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KR20170095581A - Torque control method and apparatus according to the gradient change - Google Patents

Torque control method and apparatus according to the gradient change Download PDF

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Publication number
KR20170095581A
KR20170095581A KR1020160017167A KR20160017167A KR20170095581A KR 20170095581 A KR20170095581 A KR 20170095581A KR 1020160017167 A KR1020160017167 A KR 1020160017167A KR 20160017167 A KR20160017167 A KR 20160017167A KR 20170095581 A KR20170095581 A KR 20170095581A
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KR
South Korea
Prior art keywords
drive shaft
torque
gradient change
vehicle
speed
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Application number
KR1020160017167A
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Korean (ko)
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KR101788189B1 (en
Inventor
고영관
임형빈
Original Assignee
현대자동차주식회사
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Priority to KR1020160017167A priority Critical patent/KR101788189B1/en
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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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0074—Driver shifts control to the controller, e.g. by pressing a button
    • 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)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present invention relates to a torque control method and apparatus according to a gradient change. A driving axis control method according to an embodiment of the present invention includes: a first step of calculating a driving axis acceleration of a vehicle; A second step of integrating the drive shaft acceleration to calculate a drive shaft expected speed; A third step of calculating a gradient change torque based on the estimated drive shaft speed and the actual drive shaft speed of the vehicle; A fourth step of calculating an output torque by adding the gradient change torque to the drive torque of the vehicle; And a fifth step of controlling the drive shaft of the vehicle in consideration of the output torque. And a control unit.

Description

TECHNICAL FIELD [0001] The present invention relates to a torque control method and apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to torque control for driving a vehicle, and more particularly, to a method and apparatus for controlling torque for driving a vehicle using road gradient information that the vehicle travels.

Under the flat running condition, the driver can adjust the speed of the vehicle through the accelerator pedal of the vehicle. The vehicle controls the speed by reflecting the driver's intention to adjust the speed to the driver in accordance with the depth of the accelerator pedal.

However, in the section where the gradient of the running road occurs, the speed of the vehicle changes regardless of the intention of the driver to adjust the speed.

For example, a section where a gradient of a running road changes occurs from a point where it changes uphill on a flat land, a point that changes from a flat to a downhill, a point that changes from a downhill to a flat land, a point that changes from a downhill to an uphill, A change point, a downhill change point, an excessive speed bump, and the like.

The gradient of the driving road has a direct effect on the speed of the vehicle. When the point at which the gradient of the road changes is encountered while driving the vehicle, the load acting on the vehicle is changed, and the speed of the vehicle is changed by the load change.

In a place where the gradient of the driving road is severe, the change of the vehicle speed may occur severely, and the driver may feel the heterogeneity due to the change of the vehicle speed irrespective of the intention of the speed control. In addition, a situation in which the change of the gradient is large in a short section such as the overspeed preventing jaw may cause a shock to the vehicle depending on other driving situations.

Therefore, there is a need for a method capable of reducing the sense of heterogeneity that the driver feels due to gradient changes and improving the driving performance of the vehicle.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a torque control method and apparatus according to a gradient change.

The present invention relates to a method for improving operability by adding or subtracting a torque required for a vehicle in accordance with a gradient change in a section where a gradient is changed in order to improve the drivability in a situation where the road gradient is changed while the vehicle is running.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

According to an aspect of the present invention, there is provided a drive shaft control method including: a first step of calculating a drive shaft acceleration of a vehicle; A second step of integrating the drive shaft acceleration to calculate a drive shaft expected speed; A third step of calculating a gradient change torque based on the estimated drive shaft speed and the actual drive shaft speed of the vehicle; The gradient torque is added to the drive torque of the vehicle to obtain an output torque

Figure pat00001
); And a fifth step of controlling the drive shaft of the vehicle in consideration of the output torque. . ≪ / RTI >

According to an embodiment, the first step calculates the driving shaft acceleration through the following equation (1)

Figure pat00002
Is the drive shaft acceleration,
Figure pat00003
Is a drive shaft inertia,
Figure pat00004
Is the drive torque of the drive shaft,
Figure pat00005
Is the load torque applied to the drive shaft.

Figure pat00006

According to an embodiment of the present invention, the second step calculates the estimated drive shaft speed through the following equation (2)

Figure pat00007
Is the estimated drive shaft speed,
Figure pat00008
Is the drive shaft acceleration.

Figure pat00009

According to an embodiment, the third step may include calculating the gradient change torque through the following equation (3)

Figure pat00010
Is the gradient change torque,
Figure pat00011
A torque calculation gain value,
Figure pat00012
Is an actual speed of the drive shaft,
Figure pat00013
Is the estimated drive shaft speed.

Figure pat00014

According to an embodiment, in the third step, the gradient change torque is calculated using the following equation (4) to correct the error of the equation (3)

Figure pat00015
Is the gradient change torque,
Figure pat00016
Is the torque calculation gain value,
Figure pat00017
Is an actual speed of the drive shaft,
Figure pat00018
And HPF is a high-pass filter function.

Figure pat00019

According to an embodiment, the fourth step may include: determining an end of eliminating the calculation of the gradient change torque; And removing the gradient change torque; . ≪ / RTI >

According to the embodiment, the step of determining whether or not to end the calculation of the gradient change torque may include determining whether the gradient change torque is maintained for a predetermined time or longer or moving a certain distance, Determining whether the position of the vehicle is passing through the vehicle; . ≪ / RTI >

According to an embodiment, the step of removing the gradient change torque may include: varying a removal amount corresponding to a moving distance of the vehicle at a point where the end determination is made; . ≪ / RTI >

Receiving gradient change information of a road in a running direction of the vehicle, according to an embodiment; Determining whether the gradient change exceeds a threshold value based on the gradient change information; And the first step may be performed when the gradient change exceeds a threshold value.

According to another aspect of the present invention, there is provided a drive shaft control apparatus including: a communication unit for receiving status information of a vehicle; And a drive shaft acceleration (

Figure pat00020
), And integrates the drive shaft acceleration to obtain the estimated drive shaft speed (
Figure pat00021
), Calculates a gradient change torque based on the estimated drive shaft speed and the actual drive shaft speed of the vehicle, adds the gradient change torque to the drive torque of the vehicle,
Figure pat00022
); The control unit may control the drive shaft in consideration of the output torque.

According to an embodiment of the present invention, the controller calculates the driving shaft acceleration through Equation (1) below,

Figure pat00023
Is the drive shaft acceleration,
Figure pat00024
Is a drive shaft inertia,
Figure pat00025
Is the drive torque of the drive shaft,
Figure pat00026
Is the load torque applied to the drive shaft.

[Equation 1]

Figure pat00027

According to an embodiment of the present invention, the controller calculates the estimated drive shaft speed through Equation (2) below,

Figure pat00028
Is the estimated drive shaft speed,
Figure pat00029
Is the drive shaft acceleration.

&Quot; (2) "

Figure pat00030

According to an embodiment, the control unit may calculate the gradient change torque through the following equation (3)

Figure pat00031
Is the gradient change torque,
Figure pat00032
A torque calculation gain value,
Figure pat00033
Is an actual speed of the drive shaft,
Figure pat00034
Is the estimated drive shaft speed.

&Quot; (3) "

Figure pat00035

According to an embodiment of the present invention, the controller calculates the gradient change torque using Equation (4) to correct the error of Equation (3)

Figure pat00036
Is the gradient change torque,
Figure pat00037
Is the torque calculation gain value,
Figure pat00038
Is an actual speed of the drive shaft,
Figure pat00039
And HPF is a high-pass filter function.

&Quot; (4) "

Figure pat00040

According to the embodiment, the control unit may determine that the calculation of the gradient change torque is terminated and remove the gradient change torque.

According to an embodiment, the control unit may determine whether the gradient change torque is maintained for a predetermined time or longer or move a certain distance, or may determine that the vehicle has passed the position of the gradient change .

According to the embodiment, the control unit may vary the removal amount corresponding to the moving distance of the vehicle at the point where the end determination is made.

According to the embodiment, the communication unit receives the gradient change information of the road in the running direction of the vehicle, and the control unit determines whether or not the gradient change exceeds the threshold value based on the gradient change information, And if it exceeds the threshold value, the drive shaft acceleration can be calculated.

According to an embodiment, the present invention provides a computer-readable recording medium on which a program for executing the above-described method is recorded.

Effects of the torque control method and apparatus according to the gradient change according to the present invention are as follows.

First, according to the present invention, the speed of the vehicle can be controlled by reflecting the intention of the driver to adjust the speed even in the gradient change period of the running road.

Second, the present invention can reduce the variation of the vehicle speed in the gradient change section of the road, thereby reducing the sense of heterogeneity felt by the driver, and helping the vehicle to relatively smoothly pass a gradient such as a speed bump.

Third, the present invention has the effect of improving the drivability by reducing the speed change of the vehicle due to the gradient change.

The effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description will be.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new embodiment.
1 is a flowchart illustrating a torque control method according to a gradient change according to an embodiment of the present invention.
2 is a view for explaining a change in gradient change torque in each gradient change situation according to an embodiment of the present invention.
3 is a block diagram illustrating a torque control apparatus according to a gradient change according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

According to the present invention, it is proposed to change the torque required for driving the vehicle in the gradient change state to reduce the speed variation of the vehicle according to the gradient change, thereby reducing the sense of heterogeneity felt by the driver and improving the high driving performance.

Therefore, the present invention can be largely performed by recognizing the gradient change of the running road and changing the torque necessary for driving the vehicle.

In addition, the torque control method according to the gradient change may be performed as an embodiment of the present invention only in a section where the necessity of changing the drive torque is required by receiving the gradient information of the running road and using the prediction information of the gradient change.

However, it is difficult to accurately determine the point at which the vehicle meets the gradient section because there is a prediction limit for the section requiring the change of the drive torque. That is, it becomes difficult to output the torque with respect to the gradient change at the point where the torque control is required, so that the gradient information of the running road is used as auxiliary and additional logic is required to output the torque required for driving.

Therefore, with additional logic, the present invention proposes a method of calculating the driving shaft speed, which is considered to be a technique that can be usefully used in unmanned vehicles in the future.

As a result, the present invention determines whether to perform torque control by using the gradient information of the running road, and when torque control is determined, calculates the torque of the driving shaft speed corresponding to the current driving situation and the gradient change based thereon, And a method for performing control.

1 is a flowchart illustrating a torque control method according to a gradient change according to an embodiment of the present invention.

Referring to FIG. 1, the torque control apparatus receives gradient change information on the road in the running direction (S10).

The gradient change information may be received from the vehicle external server via wireless communication and may be transmitted from the vehicle internal system (e.g., Advanced Driver Assistance System (ADAS) or AVN system) to vehicle communication , LIN, communication, etc.).

The gradient change information may be information that can determine the gradient of the road (for example, altitude information of the road likely to be traveled), or may be compared with a threshold that is a reference for determining the degree of gradient change of the road This can be quantified information.

For example, when the torque control device receives the altitude information (gradient change information) of the estimated travel route from the AVN system, the torque control device can calculate the degree of gradient of the estimated route of the vehicle numerically using the altitude information have.

As another example, the torque control device can directly receive a numerical gradient change over the travel path from the ADAS system. Hereinafter, the gradient change is regarded as a numerical calculation value capable of comparing the gradient of the running road.

The torque control device determines whether the gradient change is greater than a threshold value, or performs a determination as to whether or not an overspeed inhibition threshold exists (S20).

The threshold value is a value obtained by quantifying the gradient of the gradient of the road to such an extent that the torque control apparatus needs to perform the torque control.

The torque control device determines that torque control is necessary when the gradient change is larger than the threshold value.

When the gradient change is larger than the threshold value or when the overspeed prevention threshold exists (Yes path of S20), the torque control device calculates the gradient change torque (S30).

The method for calculating the gradient change torque includes a first step of calculating a drive shaft acceleration of the vehicle, a second step of calculating a drive shaft expected speed by integrating the drive shaft acceleration, a second step of calculating a gradient change torque based on the estimated drive shaft speed and the actual drive shaft speed of the vehicle And a third step of calculating the output power.

The first step calculates the drive shaft acceleration through the following equation (1)

Figure pat00041
Is the drive shaft acceleration,
Figure pat00042
Is a drive shaft inertia,
Figure pat00043
Is the drive torque of the drive shaft,
Figure pat00044
Is the load torque applied to the drive shaft.

[Equation 1]

Figure pat00045

The second step calculates the estimated drive shaft speed through the following equation (2)

Figure pat00046
Is the estimated drive shaft speed,
Figure pat00047
Is the drive shaft acceleration.

&Quot; (2) "

Figure pat00048

The third step calculates the gradient change torque through the following equation (3)

Figure pat00049
Is the gradient change torque,
Figure pat00050
A torque calculation gain value,
Figure pat00051
Is an actual speed of the drive shaft,
Figure pat00052
Is the estimated drive shaft speed.

&Quot; (3) "

Figure pat00053

In the third step, the gradient change torque is calculated using the following equation (4) to correct the error of the equation (3)

Figure pat00054
Is a gradient change torque,
Figure pat00055
Is the torque calculation gain value,
Figure pat00056
Is an actual speed of the drive shaft,
Figure pat00057
And HPF is a high-pass filter function.

&Quot; (4) "

Figure pat00058

The torque control device calculates the output torque of the vehicle in consideration of the calculated gradient change torque (S40).

The torque control device controls the driving torque of the vehicle

Figure pat00059
) To a gradient change torque
Figure pat00060
) Is added to the output torque
Figure pat00061
).

Figure pat00062

The torque control device controls the drive shaft of the vehicle in consideration of the calculated output torque, and determines whether to terminate the torque control (S50).

The torque control device can transmit the calculated output torque to the drive system that controls the drive shaft of the vehicle. The drive system includes a hybrid control unit (HCU), which is a top-level controller for controlling the vehicle operation mode, or an engine control unit (ECU) for controlling the overall operation of the engine, But is not limited to, a motor control unit (MCU).

For example, it is possible to judge whether or not the torque control apparatus terminates the torque control by judging whether or not the gradient change torque is maintained for a predetermined time or longer or moved a certain distance, It can be determined whether or not the position is passed.

When the torque control device determines that the torque control ends, the gradient change torque control ends (S60).

2 is a view for explaining a change in gradient change torque in each gradient change situation according to an embodiment of the present invention.

2, in a first situation in which the vehicle changes its gradient from a flat ground to a downhill, in a second situation in which a gradient changes from a flat ground to an uphill gradient, and in a third situation in which a gradient change in the over- , The predicted speed of the drive shaft, and the gradient torque. However, it is assumed that the estimated speed of the drive shaft has a constant value because the depth of the accelerator pedal is the same.

In the first situation in which the gradient changes from flat to downhill, the load acting on the vehicle is reduced and the actual speed of the drive shaft increases. In such a situation, the torque control device calculates a gradient change torque having a negative value to control the output torque to be lowered to suppress the speed change.

In contrast to the first situation, in the second situation in which the gradient changes from uphill to uphill, the load acting on the vehicle is increased, and the actual speed of the drive shaft is reduced by the increasing load. In such a situation, the torque control apparatus calculates a gradient change torque having a positive value to control the output torque to increase to suppress the speed change.

In the third situation in which the gradient change of the overspeed preventing jaw occurs, the torque control in the first state and the second state is performed together. The torque control in the second state in which the gradient change occurs from the flat land to the uphill state is performed at the point where the excessive speed restraint is going to pass and the torque control in the first state in which the gradient changes from the flat land to the downhill state is performed at the highest point of the speed limiting state .

3 is a block diagram illustrating a torque control apparatus according to a gradient change according to an embodiment of the present invention.

Referring to FIG. 3, the torque control device may include a communication unit 110, a control unit 120, and a memory 300. The elements shown in Fig. 3 are not essential, and a torque control device having more or fewer components may be implemented.

Hereinafter, the components will be described in detail.

The communication unit 110 exchanges signals and data for performing torque control from an external server or a vehicle internal system.

In one embodiment, the communication unit 110 may receive status information of the vehicle from an internal system (e.g., an AVN system) of the vehicle. Further, the communication unit 110 transmits the calculated output torque to the drive system to control the drive shaft.

The state information of the vehicle is information indicating the state of the vehicle during running required for the torque control device to calculate the output torque, and includes, for example, the drive shaft acceleration, the drive shaft inertia, the drive shaft drive torque, the load torque and the like.

The control unit 120 may perform data processing and computation to control the overall operation of the torque control apparatus.

In one embodiment, the control unit 120 calculates the drive shaft acceleration using the state information of the vehicle received from the communication unit 110, integrates the drive shaft acceleration to calculate the estimated drive shaft speed, The gradient output torque can be calculated based on the speed, and the output torque can be calculated by adding the gradient output torque to the drive torque of the vehicle.

The memory 130 is a general term for a space and / or a storage area where predetermined program codes for controlling the overall operation of the torque control device and data to be input / output when the program code is operated are stored. The EEPROM (Electrically Erasable and Programmable Read Only Memory), an FM (Flash Memory), a hard disk drive, and the like.

In one embodiment, the memory 130 may store thresholds that serve as a basis for determining whether torque control is to be performed.

The method according to the above-described embodiments may be implemented as a program to be executed by a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD- , A floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave (for example, transmission over the Internet).

The computer readable recording medium may be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And, functional program, code, and code segments for implementing the above-described method can be easily inferred by programmers in the technical field to which the embodiment belongs.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

110:
120:
130: memory

Claims (19)

A first step of calculating a driving shaft acceleration of the vehicle;
A second step of integrating the drive shaft acceleration to calculate a drive shaft expected speed;
A third step of calculating a gradient change torque based on the estimated drive shaft speed and the actual drive shaft speed of the vehicle;
The gradient torque is added to the drive torque of the vehicle to obtain an output torque
Figure pat00063
); And
A fifth step of controlling the drive shaft of the vehicle in consideration of the output torque;
/ RTI >
Drive shaft control method. The method according to claim 1,
In the first step, the driving shaft acceleration is calculated through the following equation (1)
[Equation 1]
Figure pat00064

Figure pat00065
Is the drive shaft acceleration,
Figure pat00066
Is a drive shaft inertia,
Figure pat00067
Is the drive torque of the drive shaft,
Figure pat00068
Which is a load torque applied to the drive shaft,
Drive shaft control method. The method according to claim 1,
The second step calculates the estimated drive shaft speed through the following equation (2)
&Quot; (2) "
Figure pat00069

Figure pat00070
Is the estimated drive shaft speed,
Figure pat00071
Is the drive shaft acceleration,
Drive shaft control method. The method according to claim 1,
In the third step, the gradient change torque is calculated through the following equation (3)
&Quot; (3) "
Figure pat00072

Figure pat00073
Is the gradient change torque,
Figure pat00074
A torque calculation gain value,
Figure pat00075
Is an actual speed of the drive shaft,
Figure pat00076
Which is the estimated drive shaft speed,
Drive shaft control method. 5. The method of claim 4,
In the third step, the gradient change torque is calculated using Equation (4) to correct the error of Equation (3)
&Quot; (4) "
Figure pat00077

Figure pat00078
Is the gradient change torque,
Figure pat00079
Is the torque calculation gain value,
Figure pat00080
Is an actual speed of the drive shaft,
Figure pat00081
The HPF is a high-pass filter function,
Drive shaft control method. The method according to claim 1,
In the fourth step,
Determining whether or not to terminate the calculation of the gradient change torque; And
Removing the gradient change torque;
/ RTI >
Drive shaft control method. The method according to claim 6,
Wherein the end determining step of removing the calculation of the gradient change torque comprises:
Determining whether the gradient change torque has been maintained for a predetermined time or longer or moving a predetermined distance or determining whether the vehicle has passed a gradient change position;
/ RTI >
Drive shaft control method. The method according to claim 6,
Wherein the step of removing the gradient change torque comprises:
Changing a removal amount corresponding to the moving distance of the vehicle at a point where the end determination is made;
/ RTI >
Drive shaft control method. The method according to claim 1,
Receiving gradient change information of a road in a running direction of the vehicle;
Determining whether the gradient change exceeds a threshold value based on the gradient change information;
Further comprising:
Wherein the first step is performed when the gradient change exceeds a threshold value,
Drive shaft control method. A communication unit for receiving status information of the vehicle; And
Using the state information, the drive shaft acceleration (
Figure pat00082
), And integrates the drive shaft acceleration to obtain the estimated drive shaft speed (
Figure pat00083
), Calculates a gradient change torque based on the estimated drive shaft speed and the actual drive shaft speed of the vehicle, adds the gradient change torque to the drive torque of the vehicle,
Figure pat00084
);
/ RTI >
Wherein the control unit controls the drive shaft in consideration of the output torque,
Drive shaft control device. 11. The method of claim 10,
Wherein the controller calculates the driving shaft acceleration through Equation (1) below,
[Equation 1]
Figure pat00085

Figure pat00086
Is the drive shaft acceleration,
Figure pat00087
Is a drive shaft inertia,
Figure pat00088
Is the drive torque of the drive shaft,
Figure pat00089
Which is a load torque applied to the drive shaft,
Drive shaft control device. 11. The method of claim 10,
The control unit calculates the estimated drive shaft speed through the following equation (2)
&Quot; (2) "
Figure pat00090

Figure pat00091
Is the estimated drive shaft speed,
Figure pat00092
Is the drive shaft acceleration,
Drive shaft control device. 11. The method of claim 10,
The control unit calculates the gradient change torque through the following equation (3)
&Quot; (3) "
Figure pat00093

Figure pat00094
Is the gradient change torque,
Figure pat00095
A torque calculation gain value,
Figure pat00096
Is an actual speed of the drive shaft,
Figure pat00097
Which is the estimated drive shaft speed,
Drive shaft control device. 14. The method of claim 13,
The controller calculates the gradient change torque using Equation (4) to correct the error of Equation (3)
&Quot; (4) "
Figure pat00098

Figure pat00099
Is the gradient change torque,
Figure pat00100
Is the torque calculation gain value,
Figure pat00101
Is an actual speed of the drive shaft,
Figure pat00102
The HPF is a high-pass filter function,
Drive shaft control device. 11. The method of claim 10,
Wherein,
Determining that the calculation of the gradient change torque is to be terminated, and removing the gradient change torque,
Drive shaft control device. 16. The method of claim 15,
Wherein,
Determining whether the gradient change torque is equal to or greater than a preset value for a predetermined time or whether the vehicle has moved a predetermined distance,
Drive shaft control device. 16. The method of claim 15,
Wherein,
And the amount of removal is varied corresponding to the moving distance of the vehicle at the point of the end determination,
Drive shaft control device. 11. The method of claim 10,
Wherein the communication unit receives the gradient change information of the road in the running direction of the vehicle,
Wherein the control unit determines whether the gradient change exceeds a threshold value based on the gradient change information and calculates the drive axis acceleration when the gradient change exceeds a threshold value,
Drive shaft control device. A computer-readable recording medium on which a program for executing the method according to any one of claims 1 to 9 is recorded.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190102796A (en) * 2018-02-27 2019-09-04 현대자동차주식회사 Prediction method and prediction system of driving condition for vehicle
CN116176297A (en) * 2023-04-03 2023-05-30 成都赛力斯科技有限公司 Torque zero crossing control method and device for new energy automobile and new energy automobile

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190102796A (en) * 2018-02-27 2019-09-04 현대자동차주식회사 Prediction method and prediction system of driving condition for vehicle
CN116176297A (en) * 2023-04-03 2023-05-30 成都赛力斯科技有限公司 Torque zero crossing control method and device for new energy automobile and new energy automobile
CN116176297B (en) * 2023-04-03 2024-01-23 成都赛力斯科技有限公司 Torque zero crossing control method and device for new energy automobile and new energy automobile

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