A starting control method and device of a vehicle, an electronic device, and a storage medium

Abstract

The application discloses a starting control method and device of a vehicle, electronic equipment and a storage medium. In response to a throttle pedal operation of a driver, a target demand torque, a target starting speed when a transmission input shaft and a clutch are synchronized, and a current input shaft speed and a current clutch speed of the transmission are determined; based on the target starting speed and the current clutch speed, a target input shaft speed is determined; based on the current input shaft speed and the target input shaft speed, a current closed-loop control torque is determined, and based on the target demand torque and the current closed-loop control torque, a target closed-loop control torque is determined; the operation mode of the motor is controlled to be a speed mode, and the motor is controlled to perform closed-loop control on a next input shaft speed of the transmission input shaft based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed, so that the vehicle realizes linear starting acceleration, and the smoothness of starting acceleration of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a vehicle starting control method, device, electronic equipment and storage medium. Background Art

[0002] The launch control function is a basic vehicle control function. Its purpose is to make the vehicle transmission input shaft speed approach linear acceleration after the driver steps on the accelerator, thereby achieving smooth starting acceleration.

[0003] Currently, the existing starting control method is: when the transmission input shaft speed is not equal to the target input shaft speed, the transmission input shaft speed is controlled by adjusting the clutch torque to make the transmission input shaft speed equal to the target input shaft speed.

[0004] However, although the existing starting control method can make the transmission input shaft speed approach linear acceleration, since the clutch torque corresponds to the actual driving torque on the wheel, the clutch torque changes nonlinearly in the process of using the clutch torque to control the transmission input shaft speed, which will cause the actual driving torque on the wheel to change nonlinearly, making the actual starting acceleration of the vehicle non-linear and unable to achieve a smooth starting acceleration effect. Summary of the Invention

[0005] Embodiments of the present invention provide a vehicle start control method, device, electronic device, and storage medium, so as to enable the vehicle to achieve linear start acceleration and improve the smoothness of the vehicle start acceleration.

[0006] In a first aspect, the present invention provides a vehicle starting control method, the method comprising:

[0007] In response to a driver's accelerator pedaling operation, determining a target required torque corresponding to the accelerator pedaling operation and a target starting speed when the transmission input shaft is synchronized with the clutch, and obtaining a current input shaft speed of the transmission input shaft and a current clutch speed;

[0008] determining a target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed;

[0009] determining a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determining a target closed-loop control torque based on the target required torque and the current closed-loop control torque;

[0010] The operation mode of the motor is controlled to be a speed mode, and the motor is controlled to perform closed-loop control on the next input shaft speed of the transmission input shaft based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed.

[0011] In a second aspect, the present application provides a starting control device of a vehicle, which comprises:

[0012] A current data acquisition module is configured to determine a target demand torque corresponding to a driver's accelerator pedal operation, a target starting speed when a transmission input shaft and a clutch are synchronized, and acquire a current input shaft speed of the transmission input shaft and a current clutch speed in response to the accelerator pedal operation.

[0013] A target speed determination module is configured to determine a target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed.

[0014] A closed-loop control torque determination module is configured to determine a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determine a target closed-loop control torque based on the target demand torque and the current closed-loop control torque.

[0015] A starting control module is configured to control the operation mode of the motor to be a speed mode, and control the motor to perform closed-loop control on the next input shaft speed of the transmission input shaft based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed.

[0016] In a third aspect, the present application provides an electronic device, which comprises:

[0017] at least one processor; and

[0018] a memory in communication with the at least one processor; wherein

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the starting control method of the vehicle according to any one of the embodiments of the present application.

[0020] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions for enabling a processor to perform the starting control method of the vehicle according to any one of the embodiments of the present application.

[0021] The technical solution provided by an embodiment of the present invention determines, in response to a driver's accelerator pedaling operation, a target demand torque corresponding to the accelerator pedaling operation and a target starting speed when the transmission input shaft is synchronized with the clutch. The solution then obtains the current input shaft speed and the current clutch speed of the transmission input shaft, and then determines the target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed. The current closed-loop control torque is determined based on the current input shaft speed and the target input shaft speed, and the target closed-loop control torque is determined based on the target demand torque and the current closed-loop control torque. This controls the motor's operating mode to a speed mode, and the motor controls the next input shaft speed of the transmission input shaft to be closed-loop controlled based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed. This embodiment of the present invention fully utilizes the motor's strong speed control capability to achieve control of the transmission input shaft speed, thereby improving the robustness of starting control, enabling the vehicle to achieve linear starting acceleration, and enhancing the smoothness of vehicle acceleration.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a flow chart of a vehicle start control method provided in Example 1 of the present invention;

[0025] Figure 2 Schematic diagram of the vehicle starting control process involved in the first embodiment of the present invention;

[0026] Figure 3 This is a flow chart of a vehicle start control method provided in the second embodiment of the present invention;

[0027] Figure 4 This is a flowchart of a vehicle start control method provided in Example 3 of the present invention;

[0028] Figure 5 A schematic structural diagram of a vehicle start control device provided in a fourth embodiment of the present invention;

[0029] Figure 6 This is a structural diagram of an electronic device provided in Example 5 of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first precondition," "second precondition," and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0032] Example 1

[0033] Figure 1 This is a flow chart of a vehicle start control method provided in the first embodiment of the present invention. This embodiment is applicable to controlling the vehicle transmission input shaft speed to approach linear acceleration when the vehicle starts, thereby achieving smooth start acceleration. This method can be executed by the vehicle start control device, which can be implemented in the form of hardware and / or software. The device can be configured on a computer device, which can be a notebook, desktop computer, smart tablet, etc. Figure 1 As shown, the method includes:

[0034] S110. In response to the driver's accelerator pedaling operation, determine the target required torque corresponding to the accelerator pedaling operation, the target starting speed when the transmission input shaft and the clutch are synchronized, and obtain the current input shaft speed of the transmission input shaft and the current clutch speed.

[0035] The target demand torque is the vehicle's demand torque generated when the driver steps on the accelerator, corresponding to the driver's accelerator pedal depth. The target starting speed is the target speed that the transmission input shaft speed and clutch speed should reach synchronously upon completion of the starting operation. The current input shaft speed is the speed of the transmission input shaft at the current moment. The current clutch speed is the speed of the clutch at the current moment.

[0036] Specifically, when the driver steps on the accelerator, the target demand torque is determined by querying a table that maps the driver's desired torque to the throttle opening corresponding to the driver's accelerator pedal. In this embodiment, the clutch torque corresponds to the target demand torque. The target demand torque controls the clutch torque; that is, the clutch torque is proportional to the target demand torque. This arrangement has the advantage of controlling the clutch torque based on the target demand torque, avoiding the impact of changes in the transmission input shaft speed on the clutch torque during the launch, resulting in a more linear launch acceleration.

[0037] Specifically, the target starting speed for synchronization of the transmission input shaft and clutch can be determined by querying a table of correspondences between the synchronous starting speed and the throttle opening based on the throttle opening. The current input shaft speed of the transmission input shaft can be obtained by a speed sensor disposed on the transmission input shaft. The current clutch speed can also be obtained by a speed sensor disposed on the clutch.

[0038] For example, Figure 2 Schematic diagram of a vehicle starting control process according to an embodiment of the present invention. Figure 2 The solid black line in the center coordinate system (A) represents the transmission speed trajectory, showing the transmission input shaft speed changing over time. In practice, the current input shaft speed, as measured by the speed sensor on the transmission input shaft, can be acquired at preset intervals. The transmission speed trajectory can be obtained by sequentially connecting the current input shaft speeds corresponding to each moment. Figure 2 The black dotted line in the center coordinate system (A) represents the clutch speed trajectory, showing the clutch speed changing over time. In practice, the current clutch speed from the clutch speed sensor can be obtained at preset intervals. The clutch speed trajectory can be obtained by sequentially connecting the current clutch speeds corresponding to each moment. Figure 2 The speed value corresponding to the black circle in the upper right corner of the middle coordinate system (A) is the target starting speed that should be achieved when the transmission input shaft speed and the clutch speed are synchronized.

[0039] S120: Determine a target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed.

[0040] The target input shaft speed is the target speed that the transmission input shaft is expected to reach at each moment during the vehicle's launch process. The target input shaft speed changes linearly with time.

[0041] For example, Figure 2As shown in the center coordinate system (A), the driver steps on the accelerator at time T0. The black dotted dashed line represents the target input shaft speed trajectory over time. The purpose of determining the target input shaft speed is to ensure that the actual transmission input shaft speed is aligned with the target input shaft speed. This ensures a linear change in the transmission input shaft speed during vehicle launch, ensuring a smooth launch.

[0042] Specifically, the target input shaft speed can be determined in real time based on the initial starting input shaft speed B0 corresponding to the initial starting time, the initial starting clutch speed L0 corresponding to the initial starting time, the target starting speed S, and the current clutch speed L. The specific formula for determining the target input shaft speed in real time is:

[0043]

[0044] S130 : Determine a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determine a target closed-loop control torque based on the target required torque and the current closed-loop control torque.

[0045] The current closed-loop control torque is the torque amount provided by other adjustment modules on the vehicle in order to make the next input shaft speed and the next target input shaft speed approach the same when the current input shaft speed and the target input shaft speed are different.

[0046] Specifically, after determining the current input shaft speed and the target input shaft speed corresponding to the current moment, the speed difference between the current input shaft speed and the target input shaft speed can be further determined. Based on the speed difference and a pre-set torque control algorithm, the current closed-loop control torque corresponding to the speed difference can be determined. The current closed-loop control torque is then summed with the target demand torque to determine the target closed-loop control torque.

[0047] For example, the speed difference between the current input shaft speed and the target input shaft speed is determined as ΔP, and a proportional-integral-derivative control (PID) algorithm can be used to determine the current closed-loop control torque. Specifically, the speed difference ΔP is input into the PID control algorithm, which then outputs the current closed-loop control torque. Furthermore, the target closed-loop control torque can be expressed as: target closed-loop control torque = target demand torque + current closed-loop control torque.

[0048] S140. Control the motor to operate in a speed mode, and control the motor to perform closed-loop control on the next input shaft speed of the transmission input shaft based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed.

[0049] In this embodiment, the motor's operating modes include a speed mode and a torque mode. Based on the determination of a target closed-loop control torque, the vehicle's motor is controlled to enter the speed control mode and operate based on the target closed-loop control torque to achieve closed-loop control of the next input shaft speed of the transmission input shaft. During launch control, the motor continues to operate in the speed mode based on the target closed-loop control torque corresponding to the current transmission input shaft speed until the current clutch speed is synchronized with the current input shaft speed of the transmission input shaft and the target starting speed is reached.

[0050] For example, Figure 2 As shown, when the driver steps on the accelerator at time T0, the current input shaft speed and the current transmission speed are obtained in real time from time T0, and then the target input shaft speed corresponding to the current moment is determined based on the current clutch speed and the target starting speed, and the speed difference between the current transmission speed and the target input shaft speed is calculated. The target closed-loop control torque can be determined based on the speed difference. From time T0, the motor enters the speed mode. After calculating the target closed-loop control torque, the motor performs closed-loop control on the next input shaft speed of the transmission input shaft according to the target closed-loop control torque, so that the next input shaft speed approaches the target input shaft speed. Figure 2 As shown, Figure 2 The black solid line in the middle coordinate system (A) is the input shaft speed trajectory line of the input shaft speed changing with time, and the black dotted line is the target input shaft speed trajectory line of the target input shaft speed changing with time. Figure 2 The black dotted dashed line in the center coordinate system (B) represents the motor torque trajectory, showing the motor torque changing over time. The motor torque is controlled by the target closed-loop control torque. At time T1, the current input shaft speed is less than the target input shaft speed. At this time, the motor torque corresponding to the motor is greater than the target demand torque. This adjusts the transmission input shaft speed so that the next transmission input shaft speed increases, approaching the target input shaft speed. At time T2, the current input shaft speed is greater than the target input shaft speed. The motor torque corresponding to the motor is less than the target demand torque. This adjusts the variable input speed so that the next transmission input shaft speed decreases, approaching the target input shaft speed. At time T3, the clutch speed synchronizes with the transmission input shaft speed and reaches the target starting speed, at which point the motor ceases closed-loop control of the transmission input shaft speed.

[0051] The technical solution provided by an embodiment of the present invention determines, in response to a driver's accelerator pedaling operation, a target demand torque corresponding to the accelerator pedaling operation and a target starting speed when the transmission input shaft is synchronized with the clutch. The solution then obtains the current input shaft speed and the current clutch speed of the transmission input shaft, and then determines the target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed. The current closed-loop control torque is determined based on the current input shaft speed and the target input shaft speed, and the target closed-loop control torque is determined based on the target demand torque and the current closed-loop control torque. This controls the motor's operating mode to a speed mode, and the motor controls the next input shaft speed of the transmission input shaft to be closed-loop controlled based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed. This embodiment of the present invention fully utilizes the motor's strong speed control capability to achieve control of the transmission input shaft speed, thereby improving the robustness of starting control, enabling the vehicle to achieve linear starting acceleration, and enhancing the smoothness of vehicle acceleration.

[0052] Example 2

[0053] Figure 3 This is a flowchart of a vehicle starting control method provided by the second embodiment of the present invention. Based on the above embodiments, after the current clutch speed and the current input shaft speed reach the target starting speed, the embodiment of the present invention determines the current starting end torque corresponding to the motor, switches the motor's operating mode from the speed mode to the torque mode, and operates at the current starting end torque. This embodiment of the present invention can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method includes:

[0054] S210. In response to the driver's accelerator pedaling operation, determine the target required torque corresponding to the accelerator pedaling operation, the target starting speed when the transmission input shaft and the clutch are synchronized, and obtain the current input shaft speed of the transmission input shaft and the current clutch speed.

[0055] S220: Determine a target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed.

[0056] S230 : Determine a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determine a target closed-loop control torque based on the target required torque and the current closed-loop control torque.

[0057] S240, control the motor to operate in a speed mode, and control the motor to perform closed-loop control on the next input shaft speed of the transmission input shaft based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed.

[0058] S250: Determine the current starting end torque corresponding to the motor.

[0059] The current starting end torque is the torque used to control the operation of the motor after the starting control is completed.

[0060] In this embodiment, the current starting end torque corresponding to the motor can be determined based on the target demand torque and the current recovery torque, wherein the current recovery torque is determined based on the target closed-loop control torque corresponding to the start control completion moment.

[0061] Based on the above embodiment, S250 specifically includes: determining the target closed-loop control torque corresponding to the current moment; determining the current recovery torque based on the target closed-loop control torque and the preset slope; determining the current starting end torque corresponding to the motor based on the current recovery torque and the target required torque.

[0062] Specifically, the launch control is completed when the current clutch speed and the current input shaft speed reach the target launch speed. At the launch control completion time, the target closed-loop control torque corresponding to the current time is determined. Using this target closed-loop control torque as the initial torque and the zero torque as the final torque, a change line segment with a preset slope is determined between different time points and the recovery torque. The current recovery torque is then determined based on the current time point and the change line segment. Furthermore, the sum of the current recovery torque and the target demand torque is used as the current launch final torque corresponding to the motor.

[0063] S260: Switch the operating mode of the motor from the speed mode to the torque mode, and operate at the current starting end torque.

[0064] In this embodiment, after launch control is completed, the motor's operating mode is switched from speed mode to torque mode. This means that after launch control is completed, the motor enters torque mode and operates at the current launch end torque until the current recovery torque within the current launch end torque reaches zero, at which point the motor continues to operate at the vehicle's target torque.

[0065] The technical solution provided by the embodiment of the present invention determines the current starting end torque corresponding to the motor after completing the starting control, switches the operating mode of the motor from the speed mode to the torque mode, and operates at the current starting end torque. Therefore, after completing the starting control, the motor can smoothly implement the mode transition based on the current starting end torque, so that the motor operating torque gradually transitions from the target closed-loop control torque corresponding to the end moment of the starting control to the target demand torque, further improving the smoothness of the vehicle starting process.

[0066] Example 3

[0067] Figure 4This is a flowchart of a vehicle starting control method provided by the third embodiment of the present invention. Based on the above embodiments, the present embodiment further optimizes the steps of "determining the target input shaft speed corresponding to the transmission input shaft based on the target starting speed, the current input shaft speed and the current clutch speed" and "determining the current closed-loop control torque based on the current input shaft speed and the target input shaft speed". The present embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 4 As shown, the method includes:

[0068] S310. In response to the driver's accelerator pedaling operation, determine the target required torque corresponding to the accelerator pedaling operation, the target starting speed when the transmission input shaft is synchronized with the clutch, and obtain the current input shaft speed of the transmission input shaft and the current clutch speed.

[0069] S320: Determine an initial starting input shaft speed and an initial starting clutch speed of the transmission input shaft based on a time corresponding to the accelerator pedaling operation.

[0070] In this embodiment, since both the current clutch speed and the current input shaft speed are variables that change over time, each acquired current clutch speed has a corresponding current clutch speed acquisition time. Similarly, each acquired current input shaft speed has a corresponding current input shaft speed acquisition time. Based on this, the instant the driver steps on the accelerator is used as the initial time. The current input shaft speed corresponding to the initial time is the starting initial input shaft speed, and the current clutch speed corresponding to the initial time is the starting initial clutch speed.

[0071] S330: Determine a target input shaft speed corresponding to the transmission input shaft based on the target starting speed, the current clutch speed, the initial starting input shaft speed, and the initial starting clutch speed.

[0072] In this embodiment, the target input shaft speed is determined by the formula:

[0073]

[0074] S340: Determine a speed difference between the current input shaft speed and the target input shaft speed.

[0075] In this embodiment, a time interval may be preset, and the current input shaft speed is obtained once at each preset time interval, and the target input shaft speed corresponding to the current moment is determined, and then the speed difference between the current input shaft speed and the target input shaft speed is calculated.

[0076] S350: Determine the current closed-loop control torque based on the proportional-integral-derivative control mode and the speed difference.

[0077] Among them, the proportional integral differential control method can be realized through the PID control algorithm.

[0078] In this embodiment, the speed difference between the current input shaft speed and the target input shaft speed determined in step S340 is used as an input of the PID control algorithm. The PID control algorithm can determine the current closed-loop control torque according to the speed difference.

[0079] S360: Determine a maximum closed-loop torque and a minimum closed-loop torque corresponding to the motor speed mode based on the current clutch speed and the target starting speed.

[0080] The maximum closed-loop torque is the maximum torque that the motor can operate in the speed mode, and the minimum closed-loop torque is the minimum torque that the motor can operate in the speed mode.

[0081] Based on the above embodiment, S360 specifically includes: determining the speed ratio of the current clutch speed to the target starting speed; determining the maximum closed-loop torque and minimum closed-loop torque corresponding to the motor speed mode based on the relationship table between the speed ratio and the pre-set speed ratio and the limit torque.

[0082] For example, the relationship between the speed ratio and the maximum closed-loop torque is shown in Table 1, and the relationship between the speed ratio and the minimum closed-loop torque is shown in Table 2.

[0083] Table 1 Relationship between speed ratio and maximum closed-loop torque

[0084] Speed ​​ratio 0 0.25 0.5 0.75 1 Maximum closed-loop torque 100 80 50 30 10

[0085] Table 2 Relationship between speed ratio and maximum closed-loop torque

[0086] Speed ​​ratio 0 0.25 0.5 0.75 1 Minimum closed-loop torque -100 -80 -50 -30 -10

[0087] In this embodiment, after determining the speed ratio between the current clutch speed and the target starting speed, the maximum closed-loop torque corresponding to the motor speed mode can be determined by querying the relationship table between the speed ratio and the maximum closed-loop torque; the minimum closed-loop torque corresponding to the motor speed mode can be determined by querying the relationship table between the speed ratio and the minimum closed-loop torque.

[0088] S370: Based on the maximum closed-loop torque and the minimum closed-loop torque, correct the current closed-loop control torque to obtain a corrected current closed-loop control torque.

[0089] In this embodiment, the current closed-loop control torque may be extreme. That is, the current closed-loop control torque may exceed the maximum torque that the motor can output in the speed mode, or the current closed-loop control torque may be lower than the minimum torque that the motor can output in the speed mode. Based on this, after obtaining the current closed-loop control torque, the current closed-loop control torque can be corrected based on the maximum closed-loop torque and the minimum closed-loop torque.

[0090] Based on the above embodiment, S370 specifically includes: if the current closed-loop control torque is greater than or equal to the maximum closed-loop torque, the maximum closed-loop torque is determined as the corrected current closed-loop control torque; if the current closed-loop control torque is less than the maximum closed-loop torque and greater than the minimum closed-loop torque, the operation of correcting the current closed-loop control torque is stopped; if the current closed-loop control torque is less than or equal to the minimum closed-loop torque, the minimum closed-loop torque is determined as the corrected current closed-loop control torque.

[0091] For example, if the maximum closed-loop torque is represented by X, the minimum closed-loop torque is represented by Y, and the current closed-loop control torque is represented by Z, the corrected current closed-loop control torque H can be expressed as:

[0092]

[0093] S380: Determine a target closed-loop control torque based on the target demand torque and the current closed-loop control torque.

[0094] S390, control the motor's operating mode to a speed mode, and control the motor to perform closed-loop control on the next input shaft speed of the transmission input shaft based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed.

[0095] The technical solution provided by the embodiment of the present invention, after obtaining the previous closed-loop control torque, further corrects the current closed-loop control torque based on the maximum closed-loop torque and the minimum closed-loop torque, and then determines the target closed-loop control torque based on the corrected current closed-loop control torque, thereby avoiding damage to the motor caused by the target closed-loop control torque exceeding the range of the motor's output torque, thereby ensuring the safety of starting control.

[0096] Example 4

[0097] Figure 5 This is a schematic diagram of the structure of a vehicle launch control device according to a fourth embodiment of the present invention. This device can execute the vehicle launch control method according to an embodiment of the present invention. The device includes a current data acquisition module 410, a target speed determination module 420, a closed-loop control torque determination module 430, and a launch control module 440.

[0098] The current data acquisition module 410 is configured to determine, in response to the driver's accelerator pedaling operation, a target required torque corresponding to the accelerator pedaling operation, a target starting speed when the transmission input shaft is synchronized with the clutch, and obtain a current input shaft speed of the transmission input shaft and a current clutch speed;

[0099] a target speed determination module 420 for determining a target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed;

[0100] a closed-loop control torque determination module 430 for determining a current closed-loop control torque based on a current input shaft speed and a target input shaft speed, and determining a target closed-loop control torque based on a target demand torque and the current closed-loop control torque;

[0101] The starting control module 440 is used to control the motor's operating mode to a speed mode, and control the motor to perform closed-loop control on the next input shaft speed of the transmission input shaft based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed.

[0102] The technical solution provided by an embodiment of the present invention determines, in response to a driver's accelerator pedaling operation, a target demand torque corresponding to the accelerator pedaling operation and a target starting speed when the transmission input shaft is synchronized with the clutch. The solution then obtains the current input shaft speed and the current clutch speed of the transmission input shaft, and then determines the target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed. The current closed-loop control torque is determined based on the current input shaft speed and the target input shaft speed, and the target closed-loop control torque is determined based on the target demand torque and the current closed-loop control torque. This controls the motor's operating mode to a speed mode, and the motor controls the next input shaft speed of the transmission input shaft to be closed-loop controlled based on the target closed-loop control torque until the current clutch speed and the current input shaft speed reach the target starting speed. This embodiment of the present invention fully utilizes the motor's strong speed control capability to achieve control of the transmission input shaft speed, thereby improving the robustness of starting control, enabling the vehicle to achieve linear starting acceleration, and enhancing the smoothness of vehicle acceleration.

[0103] Based on the above technical solutions, the target speed determination module 420 includes:

[0104] an initial data determining unit, configured to determine a starting initial input shaft speed of the transmission input shaft and a starting initial clutch speed based on a time corresponding to an accelerator pedaling operation;

[0105] The target speed determination unit is used to determine the target input shaft speed corresponding to the transmission input shaft based on the target starting speed, the current input shaft speed, the current clutch speed, the starting initial input shaft speed and the starting initial clutch speed.

[0106] Based on the above technical solutions, the closed-loop control torque determination module 430 includes:

[0107] a speed difference determination unit, configured to determine a speed difference between a current input shaft speed and a target input shaft speed;

[0108] a current torque determination unit, configured to determine the current closed-loop control torque based on a proportional-integral-derivative control mode and a speed difference;

[0109] a limit torque determination unit, configured to determine a maximum closed-loop torque and a minimum closed-loop torque corresponding to the motor speed mode based on the current clutch speed and the target starting speed;

[0110] The control torque correction unit is used to correct the current closed-loop control torque based on the maximum closed-loop torque and the minimum closed-loop torque to obtain the corrected current closed-loop control torque.

[0111] Based on the above technical solutions, the limit torque determination unit includes:

[0112] a speed ratio determination subunit, for determining a speed ratio between a current clutch speed and a target starting speed;

[0113] The limit torque determination subunit is used to determine the maximum closed-loop torque and the minimum closed-loop torque corresponding to the motor speed mode based on the speed ratio and a preset relationship table between the speed ratio and the limit torque.

[0114] On the basis of the above technical solutions, the control torque correction unit is specifically used to: if the current closed-loop control torque is greater than or equal to the maximum closed-loop torque, determine the maximum closed-loop torque as the corrected current closed-loop control torque; if the current closed-loop control torque is less than the maximum closed-loop torque and greater than the minimum closed-loop torque, stop the operation of correcting the current closed-loop control torque; if the current closed-loop control torque is less than or equal to the minimum closed-loop torque, determine the minimum closed-loop torque as the corrected current closed-loop control torque.

[0115] Based on the above technical solutions, the starting control device further includes a motor mode conversion module; wherein the motor mode conversion module includes:

[0116] An end torque determination unit, used to determine the current end starting torque corresponding to the motor;

[0117] The motor mode conversion unit is used to switch the operating mode of the motor from the speed mode to the torque mode, and operate at the current starting end torque.

[0118] Based on the above technical solutions, the end torque determination unit is specifically used to: determine the target closed-loop control torque corresponding to the current moment; determine the current recovery torque based on the target closed-loop control torque and the preset slope; determine the current starting end torque corresponding to the motor based on the current recovery torque and the target required torque.

[0119] The vehicle start control device provided in the embodiments of the present disclosure can execute the vehicle start control method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0120] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present disclosure.

[0121] Example 5

[0122] Figure 6 A structural diagram of an electronic device provided for embodiment five of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable electronic devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0123] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 13. An input / output (I / O) interface 15 is also connected to the bus 13.

[0124] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other electronic devices via a computer network such as the Internet and / or various telecommunication networks.

[0125] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, or microcontroller. The processor 11 executes the various methods and processes described above, such as the vehicle launch control method.

[0126] In some embodiments, the vehicle launch control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle launch control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the vehicle launch control method via any other suitable means (e.g., via firmware).

[0127] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0128] Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable vehicle launch control system, such that, when executed by the processor, the computer programs implement the functions / operations specified in the flowcharts and / or block diagrams. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0129] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use by an instruction execution system, device or electronic device or used in combination with an instruction execution system, device or electronic device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or electronic devices, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage electronic devices, magnetic storage electronic devices, or any suitable combination of the foregoing.

[0130] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0131] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0132] A computing system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. The client-server relationship is established by computer programs running on the respective computers and establishing a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within a cloud computing service system that addresses the management difficulties and poor scalability of traditional physical hosts and virtual private server (VPS) services. It should be understood that the various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present disclosure are achieved. This is not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure are intended to be included within the scope of protection of this disclosure.

Claims

1. A vehicle start control method, characterized in that: include: In response to a driver's accelerator pedaling operation, determining a target required torque corresponding to the accelerator pedaling operation and a target starting speed when the transmission input shaft is synchronized with the clutch, and obtaining a current input shaft speed of the transmission input shaft and a current clutch speed; determining a target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed; determining a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and determining a target closed-loop control torque based on the target required torque and the current closed-loop control torque; controlling the motor to operate in a speed mode and controlling the motor to perform closed-loop control on a next input shaft speed of the transmission input shaft based on the target closed-loop control torque until a current clutch speed and a current input shaft speed reach a target starting speed; Wherein, determining the target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed includes: determining an initial starting input shaft speed of the transmission input shaft and an initial starting clutch speed based on a time corresponding to the accelerator pedaling operation; Based on the target starting speed, the current clutch speed, the initial starting input shaft speed, and the initial starting clutch speed, a target input shaft speed corresponding to the transmission input shaft is determined; the formula for determining the target input shaft speed is: ； Where, Indicates the target starting speed. Indicates the current clutch speed. Indicates the initial input shaft speed at start-up. Indicates the initial clutch speed when starting; The determining of the current closed-loop control torque based on the current input shaft speed and the target input shaft speed includes: determining a speed difference between the current input shaft speed and the target input shaft speed; Determining a current closed-loop control torque based on a proportional-integral-derivative control method and the speed difference; determining a speed ratio of a current clutch speed to the target starting speed; Determining a maximum closed-loop torque and a minimum closed-loop torque corresponding to the motor speed mode based on the speed ratio and a preset relationship table between the speed ratio and the limit torque; If the current closed-loop control torque is greater than or equal to the maximum closed-loop torque, determining the maximum closed-loop torque as the corrected current closed-loop control torque; If the current closed-loop control torque is less than the maximum closed-loop torque and greater than the minimum closed-loop torque, stopping the operation of correcting the current closed-loop control torque; If the current closed-loop control torque is less than or equal to the minimum closed-loop torque, the minimum closed-loop torque is determined as the corrected current closed-loop control torque.

2. The vehicle start control method according to claim 1, characterized in that: After the current clutch speed and the current input shaft speed reach the target starting speed, the method further includes: Determining a current starting end torque corresponding to the motor; The operating mode of the electric motor is switched from the speed mode to the torque mode, and the electric motor is operated at the current start-end torque.

3. The method according to claim 2, characterized in that The determining of the current starting end torque corresponding to the motor includes: Determine the target closed-loop control torque corresponding to the current moment; Determine the current recovery torque based on the target closed-loop control torque and the preset slope; A current starting end torque corresponding to the motor is determined based on the current recovery torque and the target required torque.

4. A vehicle starting control device, characterized in that: A vehicle launch control method for implementing any one of claims 1 to 3, comprising: a current data acquisition module for determining, in response to a driver's accelerator pedaling operation, a target required torque corresponding to the accelerator pedaling operation, a target starting speed when the transmission input shaft is synchronized with the clutch, and acquiring a current input shaft speed of the transmission input shaft and a current clutch speed; a target speed determination module, configured to determine a target input shaft speed corresponding to the transmission input shaft based on the target starting speed and the current clutch speed; a closed-loop control torque determination module, configured to determine a current closed-loop control torque based on the current input shaft speed and the target input shaft speed, and to determine a target closed-loop control torque based on the target required torque and the current closed-loop control torque; a starting control module, configured to control the motor to operate in a speed mode and control the motor to perform closed-loop control on a next input shaft speed of the transmission input shaft based on the target closed-loop control torque until a current clutch speed and a current input shaft speed reach a target starting speed; Wherein, the target speed determination module includes: an initial data determining unit, configured to determine a starting initial input shaft speed of the transmission input shaft and a starting initial clutch speed based on a time corresponding to an accelerator pedaling operation; a target speed determination unit, configured to determine a target input shaft speed corresponding to the transmission input shaft based on the target starting speed, the current clutch speed, the starting initial input shaft speed, and the starting initial clutch speed; Wherein, the closed-loop control torque determination module includes: a speed difference determination unit, configured to determine a speed difference between a current input shaft speed and a target input shaft speed; a current torque determination unit, configured to determine the current closed-loop control torque based on a proportional-integral-derivative control mode and a speed difference; a limit torque determination unit for determining a speed ratio between a current clutch speed and a target starting speed; and determining a maximum closed-loop torque and a minimum closed-loop torque corresponding to the motor speed mode based on the speed ratio and a predetermined relationship table between speed ratios and limit torques; The control torque correction unit is configured to determine the maximum closed-loop torque as the corrected current closed-loop control torque if the current closed-loop control torque is greater than or equal to the maximum closed-loop torque; stop correcting the current closed-loop control torque if the current closed-loop control torque is less than the maximum closed-loop torque and greater than the minimum closed-loop torque; and determine the minimum closed-loop torque as the corrected current closed-loop control torque if the current closed-loop control torque is less than or equal to the minimum closed-loop torque.

5. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the vehicle launch control method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle launch control method according to any one of claims 1 to 3 when executed.

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