direction and judging D after the current running direction is obtained ex 、D pr If the two directions are the same, if the two directions are consistent or the running direction is not intended, responding with the torque request in the current state, and ending; if the current intention is in the driving direction D ex With the current travelling direction D pr In a different manner, the processing time is different, then the next step is performed;
s3, judging whether the absolute value |v| of the current vehicle speed is higher than v 1 If |v|>v 1 Then respond to zero power output and re-compare if |v|v +. 1 Then the next step is performed; wherein v is 1 A speed threshold value for responding to zero power output of the vehicle is a calibration value; v 1 The calibration principle of (2) is that the vehicle speed is v 1 When the vehicle runs at a constant speed, the running gear is switched to be reverse, the accelerator pedal is rapidly pressed to 100 percent of opening, the driving feel of the vehicle is acceptable, and the vehicle is drivenThe vehicle has no obvious setbacks and does not generate the safety risk of skidding and idling of the driving wheel, and v is increased as much as possible under the condition of meeting the premise 1 To increase driving latitude;
s4, judging whether the obstacle in S1 exists in the range of the front distance L1 in the current running direction of the vehicle, if not, responding to the torque by using the maximum slope value R 1 Closing to the target torque, and ending; if yes, carrying out the next step;
l1 and R1 are calibration values, L1 is v in S3 for the vehicle 1 When the vehicle runs, the power output is interrupted, the vehicle can only slide to the shortest distance from the inertia to the stationary state of the vehicle, when the distance between an obstacle and the vehicle exceeds the distance, the vehicle is considered to have no collision risk, the calibration criterion of R1 is to ensure the smoothness of the vehicle, namely the vehicle has better smoothness when the vehicle changes torque by taking R1 as the maximum slope, and the acceleration change value is within 0.2 g;
s5, judging whether the distance between the dangerous factors and the vehicle is greater than L2, if the distance is greater than L2, enabling the response torque to be close to the target torque by using a maximum slope value R2, and ending; if the distance is smaller than L2, the response torque is close to the target torque by a maximum slope value R2, meanwhile, a mechanical braking system is activated, the target mechanical braking force is obtained according to the MAP1 table lookup, and the process is finished;
wherein L2 and R2 are calibration values, the calibration basis is that firstly, proper torque maximum change slope R2 is set according to the driving requirement of the vehicle, and the vehicle is provided with v in S3 1 The vehicle runs at a constant speed, the running gear is switched to be reverse, the accelerator pedal is rapidly pressed to 20% of opening, the torque is changed according to the maximum change slope R2, and the shortest distance that the vehicle can be stationary only by means of motor torque change is L2; at the same time need to satisfy L2<L1，R2>R1; MAP1 is a calibratable two-axis MAP, the two axes respectively correspond to the distance L from the obstacle and the target mechanical braking force F, and the specific calibration principle is vehicle v 1 The vehicle runs at a constant speed, the vehicle is braked by the braking force of F at the position away from the obstacle L, the vehicle can be completely braked before colliding with the obstacle, and the value of F can be properly reduced on the premise that the vehicle can be completely braked and cannot collide with the obstacle, so that the smoothness of the whole vehicle is ensured.
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