Automobile starting torque preload control method, system, automobile and storage medium

Abstract

The present invention discloses a method, system, vehicle and storage medium for controlling starting torque preloading of a vehicle, comprising the following steps: controlling a drive motor to perform preloading control according to the gear position of a transmission, the motor speed and the vehicle speed. When the vehicle is stationary, and the gear position of the transmission is switched from neutral to forward gear, reverse gear, or between forward gear and reverse gear, the drive motor is controlled to slowly load torque, and when the gap in the transmission chain is filled, the driver's needs are responded to. The present invention prevents collision between tooth gaps in the starting stage, and solves the problems of knocking and shaking of the vehicle when starting.

Description

Technical Field

[0001] The present invention relates to the technical field of starting torque preload control of hybrid electric vehicles and pure electric vehicles, and specifically to a method, system, vehicle and storage medium for controlling starting torque preload of a vehicle. Background Art

[0002] Compared with traditional vehicles, extended-range hybrid or pure electric vehicles have a vehicle controller unit (PCU) to coordinate the control of the entire vehicle. The clutch or torque converter of the traditional automatic transmission is eliminated, and the drive motor and wheels are rigidly connected to the wheels through gear sets, splines, and shafts, while the connection between the teeth of the gear sets and the connection between the splines are clearance fits. When the current extended-range hybrid or pure electric vehicle is starting, the drive motor directly responds to the driver's acceleration needs, which will cause collisions between the teeth of the gear sets and splines, causing knocking sounds and vehicle shaking.

[0003] Patent document CN105197006A discloses a hybrid vehicle pure electric drive start control method. When the vehicle starts in pure electric mode, the drive motor is controlled to perform speed closed-loop control, requiring the speed of the drive motor to be maintained at the target speed, and the clutch in the gearbox is controlled to slowly engage, and the drive motor controls the vehicle to start slowly through the gearbox, and the vehicle enters the creeping mode. When the system is in the creeping mode, when the driver steps on the accelerator to accelerate, the drive motor is controlled to exit the speed closed-loop control, and the drive motor is torque controlled. The torque executed by the drive motor is the superposition of the actual torque of the drive motor in the creeping mode and the torque required by the driver. This method can better control the speed and torque of the drive motor to prevent the whole vehicle from shaking, but it is not applicable to extended-range hybrid and pure electric vehicles without clutches.

[0004] Therefore, it is necessary to develop a method, system, vehicle and storage medium for controlling vehicle starting torque preload. Summary of the invention

[0005] The purpose of the present invention is to provide a method, system, automobile and storage medium for controlling the starting torque preload of an automobile, which can prevent the collision between the tooth gaps during the starting stage, so as to solve the problems of knocking and shaking of the whole vehicle when starting.

[0006] In a first aspect, a method for controlling a starting torque preload of an automobile according to the present invention comprises the following steps:

[0007] S1: The vehicle starts successfully, the powertrain is activated, and the vehicle is ready to drive;

[0008] S2: Determine whether the vehicle speed is less than a first preset vehicle speed, if so, proceed to step S3, if not, proceed to step S2;

[0009] S3: Determine whether the motor speed is less than the first preset speed, if so, proceed to step S4, if not, proceed to step S2;

[0010] S4: Determine whether the gearbox is in neutral at the previous moment, if yes, proceed to step S5, if no, proceed to step S7;

[0011] S5: Determine whether the gearbox is in a non-neutral gear at the current moment. If so, proceed to step S6; if not, proceed to step S2;

[0012] S6: Determine whether the gearbox is in the D gear at the current moment, if so, proceed to step S10, if not, proceed to step S12;

[0013] S7: Determine whether the gearbox is in the R gear at the previous moment, if so, proceed to step S8, if not, proceed to step S9;

[0014] S8: Determine whether the gearbox is in the D gear at the current moment. If so, proceed to step S10; otherwise, proceed to step S2;

[0015] S9: Determine whether the gearbox is in the R gear at the current moment, if so, proceed to step S12, if not, proceed to step S2;

[0016] S10: The motor forward preload is activated and the process proceeds to step S11;

[0017] S11: Control the motor to output a preset positive torque and proceed to step S14;

[0018] S12: The motor negative preload is activated and the process goes to step S13;

[0019] S13: Control the motor to output a preset negative torque and proceed to step S14;

[0020] S14: Determine whether the vehicle speed is greater than a second preset vehicle speed, if so, proceed to step S17, if not, proceed to step S15;

[0021] S15: Determine whether the motor speed is greater than the second preset speed, if so, proceed to step S17, if not, proceed to step S16;

[0022] S16: Determine whether the gearbox is in neutral at the current moment, if yes, proceed to step S17, if no, proceed to step S14;

[0023] S17: exit torque preloading;

[0024] S18: Motor preload torque is 0Nm;

[0025] S19: End.

[0026] Optionally, the first preset vehicle speed is less than the second preset vehicle speed.

[0027] Optionally, the first preset rotational speed is less than the second preset rotational speed.

[0028] In a second aspect, a vehicle starting torque preload control system described in the present invention comprises a memory and a controller, wherein the memory stores a computer-readable program, and when the computer-readable program is called by the controller, it can execute the steps of the vehicle starting torque preload control method described in the present invention.

[0029] In a third aspect, a car according to the present invention adopts the car starting torque preload control system according to the present invention.

[0030] Optionally, the car is a hybrid car.

[0031] Optionally, the car is a pure electric car.

[0032] In a fourth aspect, a storage medium according to the present invention stores a computer-readable program therein, and when the computer-readable program is called, the steps of the automobile starting torque preloading control method according to the present invention can be executed.

[0033] The present invention has the following advantages: the present invention controls the drive motor to perform preload control according to the gear position of the transmission, the motor speed and the vehicle speed. When the vehicle is stationary, the gear position of the transmission is switched from neutral to forward gear, reverse gear, or between forward gear and reverse gear, the drive motor is controlled to slowly load torque, and when the gap in the transmission chain is filled, the driver's needs are responded to, thereby preventing the collision between the tooth gaps at the starting stage and solving the problems of knocking and shaking of the vehicle at the start. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 is a schematic diagram of the configuration of a hybrid vehicle;

[0036] Figure 2 It is a schematic diagram of the configuration of a pure electric vehicle;

[0037] Figure 3 It is a control flow chart of this embodiment. DETAILED DESCRIPTION

[0038] The present invention will be described in detail below with reference to the accompanying drawings.

[0039] like Figure 3 As shown, in this embodiment, a method for controlling the starting torque preload of an automobile includes the following steps:

[0040] S1: The vehicle enters the successful start state, the powertrain is activated, and the vehicle enters the drivable state.

[0041] S2: Determine whether the vehicle speed is less than a first preset vehicle speed (the initial value of the first preset vehicle speed is 2 km / h, which can be calibrated according to the actual situation of the vehicle). If yes, proceed to step S3; if no, proceed to step S2.

[0042] S3: Determine whether the motor speed is less than a first preset speed (the initial value of the first preset speed is 50 rpm, which can be calibrated according to the actual situation of the vehicle). If yes, proceed to step S4; if no, proceed to step S2.

[0043] S4: Determine whether the gearbox is in neutral at the previous moment, if so, proceed to step S5, if not, proceed to step S7.

[0044] S5: Determine whether the gearbox is in a non-neutral gear at the current moment. If so, proceed to step S6; if not, proceed to step S2.

[0045] S6: Determine whether the gearbox is in the D gear at the current moment. If so, proceed to step S10; if not, proceed to step S12.

[0046] S7: Determine whether the gearbox gear is in R gear at the previous moment. If so, proceed to step S8; if not, proceed to step S9.

[0047] S8: Determine whether the gearbox is in D gear at the current moment. If so, proceed to step S10; otherwise, proceed to step S2.

[0048] S9: Determine whether the gearbox is in R gear at the current moment. If so, proceed to step S12; otherwise, proceed to step S2.

[0049] S10: The motor forward preload is activated and the process proceeds to step S11.

[0050] S11: Control the motor to output a preset forward torque (the initial value of the preset forward torque is 3 Nm, which can be calibrated according to the actual situation of the vehicle), and enter step S14.

[0051] S12: The motor negative preload is activated and the process proceeds to step S13.

[0052] S13: Control the motor to output a preset negative torque (the initial value of the preset negative torque is -3Nm, which can be calibrated according to the actual situation of the vehicle), and enter step S14.

[0053] S14: Determine whether the vehicle speed is greater than a second preset speed (the initial value of the second preset speed is 3 km / h, which can be calibrated according to the actual situation of the vehicle); if so, proceed to step S17, if not, proceed to step S15.

[0054] S15: Determine whether the motor speed is greater than a second preset speed (the initial value of the second preset speed is 100 rpm, which can be calibrated according to the actual situation of the vehicle). If so, proceed to step S17; if not, proceed to step S16.

[0055] S16: Determine whether the gearbox is in neutral at the current moment. If so, proceed to step S17; if not, proceed to step S14.

[0056] S17: Exit torque preloading.

[0057] S18: The motor preload torque is 0Nm.

[0058] S19: End.

[0059] The method can control the drive motor to slowly load the torque, prevent the collision between the tooth gaps during the starting phase, and solve the problems of knocking and shaking of the whole vehicle during starting.

[0060] In this embodiment, a vehicle starting torque preload control system includes a memory and a controller, wherein a computer-readable program is stored in the memory, and when the computer-readable program is called by the controller, the steps of the vehicle starting torque preload control method described in this embodiment can be executed. The controller includes a vehicle powertrain control unit, an engine control unit, and a motor control unit, wherein the vehicle powertrain control unit is responsible for the coordinated control of the powertrain. The engine control unit is responsible for the control of the engine. The motor control unit is responsible for the control of the motor.

[0061] In this embodiment, an automobile adopts the automobile starting torque preload control system as described in this embodiment.

[0062] like Figure 1 As shown, in this embodiment, the automobile is a hybrid vehicle, and its power system includes but is not limited to components such as an engine 1, a generator 2, a drive motor 3, a reducer 4 and a final reducer 5. The power system can realize pure electric, extended-range drive and other modes.

[0063] like Figure 2As shown, in this embodiment, the vehicle is a pure electric vehicle, and its power system includes but is not limited to components such as a drive motor 2, a reducer 4 and a final reducer 5. The power system can realize pure electric and other modes.

[0064] In this embodiment, a storage medium stores a computer-readable program, and when the computer-readable program is called, the steps of the vehicle starting torque preloading control method described in this embodiment can be executed.

[0065] It should be noted that the storage medium described in this embodiment may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0066] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A method for controlling the starting torque preload of an automobile, It is characterized in that The following steps are involved: S1: The vehicle starts successfully, the powertrain is activated, and the vehicle is ready to drive; S2: Determine whether the vehicle speed is less than a first preset vehicle speed, if so, proceed to step S3, if not, proceed to step S2; S3: Determine whether the motor speed is less than the first preset speed, if so, proceed to step S4, if not, proceed to step S2; S4: Determine whether the gearbox is in neutral at the previous moment, if yes, proceed to step S5, if no, proceed to step S7; S5: Determine whether the gearbox is in a non-neutral gear at the current moment. If so, proceed to step S6; if not, proceed to step S2; S6: Determine whether the gearbox is in the D gear at the current moment, if so, proceed to step S10, if not, proceed to step S12; S7: Determine whether the gearbox is in the R gear at the previous moment, if so, proceed to step S8, if not, proceed to step S9; S8: Determine whether the gearbox is in the D gear at the current moment. If so, proceed to step S10; otherwise, proceed to step S2; S9: Determine whether the gearbox is in the R gear at the current moment, if so, proceed to step S12, if not, proceed to step S2; S10: The motor forward preload is activated and the process proceeds to step S11; S11: Control the motor to output a preset positive torque and proceed to step S14; S12: The motor negative preload is activated and the process goes to step S13; S13: Control the motor to output a preset negative torque and proceed to step S14; S14: Determine whether the vehicle speed is greater than a second preset vehicle speed, if so, proceed to step S17, if not, proceed to step S15; S15: Determine whether the motor speed is greater than the second preset speed, if so, proceed to step S17, if not, proceed to step S16; S16: Determine whether the gearbox is in neutral at the current moment, if yes, proceed to step S17, if no, proceed to step S14; S17: exit torque preloading; S18: Motor preload torque is 0Nm; S19: End.

2. The vehicle starting torque preload control method according to claim 1, Features: The first preset vehicle speed is less than the second preset vehicle speed.

3. The vehicle starting torque preload control method according to claim 1, Features: The first preset rotation speed is less than the second preset rotation speed.

4. A vehicle starting torque preload control system, Features: It comprises a memory and a controller, wherein the memory stores a computer-readable program, and when the computer-readable program is called by the controller, it can execute the steps of the automobile starting torque preloading control method as claimed in any one of claims 1 to 3.

5. A car, Features: The automobile starting torque preload control system as claimed in claim 4 is adopted.

6. The automobile according to claim 5, Features: The car is a hybrid car.

7. The automobile according to claim 5, Features: The car is a pure electric car.

8. A storage medium, Features: A computer-readable program is stored therein, and when the computer-readable program is called, the steps of the automobile starting torque preload control method as described in any one of claims 1 to 3 can be executed.

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