Torque control method and device for preventing vehicle from slipping, electronic equipment and vehicle

Abstract

The invention provides a torque control method and device for preventing a vehicle from slipping, electronic equipment and the vehicle, and relates to the technical field of vehicle control. The method comprises the steps that current operation parameters of the vehicle are obtained, and constraint limiting parameters are determined based on the current operation parameters; carrying out constraint limitation on the first control system based on the target acceleration limit value and the first target torque request, and carrying out calculation based on the first difference value to obtain a second target torque request; based on the second target torque request and the target speed limit value, carrying out constraint limitation on the second control system, and based on the second difference value, calculating to obtain a third target torque request; and performing torque control on the vehicle based on the third target torque request. According to the torque control method and device for preventing the vehicle from slipping, the electronic equipment and the vehicle, double-loop control over the torque is achieved through the two closed-loop control systems, the control requirements of different working conditions can be met by adjusting the input parameters, the structure is simple, and the cost is low.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a torque control method, device, electronic equipment and vehicle for preventing a vehicle from slipping. Background Art

[0002] With the development of new energy technology, the driving of new energy vehicles is becoming more and more intelligent. In order to prevent the vehicle from slipping during driving, it is necessary to control the torque output by the vehicle's engine or drive motor.

[0003] In the related art, a torque control method is usually used to limit the motor speed according to the target slip ratio to reduce vehicle slip. In this method, the motor controller receives the anti-slip speed limit and speed control mode of the vehicle, uses the motor speed loop to calculate the required torque, and then performs a smaller operation with the torque request, and controls the vehicle torque based on the result, ultimately achieving the purpose of anti-slip.

[0004] However, such a control method only uses the rotation speed to control the torque and cannot completely suppress the impact. It is easy to slip during instantaneous torque increase or starting conditions, and its adaptability is not strong. In addition, it is easy to slip severely on complex roads. Summary of the invention

[0005] The purpose of this application is to provide a torque control method, device, electronic equipment and vehicle for preventing vehicle slipping, which realizes dual-loop control of torque through two closed-loop control systems. It can not only realize the control requirements of different working conditions by adjusting the input parameters, but also has a simple structure and low cost.

[0006] The present application provides a torque control method for preventing a vehicle from slipping, comprising: Acquire current operating parameters of the vehicle, and determine constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit and a target speed limit; constrain a first control system based on the target acceleration limit and the first target torque request, and calculate a second target torque request based on a first difference; constrain a second control system based on the second target torque request and the target speed limit, and calculate a third target torque request based on the second difference; perform torque control on the vehicle based on the third target torque request; wherein the first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

[0007] Optionally, the obtaining of current operating parameters of the vehicle and determining constraint limit parameters based on the current operating parameters include: obtaining the current operating parameters and obtaining the constraint limit parameters based on the current operating parameters using a table lookup method; wherein the current operating parameters include: throttle information, gear information and vehicle speed information; the target speed limit includes: a target wheel speed limit, or a target speed limit.

[0008] Optionally, the constraint limit parameter is obtained based on the current operating parameter by using a table lookup method, including: searching a first mapping table for a parameter value that matches the current operating parameter to obtain the first target torque request; and searching a second mapping table for a parameter value that matches the current operating parameter to obtain the target acceleration limit; and searching a third mapping table for a parameter value that matches the current operating parameter to obtain the target speed limit.

[0009] Optionally, constraining the first control system based on the target acceleration limit and the first target torque request, and calculating the second target torque request based on the first difference, includes: taking the target acceleration limit and the first target torque request as constraints, inputting the difference between the target acceleration limit and the actual feedback acceleration of the vehicle into the first control system, and calculating the second target torque request; wherein the acceleration includes any one of the following: the acceleration of the driven wheels, the acceleration of the driving wheels, the acceleration of the engine speed or the acceleration of the drive motor speed.

[0010] Optionally, constraining the second control system based on the second target torque request and the target speed limit, and calculating the third target torque request based on the second difference, includes: taking the target speed limit and the second target torque request as constraints, inputting the difference between the target speed limit and the actual speed value actually fed back by the vehicle into the second control system, and calculating the third target torque request; wherein the actual speed value is: the speed value actually fed back by the vehicle corresponding to the target speed limit.

[0011] Optionally, the target speed limit is the target wheel speed limit; the second difference is: the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle; the target speed limit and the second target torque request are used as constraints, the difference between the target speed limit and the actual speed value actually fed back by the vehicle is input into the second control system, and the third target torque request is calculated, including: the target wheel speed limit and the second target torque request are used as constraints, the difference between the target wheel speed limit and the actual wheel speed fed back by the vehicle is input into the second control system, and the third target torque request is calculated.

[0012] Optionally, the target speed limit is the target rotational speed limit; the second difference is: the difference between the target rotational speed limit and the engine speed or the drive motor speed actually fed back by the vehicle; the target speed limit and the second target torque request are used as constraints, the difference between the target speed limit and the actual speed value actually fed back by the vehicle is input into the second control system, and the third target torque request is calculated, including: the target speed limit and the second target torque request are used as constraints, the difference between the target speed limit and the engine speed or the drive motor speed actually fed back by the vehicle is input into the second control system, and the third target torque request is calculated.

[0013] The present application also provides a torque control device for preventing a vehicle from slipping, comprising: A parameter acquisition module, used to acquire current operating parameters of the vehicle, and determine constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit and a target speed limit; a torque calculation module, used to constrain a first control system based on the target acceleration limit and the first target torque request, and obtain a second target torque request based on a first difference calculation; the torque calculation module is also used to constrain a second control system based on the second target torque request and the target speed limit, and obtain a third target torque request based on the second difference calculation; a control module, used to perform torque control on the vehicle based on the third target torque request; wherein the first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

[0014] Optionally, the parameter acquisition module is specifically used to acquire the current operating parameters, and obtain the constraint limit parameters based on the current operating parameters using a table lookup method; wherein the current operating parameters include: throttle information, gear information and vehicle speed information; the target speed limit includes: a target wheel speed limit, or a target speed limit.

[0015] Optionally, the parameter acquisition module is specifically used to search for parameter values ​​matching the current operating parameters from a first mapping table to obtain the first target torque request; the parameter acquisition module is specifically used to search for parameter values ​​matching the current operating parameters from a second mapping table to obtain the target acceleration limit; the parameter acquisition module is specifically used to search for parameter values ​​matching the current operating parameters from a third mapping table to obtain the target speed limit.

[0016] Optionally, the torque calculation module is specifically used to use the target acceleration limit and the first target torque request as constraints, input the difference between the target acceleration limit and the acceleration actually fed back by the vehicle into the first control system, and calculate the second target torque request; wherein the acceleration includes any one of the following: the acceleration of the driven wheels, the acceleration of the driving wheels, the acceleration of the engine speed or the acceleration of the drive motor speed.

[0017] Optionally, the torque calculation module is specifically used to use the target speed limit and the second target torque request as constraints, input the difference between the target speed limit and the actual speed value actually fed back by the vehicle into the second control system, and calculate the third target torque request; wherein the actual speed value is: the speed value actually fed back by the vehicle corresponding to the target speed limit.

[0018] Optionally, the target speed limit is the target wheel speed limit; the second difference is: the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle; the torque calculation module is specifically used to use the target wheel speed limit and the second target torque request as constraints, input the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle into the second control system, and calculate the third target torque request.

[0019] Optionally, the target speed limit is the target speed limit; the second difference is: the difference between the target speed limit and the engine speed or the drive motor speed actually fed back by the vehicle; the torque calculation module is specifically used to use the target speed limit and the second target torque request as constraints, input the difference between the target speed limit and the engine speed or the drive motor speed actually fed back by the vehicle into the second control system, and calculate the third target torque request.

[0020] The present application also provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of any of the torque control methods for preventing vehicle slipping as described above.

[0021] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the torque control method for preventing vehicle slipping as described in any one of the above are implemented.

[0022] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any of the torque control methods for preventing vehicle slipping as described above are implemented.

[0023] The present application also provides a vehicle, on which a control unit is provided, and the control unit can implement the steps of any of the above-mentioned torque control methods for preventing the vehicle from slipping.

[0024] The torque control method, device, electronic device and vehicle for preventing vehicle slipping provided by the present application first obtain the current operating parameters of the vehicle, and determine the constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit and a target speed limit; then, based on the target acceleration limit and the first target torque request, the first control system is constrained and restricted, and the second target torque request is calculated based on the first difference; and, based on the second target torque request and the target speed limit, the second control system is constrained and restricted, and the third target torque request is calculated based on the second difference; finally, the vehicle is torque controlled based on the third target torque request; wherein the first control system and the second control system are both control systems based on PID control. In this way, the dual-loop control of torque is realized through two closed-loop control systems, which can not only realize the control requirements of different working conditions by adjusting the input parameters, but also has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is one of the flow charts of the torque control method for preventing vehicle slipping provided by the present application; Figure 2 This is the second flow chart of the torque control method for preventing vehicle skidding provided by the present application; Figure 3 This is the third flow chart of the torque control method for preventing vehicle slipping provided by the present application; Figure 4 This is the fourth flow chart of the torque control method for preventing vehicle slipping provided by the present application; Figure 5 This is the fifth flow chart of the torque control method for preventing vehicle slipping provided by the present application; Figure 6 This is the sixth flow chart of the torque control method for preventing vehicle slipping provided by the present application; Figure 7 This is the seventh flow chart of the torque control method for preventing vehicle slipping provided by the present application; Figure 8 This is the eighth flow chart of the torque control method for preventing vehicle slipping provided by the present application; Fig. 9 This is the ninth flow chart of the torque control method for preventing vehicle slipping provided by the present application; Fig.10 This is the tenth flow chart of the torque control method for preventing vehicle slipping provided by the present application; Fig.11 It is a schematic diagram of the operation logic of the closed-loop control system provided by the present application; Fig.12 It is a structural schematic diagram of a torque control device for preventing a vehicle from skidding provided by the present application; Fig.13 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0029] Vehicle torque control is usually an open-loop control method, that is, the controlled object responds to the torque in real time according to the torque request. In some adaptive cruise control (ACC) and automatic parking assist (APA) control systems, the auxiliary torque request adds an acceleration limit control method. The auxiliary torque request is responded to only when the acceleration calculated by the auxiliary torque request is within the safe range to prevent unsafe acceleration of the vehicle.

[0030] With the development of hybrid and pure electric vehicles, many researchers have proposed torque control methods based on motor control to limit the motor speed according to the target slip rate to achieve anti-skid purposes. The motor controller receives the anti-skid speed limit and speed control mode of the vehicle, uses the motor speed loop to calculate the required torque, and then arbitrates and takes the smaller calculation with the torque request to finally achieve the anti-skid purpose.

[0031] However, although the auxiliary torque request of systems such as ACC and APA adds the control of acceleration limit, the torque request of the auxiliary system is only allowed to be responded to when the acceleration calculated by the auxiliary torque request value is within the safety range; for auxiliary systems without ACC and APA, or when the ACC and APA systems are not requested to participate, the real-time acceleration control purpose cannot be met, and the torque request cannot be closed-loop controlled according to the real-time acceleration request.

[0032] The motor controller receives the anti-slip speed limit and speed control mode. When the speed exceeds a certain value, the motor speed loop is used to calculate the required torque, and then the required torque is arbitrated and the smaller operation is performed to finally achieve the anti-slip purpose. This torque control scheme requires the cooperation of the vehicle controller and the motor controller. The required torque of the speed loop is the result of the PID coupling of the motor (essentially the speed loop and the current loop). It is only applicable to the control of the motor and has certain limitations.

[0033] In response to the above-mentioned technical problems existing in the related technology, an embodiment of the present application provides a torque control method for preventing vehicle slipping. The method realizes dual-loop control of torque through two closed-loop control systems. It can not only realize the control requirements of different working conditions by adjusting the input parameters, but also has a simple structure and low cost.

[0034] The torque control method for preventing vehicle slipping provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0035] like Figure 1 As shown, an embodiment of the present application provides a torque control method for preventing a vehicle from slipping, and the method may include the following steps 101 to 104: Step 101: Acquire current operating parameters of the vehicle, and determine constraint limit parameters based on the current operating parameters.

[0036] The constraint limit parameters include: a first target torque request, a target acceleration limit value, and a target speed limit value.

[0037] For example, before calculating the torque required by the vehicle, it is necessary to first obtain the current operating parameters of the vehicle, including throttle information, gear information, and vehicle speed information, and then determine the first target torque request, target acceleration limit, and target speed limit by looking up a table.

[0038] Specifically, the above step 101 may further include the following step 101a: Step 101a: Acquire the current operating parameters, and obtain the constraint limit parameters based on the current operating parameters by using a table lookup method.

[0039] The current operating parameters include: throttle information, gear information and vehicle speed information; the target speed limit includes: a target wheel speed limit, or a target rotation speed limit.

[0040] Furthermore, the above step 101a may further include the following steps 101a1 to 101a3: Step 101a1: Search a first mapping table for a parameter value that matches the current operating parameter to obtain the first target torque request.

[0041] Step 101a2: Search the second mapping table for a parameter value that matches the current operating parameter to obtain the target acceleration limit value.

[0042] Step 101a3: Search the third mapping table for a parameter value that matches the current operating parameter to obtain the target speed limit.

[0043] Exemplarily, in an embodiment of the present application, three MAP combinations can be used to match corresponding output parameters according to input parameters, that is, taking the above-mentioned current operating parameters as input parameters, and matching the corresponding first target torque request through the MAP1 combination (i.e., the above-mentioned first mapping table); taking the above-mentioned current operating parameters as input parameters, and matching the corresponding target acceleration limit through the MAP2 combination (i.e., the above-mentioned second mapping table); taking the above-mentioned current operating parameters as input parameters, and matching the corresponding target speed limit through the MAP3 combination (i.e., the above-mentioned third mapping table).

[0044] For example, the target speed limit may include any one of the following: a target wheel speed limit, a target rotation speed limit. During operation of the vehicle, a suitable target speed limit may be selected as an input of the control system according to different operating conditions.

[0045] In this way, there is no need to set the vehicle to multiple operating modes, and the torque calculation of different operating modes can be achieved by simply adjusting the parameters.

[0046] It should be noted that the above steps 101a1 to 101a3 may be executed simultaneously or in parts without regard to the order.

[0047] Step 102 : Constraining a first control system based on the target acceleration limit and the first target torque request, and calculating a second target torque request based on the first difference.

[0048] The first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle. The first control system is a closed-loop control system based on PID control.

[0049] Illustratively, after obtaining the above constraint limit parameters, the first control system may be constrained and calculated, and the second control system may be further constrained and calculated based on the output value of the first control system and the above constraint limit parameters, thereby obtaining the final torque request.

[0050] Specifically, the above step 102 may further include the following step 102a: Step 102a: using the target acceleration limit and the first target torque request as constraints, inputting the difference between the target acceleration limit and the acceleration actually fed back by the vehicle into the first control system, and calculating the second target torque request.

[0051] The acceleration includes any one of the following: the acceleration of the driven wheel, the acceleration of the driving wheel, the acceleration of the engine speed or the acceleration of the driving motor speed.

[0052] For example, through the first control system, a second target torque request can be calculated, and the second target torque request can be used to constrain the second control system, thereby enabling the second control system to calculate a more appropriate torque request.

[0053] Step 103: constraining the second control system based on the second target torque request and the target speed limit, and calculating a third target torque request based on the second difference; The second control system is also a closed-loop control system based on PID control. The second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle.

[0054] Step 104 : Perform torque control on the vehicle based on the third target torque request.

[0055] For example, after calculating the third target torque request by constraining the second control system based on the second target torque request and the target speed limit, the third target torque request can be used as the final torque request to perform torque control on the vehicle.

[0056] Specifically, the above step 103 may further include the following step 103a: Step 103a: using the target speed limit and the second target torque request as constraints, inputting the difference between the target speed limit and the actual speed value actually fed back by the vehicle into the second control system, and calculating the third target torque request.

[0057] The actual speed value is: a speed value actually fed back by the vehicle corresponding to the target speed limit value.

[0058] Exemplarily, according to the target speed limit, the second control system may be calculated by different constraints and input parameters.

[0059] Specifically, in the case where the target speed limit is a target wheel speed limit, the above step 103a may further include the following step 103a1: Step 103a1: Taking the target wheel speed limit and the second target torque request as constraints, inputting the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle into the second control system, and calculating the third target torque request.

[0060] Exemplarily, in step 103a1, the second difference is: the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle.

[0061] Specifically, in the case where the target speed limit is a target rotation speed limit, the above step 103a may further include the following step 103a2: Step 103a2: Taking the target speed limit and the second target torque request as constraints, inputting the difference between the target speed limit and the actual engine speed or drive motor speed fed back by the vehicle into the second control system to calculate the third target torque request.

[0062] Exemplarily, in step 103a2, the second difference is: a difference between the target speed limit and an engine speed or a drive motor speed actually fed back by the vehicle.

[0063] For example, since the acceleration used in the input parameters of the first control system includes three accelerations: the acceleration of the driven wheel, the acceleration of the driving wheel, and the acceleration of the engine speed or the acceleration of the driving motor speed, and the target speed limit used in the constraints of the second control system includes two situations: the target speed limit and the target wheel speed limit, six different control modes can be obtained after combination. In this way, different parameters can be used for control according to different situations.

[0064] It should be noted that the rotation speed in the embodiment of the present application is the engine speed or the drive motor speed.

[0065] For example, Figure 2 As shown, taking the acceleration as the acceleration of the driven wheel and the target speed limit as the target wheel speed limit as an example, the torque control method for preventing the vehicle from slipping in the embodiment of the present application may specifically be: 1. Look up the MAP1 combination, MAP2 combination, and MAP3 combination according to the throttle, gear position, vehicle speed and other signals to obtain the target torque request T1 (i.e. the first target torque request mentioned above), the target acceleration limit A Lim , and the target wheel speed limit V lim .

[0066] 2. In the closed-loop control system 1 (i.e. the first control system mentioned above), the target acceleration limit A Lim As the first goal, combined with the actual feedback acceleration a of the driven wheel, A Lim The deviation value between a and a (ie the first difference) is used as the input of the closed-loop control, the target torque request T1 is used as the second target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T2 (ie the second target torque request) is calculated.

[0067] 3. In the closed-loop control system 2 (i.e. the second control system mentioned above), the target wheel speed limit V lim As the third goal, combined with the actual feedback of wheel speed v, V lim The deviation value of and v (ie the above-mentioned second difference) is used as the input of the closed-loop control, the target torque request T2 is used as the fourth target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T3 (ie the above-mentioned third target torque request) is calculated.

[0068] 4. Finally, the target torque request T3 is used as the final requested torque and output to the subsequent torque control link.

[0069] For example, Figure 3 As shown, taking the acceleration as the acceleration of the driven wheel and the target speed limit as the target speed limit as an example, the torque control method for preventing the vehicle from skidding in the embodiment of the present application can be specifically: 1. Look up the MAP1 combination, MAP2 combination, and MAP3 combination according to the throttle, gear position, vehicle speed and other signals to obtain the target torque request T1 and the target acceleration limit A respectively. Lim , and the target speed limit N lim .

[0070] 2. In the closed-loop control system 1, the target acceleration limit A Lim As the first goal, combined with the actual feedback acceleration a of the driven wheel, A LimThe deviation value between a and a is used as the input of the closed-loop control, the target torque request T1 is used as the second target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T2 is calculated.

[0071] 3. In the closed-loop control system 2, the target speed limit N lim As the third goal, combined with the actual feedback speed n, N lim The deviation value between t and n is used as the input of the closed-loop control, the target torque request T2 is used as the fourth target, the upper limit of the threshold of the closed-loop control system is controlled, and the target torque request T3 is calculated.

[0072] 4. Finally, the target torque request T3 is used as the final requested torque and output to the subsequent torque control link.

[0073] For example, Figure 4 As shown, taking the acceleration as the acceleration of the driving wheel and the target speed limit as the target wheel speed limit as an example, the torque control method for preventing the vehicle from slipping in the embodiment of the present application can be specifically: 1. Look up the MAP1 combination, MAP2 combination, and MAP3 combination according to the throttle, gear position, vehicle speed and other signals to obtain the target torque request T1 and the target acceleration limit A respectively. Lim , and the target wheel speed limit V lim .

[0074] 2. In the closed-loop control system 1, the target acceleration limit A Lim As the first goal, combined with the actual feedback acceleration a of the driving wheel, A Lim The deviation value of and a is used as the input of the closed-loop control, the target torque request T1 is used as the second target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T2 is calculated; 3. In the closed-loop control system 2, the target wheel speed limit V lim As the third goal, combined with the actual feedback of wheel speed v, V lim The deviation value of and v is used as the input of the closed-loop control, the target torque request T2 is used as the fourth target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T3 is calculated; 4. Finally, the target torque request T3 is used as the final requested torque and output to the subsequent torque control link.

[0075] For example, Figure 5 As shown, taking the acceleration as the acceleration of the driving wheel and the target speed limit as the target speed limit as an example, the torque control method for preventing the vehicle from skidding in the embodiment of the present application can be specifically: 1. Look up the MAP1 combination, MAP2 combination, and MAP3 combination according to the throttle, gear position, vehicle speed and other signals to obtain the target torque request T1 and the target acceleration limit A respectively. Lim , and the target speed limit N lim .

[0076] 2. In the closed-loop control system 1, the target acceleration limit A Lim As the first goal, combined with the actual feedback acceleration a of the driving wheel, A Lim The deviation value of and a is used as the input of the closed-loop control, the target torque request T1 is used as the second target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T2 is calculated; 3. In the closed-loop control system 2, the target speed limit N lim As the third goal, combined with the actual feedback speed n, N lim The deviation value of and n is used as the input of the closed-loop control, the target torque request T2 is used as the fourth target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T3 is calculated; 4. Finally, the target torque request T3 is used as the final requested torque and output to the subsequent torque control link.

[0077] For example, Figure 6 As shown, taking the acceleration as the engine speed or the drive motor acceleration and the target speed limit as the target wheel speed limit as an example, the torque control method for preventing the vehicle from slipping in the embodiment of the present application can be specifically: 1. Look up the MAP1 combination, MAP2 combination, and MAP3 combination according to the throttle, gear position, vehicle speed and other signals to obtain the target torque request T1 and the target acceleration limit A respectively. Lim , and the target wheel speed limit V lim .

[0078] 2. In the closed-loop control system 1, the target acceleration limit A Lim As the first goal, combined with the acceleration a of the rotation speed, A Lim The deviation value of and a is used as the input of the closed-loop control, the target torque request T1 is used as the second target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T2 is calculated; 3. In the closed-loop control system 2, the target wheel speed limit V lim As the third goal, combined with the actual feedback of wheel speed v, V lim The deviation value of and v is used as the input of the closed-loop control, the target torque request T2 is used as the fourth target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T3 is calculated; 4. Finally, the target torque request T3 is used as the final requested torque and output to the subsequent torque control link.

[0079] For example, Figure 7 As shown, taking the acceleration as the engine speed or the drive motor acceleration and the target speed limit as the target speed limit as an example, the torque control method for preventing the vehicle from slipping in the embodiment of the present application can be specifically: 1. Look up the MAP1 combination, MAP2 combination, and MAP3 combination according to the throttle, gear position, vehicle speed and other signals to obtain the target torque request T1 and the target acceleration limit A respectively. Lim , and the target speed limit N lim .

[0080] 2. In the closed-loop control system 1, the target acceleration limit A Lim As the first goal, combined with the acceleration a of the rotation speed, A Lim The deviation value of and a is used as the input of the closed-loop control, the target torque request T1 is used as the second target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T2 is calculated; 3. In the closed-loop control system 2, the target speed limit N lim As the third goal, combined with the actual feedback speed n, N lim The deviation value of and n is used as the input of the closed-loop control, the target torque request T2 is used as the fourth target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T3 is calculated; 4. Finally, the target torque request T3 is used as the final requested torque and output to the subsequent torque control link.

[0081] For example, Figure 8 As shown, the dual-loop controller system in the embodiment of the present application adopts two independent closed-loop control links for superimposed control, which can not only perform closed-loop control on the requested torque of the accelerator pedal, but also perform closed-loop control on acceleration requests, and / or speed, rotation speed and other requests.

[0082] For example, based on Figure 8 ,like Fig. 9 As shown, when all MAP2 combinations are set to the maximum acceleration A that the vehicle cannot reach Max (infinity), the dual-loop control system becomes based on the torque request T1 and the target speed N Lim Or the target vehicle speed V Lim The open-closed loop controller system is equivalent to using only the second control system for torque calculation and control.

[0083] For example, based on Figure 8 ,like Fig.10 As shown, when all MAP3 combinations are set to the maximum speed N that the vehicle cannot reach Max (infinity), the dual-loop control system becomes based on the torque request T1 and the target acceleration ALim The open-closed loop controller system is equivalent to using only the first control system for torque calculation and control.

[0084] For example, when both MAP2 and MAP3 are set to the maximum value A that cannot be reached, Max 、N Max , the torque request T1 becomes a complete open-loop control. In the closed-loop control system 1, the target acceleration limit A Lim As the first goal, A Lim The deviation value of and a is used as the input of , the target torque request T1 is used as the second target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T2 is calculated. In the closed-loop control system 2, the target wheel speed limit V lim For the third goal, V lim The deviation value of and v is used as the input of the closed-loop control system 2, the target torque request T2 is used as the fourth target, the upper limit of the closed-loop control system threshold is controlled, and the target torque request T3 is calculated.

[0085] For example, in the entire control system, when the deviation between the target acceleration and the actual acceleration is greater than zero, the torque request T2 calculated by the closed-loop control system 1 is equal to the second target T1; when the deviation between the target acceleration and the actual acceleration is less than 0, the torque request T2 calculated by the closed-loop control system 1 is less than the second target T1, and the system automatically adjusts the torque request T2 according to the first target A. Lim Similarly, when the deviation between the target speed or vehicle speed and the actual speed or vehicle speed is greater than zero, the torque request T3 calculated by the closed-loop control system 2 is equal to the fourth target T2; when the deviation between the target acceleration and the actual acceleration is less than zero, the torque request T3 calculated by the closed-loop control system 1 is less than the fourth target T2, and the system automatically adjusts the torque request according to the third target V lim or N Lim Adjust the torque request.

[0086] It should be noted that the torque control method for preventing vehicle slipping provided in the embodiment of the present application is a dual-loop control system controlled according to the driver's throttle opening, and is not limited to the motor controller, but can be matched with controllers such as VCU, ABS, ECU, etc.; and the torque control method for preventing vehicle slipping provided in the embodiment of the present application is not limited to the driving mode of the vehicle, and is applicable to driver throttle torque control of various forms of power such as fuel, gas, pure electric, and hybrid.

[0087] For example, Fig.11 The closed-loop control system (including the first control system and the second control system) involved in the embodiment of the present application is shown in FIG. The transfer function of the closed-loop control system is as follows:

[0088] Among them, Fig.11 As shown in the figure, Command represents the target value of the closed-loop control system; Feedback represents the feedback value of the closed-loop control system; T min represents the lower limit of torque; T represents the input torque of the closed-loop control system; s represents the Langplas operator; U( s ) represents the transfer function of the entire closed-loop control system. The torque expression of the closed-loop control system is as follows:

[0089] The above is a closed-loop control system in the embodiment of the present application. The first control system and the second control system are both as follows: Fig.11 The closed-loop control system shown calculates the torque, the difference being the input parameters and constraints.

[0090] The torque control method for preventing vehicle slipping provided in the embodiment of the present application obtains the current operating parameters of the vehicle, and determines the constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit and a target speed limit; then, based on the target acceleration limit and the first target torque request, the first control system is constrained and restricted, and the second target torque request is calculated based on the first difference; and, based on the second target torque request and the target speed limit, the second control system is constrained and restricted, and the third target torque request is calculated based on the second difference; finally, the vehicle is torque controlled based on the third target torque request; wherein the first control system and the second control system are both control systems based on PID control. In this way, the dual-loop control of torque is realized through two closed-loop control systems, which can not only realize the control requirements of different working conditions by adjusting the input parameters, but also has a simple structure and low cost.

[0091] It should be noted that the torque control method for preventing vehicle skidding provided in the embodiment of the present application can be executed by a torque control device for preventing vehicle skidding, or a control module in the torque control device for preventing vehicle skidding for executing the torque control method for preventing vehicle skidding. In the embodiment of the present application, the torque control device for preventing vehicle skidding executing the torque control method for preventing vehicle skidding is taken as an example to illustrate the torque control device for preventing vehicle skidding provided in the embodiment of the present application.

[0092] It should be noted that, in the embodiments of the present application, the torque control method for preventing vehicle skidding shown in the above-mentioned method drawings is illustrated by taking one of the drawings in the embodiments of the present application as an example. In specific implementation, the torque control method for preventing vehicle skidding shown in the above-mentioned method drawings can also be implemented in combination with any other drawings that can be combined as shown in the above-mentioned embodiments, which will not be described in detail here.

[0093] The torque control device for preventing vehicle slipping provided in the present application is described below, and the torque control method for preventing vehicle slipping described below and above can be referenced to each other.

[0094] Fig.12 A schematic diagram of the structure of a torque control device for preventing a vehicle from skidding provided in an embodiment of the present application, as shown in FIG. Fig.12 As shown, specifically including: The parameter acquisition module 1201 is used to acquire the current operating parameters of the vehicle and determine the constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit and a target speed limit; the torque calculation module 1202 is used to constrain the first control system based on the target acceleration limit and the first target torque request, and obtain the second target torque request based on the first difference calculation; the torque calculation module 1202 is also used to constrain the second control system based on the second target torque request and the target speed limit, and obtain the third target torque request based on the second difference calculation; the control module 1203 is used to perform torque control on the vehicle based on the third target torque request; wherein the first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

[0095] Optionally, the parameter acquisition module 1201 is specifically used to acquire the current operating parameters, and obtain the constraint limit parameters based on the current operating parameters using a table lookup method; wherein the current operating parameters include: throttle information, gear information and vehicle speed information; the target speed limit includes: a target wheel speed limit, or a target speed limit.

[0096] Optionally, the parameter acquisition module 1201 is specifically used to search for parameter values ​​matching the current operating parameters from a first mapping table to obtain the first target torque request; the parameter acquisition module 1201 is also specifically used to search for parameter values ​​matching the current operating parameters from a second mapping table to obtain the target acceleration limit; the parameter acquisition module 1201 is also specifically used to search for parameter values ​​matching the current operating parameters from a third mapping table to obtain the target speed limit.

[0097] Optionally, the torque calculation module 1202 is specifically used to use the target acceleration limit and the first target torque request as constraints, input the difference between the target acceleration limit and the acceleration actually fed back by the vehicle into the first control system, and calculate the second target torque request; wherein the acceleration includes any one of the following: the acceleration of the driven wheels, the acceleration of the driving wheels, the acceleration of the engine speed or the acceleration of the drive motor speed.

[0098] Optionally, the torque calculation module 1202 is specifically used to use the target speed limit and the second target torque request as constraints, input the difference between the target speed limit and the actual speed value actually fed back by the vehicle into the second control system, and calculate the third target torque request; wherein the actual speed value is: the speed value actually fed back by the vehicle corresponding to the target speed limit.

[0099] Optionally, the target speed limit is the target wheel speed limit; the second difference is: the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle; the torque calculation module 1202 is specifically used to use the target wheel speed limit and the second target torque request as constraints, input the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle into the second control system, and calculate the third target torque request.

[0100] Optionally, the target speed limit is the target speed limit; the second difference is: the difference between the target speed limit and the engine speed or the drive motor speed actually fed back by the vehicle; the torque calculation module 1202 is specifically used to use the target speed limit and the second target torque request as constraints, input the difference between the target speed limit and the engine speed or the drive motor speed actually fed back by the vehicle into the second control system, and calculate the third target torque request.

[0101] The torque control device for preventing vehicle slipping provided in the present application obtains the current operating parameters of the vehicle, and determines the constraint and restriction parameters based on the current operating parameters; the constraint and restriction parameters include: a first target torque request, a target acceleration limit and a target speed limit; then, based on the target acceleration limit and the first target torque request, the first control system is constrained and restricted, and the second target torque request is calculated based on the first difference; and, based on the second target torque request and the target speed limit, the second control system is constrained and restricted, and the third target torque request is calculated based on the second difference; finally, the vehicle is torque controlled based on the third target torque request; wherein the first control system and the second control system are both control systems based on PID control. In this way, the dual-loop control of torque is realized through two closed-loop control systems, which can not only realize the control requirements of different working conditions by adjusting the input parameters, but also has a simple structure and low cost.

[0102] Fig.13 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.13 As shown, the electronic device may include: a processor 1310 , a communications interface 1320 , a memory 1330 and a communication bus 1340 , wherein the processor 1310 , the communications interface 1320 , and the memory 1330 communicate with each other via the communication bus 1340 . The processor 1310 can call the logic instructions in the memory 1330 to execute the torque control method for preventing the vehicle from slipping, the method comprising: obtaining the current operating parameters of the vehicle, and determining the constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit and a target speed limit; constraining the first control system based on the target acceleration limit and the first target torque request, and calculating the second target torque request based on the first difference; constraining the second control system based on the second target torque request and the target speed limit, and calculating the third target torque request based on the second difference; torque controlling the vehicle based on the third target torque request; wherein the first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

[0103] In addition, the logic instructions in the above-mentioned memory 1330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0104] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the torque control method for preventing vehicle slipping provided by the above methods, the method including: obtaining current operating parameters of the vehicle, and determining constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit value, and a target speed limit value; constraining a first control system based on the target acceleration limit value and the first target torque request, and calculating a second target torque request based on a first difference; constraining a second control system based on the second target torque request and the target speed limit value, and calculating a third target torque request based on the second difference; torque controlling the vehicle based on the third target torque request; wherein the first difference is: the difference between the target acceleration limit value and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit value and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

[0105] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the above-mentioned torque control method for preventing vehicle slipping, the method comprising: obtaining current operating parameters of the vehicle, and determining constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit and a target speed limit; constraining a first control system based on the target acceleration limit and the first target torque request, and calculating a second target torque request based on a first difference; constraining a second control system based on the second target torque request and the target speed limit, and calculating a third target torque request based on the second difference; torque controlling the vehicle based on the third target torque request; wherein the first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

[0106] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0107] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A torque control method for preventing a vehicle from slipping, characterized in that: include: Acquiring current operating parameters of the vehicle, and determining constraint limit parameters based on the current operating parameters; The constraint limit parameters include: a first target torque request, a target acceleration limit value, and a target speed limit value; constraining the first control system based on the target acceleration limit and the first target torque request, and calculating a second target torque request based on the first difference; constraining a second control system based on the second target torque request and the target speed limit, and calculating a third target torque request based on a second difference; performing torque control on the vehicle based on the third target torque request; Among them, the first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

2. The method according to claim 1, characterized in that: The obtaining of current operating parameters of the vehicle and determining constraint limit parameters based on the current operating parameters includes: Acquire the current operating parameters, and obtain the constraint limit parameters based on the current operating parameters by using a table lookup method; The current operating parameters include: throttle information, gear information and vehicle speed information; the target speed limit includes: a target wheel speed limit, or a target rotation speed limit.

3. The method according to claim 2, characterized in that The obtaining the constraint limit parameter by using a table lookup method based on the current operating parameter includes: Searching a parameter value matching the current operating parameter in a first mapping table to obtain the first target torque request; as well as, Searching for a parameter value matching the current operating parameter in a second mapping table to obtain the target acceleration limit value; as well as, The parameter value matching the current operating parameter is searched in the third mapping table to obtain the target speed limit.

4. The method according to claim 2 or 3, characterized in that: The constraining and limiting the first control system based on the target acceleration limit and the first target torque request, and calculating the second target torque request based on the first difference, includes: Taking the target acceleration limit and the first target torque request as constraints, inputting the difference between the target acceleration limit and the acceleration actually fed back by the vehicle into the first control system to calculate the second target torque request; The acceleration includes any one of the following: the acceleration of the driven wheel, the acceleration of the driving wheel, the acceleration of the engine speed or the acceleration of the driving motor speed.

5. The method according to claim 2 or 3, characterized in that: The constraining the second control system based on the second target torque request and the target speed limit, and calculating a third target torque request based on the second difference, comprises: Taking the target speed limit and the second target torque request as constraints, inputting the difference between the target speed limit and the actual speed value actually fed back by the vehicle into the second control system, and calculating the third target torque request; The actual speed value is: a speed value actually fed back by the vehicle corresponding to the target speed limit value.

6. The method according to claim 5, characterized in that The target speed limit is the target wheel speed limit; the second difference is: the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle; The step of taking the target speed limit and the second target torque request as constraints, inputting the difference between the target speed limit and the actual speed value actually fed back by the vehicle into the second control system, and calculating the third target torque request comprises: The target wheel speed limit and the second target torque request are used as constraints, and the difference between the target wheel speed limit and the wheel speed actually fed back by the vehicle is input into the second control system to calculate the third target torque request.

7. The method according to claim 5, characterized in that The target speed limit is the target speed limit; the second difference is: the difference between the target speed limit and the engine speed or the drive motor speed actually fed back by the vehicle; The step of taking the target speed limit and the second target torque request as constraints, inputting the difference between the target speed limit and the actual speed value actually fed back by the vehicle into the second control system, and calculating the third target torque request comprises: The target speed limit and the second target torque request are used as constraints, and the difference between the target speed limit and the engine speed or the drive motor speed actually fed back by the vehicle is input into the second control system to calculate the third target torque request.

8. A torque control device for preventing a vehicle from slipping, characterized in that: The device comprises: A parameter acquisition module, configured to acquire current operating parameters of the vehicle and determine constraint limit parameters based on the current operating parameters; the constraint limit parameters include: a first target torque request, a target acceleration limit value, and a target speed limit value; a torque calculation module, configured to constrain the first control system based on the target acceleration limit and the first target torque request, and calculate a second target torque request based on the first difference; The torque calculation module is further used to constrain the second control system based on the second target torque request and the target speed limit, and calculate a third target torque request based on the second difference; a control module, configured to perform torque control on a vehicle based on the third target torque request; Among them, the first difference is: the difference between the target acceleration limit and the actual acceleration value actually fed back by the vehicle; the second difference is: the difference between the target speed limit and the actual speed value actually fed back by the vehicle; the first control system and the second control system are both control systems based on PID control.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the torque control method for preventing vehicle slipping as claimed in any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: A control unit is arranged thereon, and the control unit is used to implement the steps of the torque control method for preventing vehicle slipping as claimed in any one of claims 1 to 7.

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