Method and system for controlling stable torque of vehicle body under extreme working condition of intelligent networked vehicle

Abstract

The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle body stability torque control method and system for an intelligent networked vehicle under an extreme working condition, and the method comprises the steps: obtaining the real-time state information of the vehicle and a vehicle body stability control signal; according to the obtained real-time state information, the running state of the vehicle is judged; calculating expected motor torques of the vehicle in different running states; determining the working states of different control units of the current vehicle according to the obtained vehicle body stability control signal; and according to the working states of different control units of the vehicle and the expected torque of the motor in different running states, the target request torque of the vehicle motor is determined, and control over the limiting working condition vehicle body stable torque is completed.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and specifically relates to a method and system for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of intelligent technology, the proportion of intelligent connected vehicles in the field of new energy commercial vehicles has gradually increased. At the same time, more and more control modules are installed on the whole vehicle, such as body stability control system (ESC), emergency braking system (AEB), vehicle anti-lock braking system (ABS) and electronic braking system (EBS). When the vehicle is in extreme working conditions, how to achieve coordinated control between the sub-modules to ensure accurate output of vehicle torque and maintain vehicle body stability, thereby improving vehicle safety and comfort, has become one of the key technologies in the current research on intelligent connected vehicles.

[0004] It is understood that the current method of torque control for vehicles under extreme working conditions only receives instructions from a single control unit. For example, only receiving AEB control causes the vehicle to brake urgently, which may cause the vehicle to skid or roll over when turning or on slippery roads; or only receiving ESC control causes the torque to drop rapidly, which may result in insufficient braking force and cause the vehicle to rear-end, reducing vehicle safety. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a method and system for controlling the body stability torque under extreme working conditions of an intelligent connected vehicle. The method and system adjust the motor request torque in real time based on the vehicle controller by combining the vehicle signals and the working status of each electronic control system to ensure the body stability of the vehicle under extreme working conditions.

[0006] According to some embodiments, a first solution of the present invention provides a method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions, which adopts the following technical solutions:

[0007] A method for controlling body stability torque of an intelligent connected vehicle under extreme working conditions, comprising:

[0008] Obtain real-time status information of the vehicle and body stability control signals;

[0009] Determine the running status of the vehicle according to the acquired real-time status information;

[0010] Calculate the expected torque of the motor in different operating states of the vehicle;

[0011] Determine the working status of different control units of the current vehicle according to the obtained vehicle body stability control signal;

[0012] According to the working status of different control units of the vehicle and the expected torque of the motor in different operating states, the target requested torque of the vehicle motor is determined to complete the control of the vehicle body stability torque under extreme working conditions.

[0013] As a further technical limitation, the acquired vehicle real-time status information includes at least an accelerator pedal signal, a brake pedal signal and a motor speed; the acquired vehicle body stability control signal includes emergency braking information, vehicle body stability information and vehicle anti-lock braking information.

[0014] Furthermore, in the process of judging the operating state of the vehicle, the accelerator pedal opening and the brake pedal opening are determined based on the acquired accelerator pedal signal and the brake pedal signal; if the accelerator pedal opening is greater than the accelerator pedal opening threshold, the vehicle is in a driving state; if the brake pedal opening is greater than the brake pedal opening threshold, the vehicle is in a braking state.

[0015] Furthermore, when the vehicle is in a driving state, the desired torque of the driving motor is determined based on the accelerator pedal opening and the motor speed; when the vehicle is in a braking state, the requested torque of the braking motor is obtained based on the brake pedal opening and the motor speed, and the desired torque of the braking motor is determined by combining the motor speed, the motor reference speed and the electronic brake requested torque, that is, the desired torque of the motor in different operating states is obtained.

[0016] As a further technical limitation, it is determined whether the acquired vehicle body stability control signal is valid, the working state of the vehicle is determined in combination with the working modes of different vehicle body stability control signals, and the working states of different control units of the current vehicle are determined.

[0017] As a further technical limitation, when at least one of the acquired body stability control signals fails, the motor torque is limited according to the priority level of the failed body stability control signal, and the limited torque is fed back to the instrument panel to prompt the vehicle driver to perform maintenance in time.

[0018] According to some embodiments, a second solution of the present invention provides a body stability torque control system for an intelligent connected vehicle under extreme working conditions, which adopts the following technical solutions:

[0019] A body stability torque control system for an intelligent connected vehicle under extreme working conditions, comprising:

[0020] An acquisition module, which is configured to acquire real-time status information of the vehicle and a vehicle body stability control signal;

[0021] A determination module, configured to determine the operating state of the vehicle according to the acquired real-time state information;

[0022] A calculation module configured to calculate the motor desired torque in different operating states of the vehicle;

[0023] A determination module, configured to determine the working states of different control units of the current vehicle according to the obtained vehicle body stability control signal;

[0024] The control module is configured to determine the target requested torque of the vehicle motor according to the working status of different control units of the vehicle and the expected torque of the motor in different operating states, and complete the control of the vehicle body stability torque under extreme working conditions.

[0025] According to some embodiments, a third solution of the present invention provides a computer-readable storage medium, which adopts the following technical solution:

[0026] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in the first embodiment of the present invention.

[0027] According to some embodiments, a fourth solution of the present invention provides an electronic device, which adopts the following technical solution:

[0028] An electronic device comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps in the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in the first embodiment of the present invention are implemented.

[0029] According to some embodiments, a fifth solution of the present invention provides a computer program product, which adopts the following technical solution:

[0030] A computer program product includes software code, wherein the program in the software code executes the steps in the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in the first embodiment of the present invention.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] This application uses the vehicle controller to monitor the throttle and brake signals in real time, while receiving the status information of ESC, AEB, ABS and EBS, and coordinates with each control unit to adjust the motor torque output in real time to ensure stable control of the vehicle under extreme conditions and improve vehicle driving safety and comfort; it solves the problem of vehicle body loss of control caused by emergency braking or emergency torque reduction under extreme conditions in smart connected vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0034] Figure 1 This is a flow chart of the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions in the first embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0039] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and they cannot be understood as limitations on the present invention.

[0040] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0041] Embodiment 1

[0042] Embodiment 1 of the present invention introduces a method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions.

[0043] like Figure 1As shown, the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions in this embodiment monitors the throttle and brake signals in real time through the vehicle controller, and receives the status information of ESC, AEB, ABS and EBS at the same time, and coordinates each control unit to adjust the motor torque output in real time to ensure stable control of the vehicle under extreme working conditions; specifically, it includes: normal mode torque calculation, body stability control signal acquisition, extreme working condition torque control and abnormal state torque limitation.

[0044] In the process of torque calculation in normal mode, the vehicle controller uses the on-board sensor to collect the accelerator pedal signal and brake pedal signal, and calculates the torque according to the accelerator pedal opening P. acc and brake pedal opening P brk Determine whether the vehicle is currently in a braking or driving state, and then calculate the motor expected torque T under different driving states based on the motor speed n and the EBS brake signal. nomal .

[0045] If the accelerator pedal opening is greater than 5, that is, P acc >5, the vehicle is in the driving state, according to the accelerator pedal opening and the motor speed n, the motor request torque in the driving state is obtained by looking up the table, and the desired torque of the driving motor is specified to be positive, that is, T q =map{P acc ,n} and T q >0.

[0046] If the brake pedal opening is greater than 5, that is, P brk >5, the vehicle is in the braking state, according to the brake pedal opening and motor speed n, the motor torque required in the braking state is obtained by looking up the table, and the braking torque is specified to be negative.

[0047] T b1 =map{P brk ,n}, and T b1 <0; At the same time, the vehicle controller receives the braking request torque T of the EBS system through the CAN bus e , T e <0, combined with the current motor speed n, compare the two and determine the final brake motor expected torque T b In order to ensure the braking performance and comfort of the vehicle at the same time, the braking exit reference speed n is set d ; If the current motor speed is greater than the reference speed, that is, n>n d , brake request torque T b Equal to T b1 and T e The minimum value of T b = min{T b1 ,T e}; If the current motor speed is less than or equal to the reference speed, that is, n≤n d, brake motor expected torque T b Equal to T b1 and T e The maximum value, that is, T b =max{T b1 ,T e}.

[0048] Therefore, the motor desired torque T nomal for:

[0049]

[0050] At the same time, the vehicle controller obtains the actual torque T of the motor through the CAN bus. ral .

[0051] As one or more implementation modes, the vehicle controller obtains AEB, ESC and ABS information through the CAN bus to confirm the current working status of each control unit of the vehicle:

[0052] If the AEB signal is valid, aeb =1, the AEB function is normal; if the AEB signal is invalid, that is, aeb =0, the AEB function is invalid. If the AEB function is normal, the AEB working mode is determined at the same time. If aeb_mode=1, the AEB function is activated and emergency braking is required. The braking force consists of two parts: electric brake torque and air brake deceleration. The vehicle controller obtains the AEB electric brake request torque T through the CAN bus. aeb , and T aeb <0, and the air brake request deceleration a aeb ; If aeb_mode=0, the AEB function is not activated and no braking is required, that is, T aeb =0,a aeb = 0. If the AEB function fails, T aeb =0,a aeb =0.

[0053] If the ESC signal is valid, that is, en_esc=1, the ESC function is normal. If the ESC signal is invalid, that is, en_esc=0, the ESC function is invalid. If the ESC function is normal, the ESC working mode is determined at the same time. If esc_mode=1, the ESC function is activated, and the vehicle controller obtains the ESC request torque T through the CAN bus. esc , if T esc <0, braking torque reduction, if T esc >0, for driving torque reduction; if esc_mode=0, that is, the ESC function is not activated, then T esc = 0. If the ESC function fails normally, T esc =0.

[0054] If the ABS signal is valid, abs =1, ABS function is normal, if ABS signal is invalid, that is, en abs =0, ABS function is invalid. If ABS function is normal, the ABS working mode is judged at the same time. If abs_mode=1, the ABS function is activated. If abs_mode=0, the ABS function is not activated. If the ABS function is normally invalid, the ABS function cannot be activated.

[0055] As one or more implementation modes, the vehicle controller calculates the final motor request torque based on the vehicle normal mode request torque calculated by the throttle, brake, motor speed and EBS system, and then combines the AEB, ESC and ABS states triggered by extreme working conditions.

[0056] If the AEB function is activated, and the ESC and ABS functions are not activated, that is,

[0057] aeb_mode=1&&esc_mode=0&&abs_mode=0; Compare T nomal and T aeb The size of the motor is taken as the minimum value, and the target torque required by the motor is T = min {T nomal ,T aeb}, and at the same time the vehicle controller sets the target deceleration a=a aeb A signal is sent to the EBS system for air braking.

[0058] If the AEB and ESC functions are activated, and the ABS function is not activated, that is,

[0059] aeb_mode=1&&esc_mode=1&&abs_mode=0; calculate T first nomal and T aeb The minimum value T 1 , T 1 = min{T nomal ,T aeb}, then determine whether the vehicle ESC working state is braking torque reduction or driving torque reduction. If the ESC working state is braking torque reduction, that is, T esc <0, compare T esc and T 1 size, take the maximum value T = max{T 1 ,T esc}=max{min{T nomal ,T aeb},T esc}, since the ESC working mode is braking torque reduction, in order to ensure that the total braking force of the vehicle remains unchanged, it is necessary to convert the reduced electric braking torque into air braking for superimposed control, and the reduced torque ΔT = TT 1, converting ΔT into superimposed deceleration, where i is the gear ratio, r is the tire radius, and M is the vehicle mass. At the same time, the vehicle controller converts the AEB request deceleration a aeb The final deceleration signal a is added to the superimposed deceleration Δa and sent to the EBS system for air braking, that is, If the ESC working mode is driving torque reduction, that is, T esc >0, no need to consider ESC command control, that is, T=min{T nomal ,T aeb}, a=a aeb .

[0060] If the ESC function is activated, and the AEB and ABS functions are not activated, that is,

[0061] aeb_mode=0&&esc_mode=1&&abs_mode=0; Determine whether the vehicle is in driving state or braking state. If the vehicle is in driving state, T nomal >0, and the ESC working mode is driving torque reduction T esc >0, the motor's requested torque is T=min{T nomal ,T esc}; If the vehicle is in braking state T nomal <0, and the ESC working mode is braking torque reduction T esc <0, the motor's requested torque is T=max{T nomal ,T esc If the vehicle is in driving state and the ESC working mode is braking torque reduction, or the vehicle is in braking state and the ESC working mode is driving torque reduction, there is no need to respond to the ESC command, and the requested torque of the motor remains unchanged T = T nomal .

[0062] If the ABS function is activated, and the AEB and ESC functions are not activated, that is,

[0063] aeb_mode=0&&esc_mode=0&&abs_mode=1; Determine whether the vehicle is in driving state or braking state. If the vehicle is in driving state, T nomal >0, no need to respond to ABS command, the motor's requested torque remains unchanged T = T nomal ; If the vehicle is in braking state T nomal <0, then the requested torque needs to be quickly cleared, T=0.

[0064] If ABS and ESC functions are activated at the same time, and AEB function is not activated, that is, aeb_mode=0&&esc_mode=1&&abs_mode=1. Determine whether the vehicle is in driving state or braking state. If the vehicle is in driving state, Tnomal >0, just respond to the ESC control command and judge the working mode of ESC. If the working mode of ESC is to drive torque reduction, T esc >0, the motor's requested torque T=min{T nomal ,T esc}; If the ESC working mode is braking torque reduction T esc <0, the motor's requested torque remains unchanged T = T nomal If the vehicle is in braking state T nomal <0, only the ABS control command needs to be responded to, so the requested torque needs to be quickly cleared, T=0.

[0065] If ABS and AEB functions are activated at the same time, there is no need to consider the ESC working state, that is, aeb_mode=0&&abs_mode=1. First calculate T nomal and T aeb The minimum value T 1 ,

[0066] T 1 =min{T nomal ,T aeb}, due to the activation of the ABS function, the electric brake torque is quickly cleared, that is, T = 0. In order to ensure that the total braking force of the vehicle remains unchanged, it is necessary to convert the reduced electric brake torque into air brake for superimposed control. The reduced torque ΔT = T 1 , convert ΔT into superimposed deceleration, At the same time, the vehicle controller sends the AEB request deceleration a aeb The final deceleration signal a is added to the superimposed deceleration Δa and sent to the EBS system for air braking, that is,

[0067] Therefore, the motor target torque request formula is:

[0068]

[0069] In this embodiment, in order to further ensure driving safety, if the AEB, ESC or ABS function fails, that is, aeb =0||en esc =0||en abs =0, the vehicle needs to limit the torque according to the priority level. If the esc function fails, aeb =0, the vehicle is torque limited to 50%, T = T nomal *50%; if the ABS function fails abs =0, the vehicle is limited to 60% torque, T = T nomal *60% if aeb function fails aeb =0, the vehicle is limited to 80% torque, T = T nomal*80%; at the same time, the vehicle controller needs to feed back the failure status to the instrument for display, reminding the driver to repair the vehicle in time.

[0070] This embodiment uses the vehicle controller to monitor the throttle and brake signals in real time, receives the status information of ESC, AEB, ABS and EBS, and coordinates with each control unit to adjust the motor torque output in real time to ensure stable control of the vehicle under extreme conditions and improve vehicle driving safety and comfort; it solves the problem of vehicle body loss of control caused by emergency braking or emergency torque reduction under extreme conditions in intelligent connected vehicles.

[0071] Embodiment 2

[0072] Embodiment 2 of the present invention introduces a body stability torque control system for an intelligent connected vehicle under extreme operating conditions.

[0073] A body stability torque control system for an intelligent connected vehicle under extreme working conditions, comprising:

[0074] An acquisition module, which is configured to acquire real-time status information of the vehicle and a vehicle body stability control signal;

[0075] A determination module, configured to determine the operating state of the vehicle according to the acquired real-time state information;

[0076] A calculation module configured to calculate the motor expected torque in different operating states of the vehicle;

[0077] A determination module, configured to determine the working states of different control units of the current vehicle according to the obtained vehicle body stability control signal;

[0078] The control module is configured to determine the target requested torque of the vehicle motor according to the working status of different control units of the vehicle and the expected torque of the motor in different operating states, and complete the control of the vehicle body stability torque under extreme working conditions.

[0079] The detailed steps are the same as the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions provided in Example 1, and will not be repeated here.

[0080] Embodiment 3

[0081] Embodiment 3 of the present invention provides a computer-readable storage medium.

[0082] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in the first embodiment of the present invention.

[0083] The detailed steps are the same as the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions provided in Example 1, and will not be repeated here.

[0084] Embodiment 4

[0085] A fourth embodiment of the present invention provides an electronic device.

[0086] An electronic device comprises a memory, a processor and a program stored in the memory and running on the processor, wherein when the processor executes the program, the steps in the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in the first embodiment of the present invention are implemented.

[0087] The detailed steps are the same as the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions provided in Example 1, and will not be repeated here.

[0088] Embodiment 5

[0089] Embodiment 5 of the present invention provides a computer program product.

[0090] A computer program product includes software code, wherein the program in the software code executes the steps in the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in the first embodiment of the present invention.

[0091] The detailed steps are the same as the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions provided in Example 1, and will not be repeated here.

[0092] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions, characterized in that: include: Obtain real-time status information of the vehicle and body stability control signals; Determine the running status of the vehicle according to the acquired real-time status information; Calculate the expected torque of the motor in different operating states of the vehicle; Determine the working status of different control units of the current vehicle according to the obtained vehicle body stability control signal; According to the working status of different control units of the vehicle and the expected torque of the motor in different operating states, the target requested torque of the vehicle motor is determined to complete the control of the vehicle body stability torque under extreme working conditions.

2. A method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as claimed in claim 1, characterized in that: The acquired vehicle real-time status information includes at least an accelerator pedal signal, a brake pedal signal and a motor speed; the acquired vehicle body stability control signal includes emergency braking information, vehicle body stability information and vehicle anti-lock braking information.

3. A method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as claimed in claim 2, characterized in that: In the process of determining the running state of the vehicle, determining the accelerator pedal opening and the brake pedal opening according to the acquired accelerator pedal signal and brake pedal signal; If the accelerator pedal opening is greater than the accelerator pedal opening threshold, the vehicle is in a driving state; If the brake pedal opening is greater than the brake pedal opening threshold, the vehicle is in a braking state.

4. A method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as claimed in claim 3, characterized in that: When the vehicle is in a driving state, the desired torque of the driving motor is determined according to the accelerator pedal opening and the motor speed. When the vehicle is in a braking state, the requested torque of the brake motor is obtained according to the brake pedal opening and the motor speed. The desired torque of the brake motor is determined by combining the motor speed, the motor reference speed and the electronic brake requested torque, that is, the desired torque of the motor in different operating states is obtained.

5. The method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as claimed in claim 1, characterized in that: Determine whether the acquired vehicle stability control signal is valid, determine the working state of the vehicle in combination with the working modes of different vehicle stability control signals, and determine the working states of different control units of the current vehicle.

6. A method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as claimed in claim 1, characterized in that: When at least one of the acquired body stability control signals fails, the motor torque is limited according to the priority level of the failed body stability control signal, and the limited torque is fed back to the instrument panel to prompt the vehicle driver to repair in time.

7. A body stability torque control system for an intelligent connected vehicle under extreme working conditions, characterized in that: include: An acquisition module, which is configured to acquire real-time status information of the vehicle and a vehicle body stability control signal; A determination module, configured to determine the operating state of the vehicle according to the acquired real-time state information; A calculation module configured to calculate the motor desired torque in different operating states of the vehicle; A determination module, configured to determine the working states of different control units of the current vehicle according to the obtained vehicle body stability control signal; The control module is configured to determine the target requested torque of the vehicle motor according to the working status of different control units of the vehicle and the expected torque of the motor in different operating states, and complete the control of the vehicle body stability torque under extreme working conditions.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in any one of claims 1-6 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in any one of claims 1-6 are implemented.

10. A computer program product comprising software code, characterized in that The program in the software code executes the steps of the method for controlling the body stability torque of an intelligent connected vehicle under extreme working conditions as described in any one of claims 1-6.

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