Torque compensation method and device of vehicle, vehicle and storage medium

Abstract

The invention discloses a torque compensation method and device of a vehicle, the vehicle and a storage medium, and relates to the technical field of vehicles, and the method comprises the steps that after it is determined that the vehicle runs in an economic mode and meets preset conditions, the target acceleration is determined according to the current speed and the current load of the vehicle; and the current acceleration of the vehicle is adjusted to the target acceleration, and torque compensation is conducted on the vehicle. According to the technical scheme, when the vehicle cannot climb on the basis of the economic mode, torque compensation of the vehicle is achieved by adjusting the acceleration, so that the vehicle can climb on the basis of the economic mode and climb without increasing energy consumption, and the energy consumption of the vehicle is reduced.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle technology, and in particular, to a vehicle torque compensation method, device, vehicle, and storage medium. Background Art

[0002] For special transport vehicles, they usually operate in fixed areas. The road conditions in fixed areas are generally relatively fixed. In order to reduce costs, there is no need to install slope sensors. In order to further reduce costs, two operating modes are usually set for the vehicle, economic mode and power mode. In addition, the output torque of the economic mode is smaller, and the output torque of the power mode is larger. When the vehicle climbs a slope based on the economic mode, there may be insufficient power. At this time, it can be switched to the power mode to increase the output torque, thereby improving the power of the vehicle.

[0003] However, by switching from economy mode to power mode to climb a hill, there will be a waste of power due to failure to switch back to economy mode in time, which will lead to higher energy consumption of the vehicle. Summary of the invention

[0004] The present invention provides a vehicle torque compensation method, device, vehicle and storage medium, which realize torque compensation for a vehicle running in an economic mode while avoiding power waste, thereby reducing vehicle energy consumption.

[0005] In a first aspect, an embodiment of the present invention provides a torque compensation method for a vehicle, comprising:

[0006] After determining that the vehicle is running in the economic mode and meets the preset conditions, determining the target acceleration according to the current speed and current load of the vehicle;

[0007] By adjusting the current acceleration of the vehicle to the target acceleration, torque compensation is performed on the vehicle.

[0008] The technical solution of the embodiment of the present invention provides a torque compensation method for a vehicle, including: after determining that the vehicle is running in an economic mode and meets preset conditions, determining a target acceleration according to the current speed and current load of the vehicle; and performing torque compensation on the vehicle by adjusting the current acceleration of the vehicle to the target acceleration. The above technical solution can determine that the vehicle is running in an economic mode and cannot climb a hill by monitoring the vehicle to determine that the vehicle is running in an economic mode and meets preset conditions. At this time, the target acceleration required for the vehicle running in an economic mode and running at the current speed based on the current load to climb a hill can be determined according to the current speed and current load of the vehicle, and then the current acceleration of the vehicle can be adjusted to the target acceleration. When the vehicle cannot climb a hill based on the economic mode, torque compensation for the vehicle is achieved by adjusting the acceleration, so that the vehicle can climb a hill based on the economic mode, and climb a hill without increasing energy consumption, thereby reducing vehicle energy consumption.

[0009] Furthermore, the preset conditions include: the current pedal opening of the vehicle satisfies a preset opening condition, the duration for which the current pedal opening satisfies the preset opening condition satisfies a preset time condition, and the current acceleration satisfies a preset acceleration condition.

[0010] Furthermore, it also includes:

[0011] Determine the current operation mode of the vehicle, and obtain current operation data of the vehicle, wherein the current operation data includes the current vehicle speed, the current load, the current pedal opening, and the current acceleration;

[0012] After determining that the current operating mode is the economy mode, determining whether the current pedal opening satisfies the preset opening condition, determining whether the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and determining whether the current acceleration satisfies the preset acceleration condition;

[0013] When it is determined that the current pedal opening satisfies the preset opening condition, the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and the current acceleration satisfies the preset acceleration condition, it is determined that the vehicle is operating in the economy mode and satisfies the preset conditions.

[0014] Further, determining the target acceleration according to the current speed and current load of the vehicle includes:

[0015] Searching a corresponding relationship table of vehicle speed, load and acceleration according to the current vehicle speed and the current load;

[0016] Determine in the relationship table the speed interval corresponding to the current vehicle speed, and determine the load interval corresponding to the current load;

[0017] The acceleration corresponding to the speed interval corresponding to the acceleration vehicle speed and the load interval corresponding to the current load in the relationship table is determined as the target acceleration.

[0018] Further, by adjusting the current acceleration of the vehicle to the target acceleration, comprising:

[0019] Using the current acceleration as a feedback value and the target acceleration as a target value;

[0020] The motor speed is adjusted based on a proportional-integral-derivative (PID) algorithm until the current acceleration reaches the target acceleration.

[0021] Further, adjusting the motor speed based on the PID algorithm until the current acceleration reaches the target acceleration includes:

[0022] Calculating the acceleration difference between the target acceleration and the current acceleration;

[0023] Determine a proportional control amount, an integral control amount and a differential control amount according to the acceleration difference, and determine the control amount according to the proportional control amount, the integral control amount and the differential control amount;

[0024] After adjusting the motor speed based on the control amount, returning to the step of calculating the acceleration difference between the target acceleration and the current acceleration until the current acceleration reaches the target acceleration.

[0025] Furthermore, it also includes:

[0026] After determining that the current pedal opening of the vehicle does not meet the preset opening condition, stopping the torque compensation.

[0027] In a second aspect, an embodiment of the present invention further provides a torque compensation device for a vehicle, comprising:

[0028] A determination module, configured to determine a target acceleration according to a current speed and a current load of the vehicle after determining that the vehicle is running in an economic mode and a preset condition is met;

[0029] The adjustment module is used for performing torque compensation on the vehicle by adjusting the current acceleration of the vehicle to the target acceleration.

[0030] In a third aspect, an embodiment of the present invention further provides a vehicle, the vehicle comprising:

[0031] at least one processor; and a memory communicatively coupled to the at least one processor;

[0032] Wherein, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the torque compensation method for the vehicle as described in any one of the first aspects.

[0033] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute a torque compensation method for a vehicle as described in any one of the first aspects.

[0034] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed on a computer, the computer executes the torque compensation method for a vehicle provided in the first aspect.

[0035] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium, wherein the computer-readable storage medium may be packaged together with the processor of the torque compensation device, or may be packaged separately from the processor of the torque compensation device, which is not limited in this application.

[0036] The description of the second, third, fourth and fifth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third, fourth and fifth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0037] In this application, the name of the torque compensation device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they fall within the scope of the claims of this application and their equivalent technologies.

[0038] These and other aspects of the present application will become more apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1A flow chart of a vehicle torque compensation method provided by an embodiment of the present invention;

[0041] Figure 2 A flow chart of another vehicle torque compensation method provided by an embodiment of the present invention;

[0042] Figure 3 A schematic structural diagram of a torque compensation device for a vehicle provided by an embodiment of the present invention;

[0043] Figure 4 A schematic structural diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0045] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0046] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0047] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0048] It should be mentioned before discussing exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe various operations (or steps) as sequential processes, many operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of various operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to methods, functions, procedures, subroutines, subprograms, etc. In addition, the embodiments in the present invention and the features in the embodiments can be combined with each other without conflict.

[0049] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0050] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0051] Figure 1 A flow chart of a vehicle torque compensation method provided by an embodiment of the present invention. This embodiment is applicable to situations where the vehicle energy consumption needs to be reduced. The method can be executed by a vehicle torque compensation device, such as Figure 1 As shown, the specific steps include:

[0052] Step 110: After determining that the vehicle is running in the economy mode and meets the preset conditions, determine the target acceleration according to the current speed and current load of the vehicle.

[0053] The vehicle may be a transport vehicle operating in a fixed area, and the vehicle has two operating modes: an economic mode and a power mode, and the output torque of the economic mode is less than the output torque of the power mode. The preset condition is used to determine whether the vehicle is climbing a slope and lacks power.

[0054] Specifically, during the operation of the vehicle, the current operation mode of the vehicle can be determined, and the current operation data of the vehicle can also be obtained. The current operation data may include the current vehicle speed, the current load, the current pedal opening and the current acceleration. When the vehicle is running in the economic mode, and the current pedal opening and the current acceleration meet the preset conditions, it can be determined that the vehicle is climbing a slope based on the economic module and the power is insufficient to complete the climbing. At this time, torque compensation is required for the vehicle so that the vehicle can complete the climbing based on the economic mode.

[0055] Since the vehicle is a transport vehicle operating in a fixed area, a vehicle operation test can be carried out in advance in the fixed area to determine the acceleration required for the vehicle to complete climbing on various slopes in the fixed area at various speeds based on various loads, and a correspondence table among vehicle speed, load and acceleration can be constructed based on the experimental results.

[0056] In order to reduce vehicle energy consumption, torque compensation can be performed by adjusting the vehicle's acceleration. Therefore, it is necessary to determine a target acceleration that can support the vehicle to climb a slope based on the economic mode. Specifically, a corresponding relationship table of vehicle speed, load and acceleration can be searched based on the vehicle's current speed and current load, so that the target acceleration required for the vehicle running in the economic mode and running at the current speed based on the current load to climb a slope can be determined in the corresponding relationship table of vehicle speed, load and acceleration.

[0057] In an embodiment of the present invention, a target acceleration required for a vehicle running in an economic mode and at a current speed based on the current load to complete a climb is determined based on the current vehicle speed and current load when the vehicle is running in an economic mode and cannot complete a climb.

[0058] Step 120: Perform torque compensation on the vehicle by adjusting the current acceleration of the vehicle to the target acceleration.

[0059] Specifically, the torque compensation of the vehicle can be achieved by adjusting the current acceleration of the vehicle to the target acceleration. Specifically, the acceleration of the vehicle can be adjusted based on the PID algorithm, that is, the acceleration difference between the target acceleration and the current acceleration can be determined first, and after the control amount is determined according to the acceleration difference, the motor speed is adjusted based on the control amount until the current acceleration reaches the target acceleration.

[0060] In an embodiment of the present invention, by adjusting the current acceleration of the vehicle to the target acceleration, when the vehicle cannot climb a slope based on the economy mode, the acceleration is adjusted to achieve torque compensation for the vehicle, so that the vehicle can complete the climbing based on the economy mode and complete the climbing without increasing energy consumption, thereby achieving reduced vehicle energy consumption.

[0061] The torque compensation method for a vehicle provided in an embodiment of the present invention includes: after determining that the vehicle is running in an economic mode and meets preset conditions, determining a target acceleration according to the current speed and current load of the vehicle; and performing torque compensation on the vehicle by adjusting the current acceleration of the vehicle to the target acceleration. The above technical solution can determine that the vehicle is running in an economic mode and cannot climb a hill by monitoring the vehicle to determine that the vehicle is running in an economic mode and meets preset conditions. At this time, the target acceleration required for the vehicle running in an economic mode and running at the current speed based on the current load to climb a hill can be determined according to the current speed and current load of the vehicle, and then the current acceleration of the vehicle can be adjusted to the target acceleration. When the vehicle cannot climb a hill based on the economic mode, torque compensation for the vehicle is achieved by adjusting the acceleration, so that the vehicle can climb a hill based on the economic mode, and climb a hill without increasing energy consumption, thereby reducing vehicle energy consumption.

[0062] Figure 2This is a flow chart of another vehicle torque compensation method provided by an embodiment of the present invention. This embodiment is specific based on the above embodiment. Figure 2 As shown, in this embodiment, the method may further include:

[0063] Step 210: Determine the current operating mode of the vehicle and obtain current operating data of the vehicle.

[0064] The current operating data includes the current vehicle speed, the current load, the current pedal opening and the current acceleration.

[0065] Specifically, the current operating mode of the vehicle may be determined in the control system while the vehicle is running.

[0066] When the vehicle is equipped with a speed sensor, the current speed of the vehicle is obtained based on the speed sensor; when the vehicle is equipped with a load sensor, the current load of the vehicle is obtained based on the load sensor; when the vehicle is equipped with a position sensor at the accelerator pedal, the current pedal opening is determined based on the position sensor installed at the accelerator pedal; when the vehicle is equipped with an acceleration sensor, the current acceleration is determined based on the acceleration sensor.

[0067] If the vehicle is not equipped with a speed sensor, the current vehicle speed is determined based on the vehicle's previous position information at the previous moment, the vehicle's current position at the current moment, and the time difference between the current moment and the previous moment; if the vehicle is not equipped with a load sensor, the current load is determined based on the vehicle's tire pressure, suspension height and engine load; if the vehicle's accelerator pedal is not equipped with a position sensor, the current pedal opening is determined according to the vehicle's engine speed, air intake and fuel consumption rate; if the vehicle is not equipped with an acceleration sensor, the current acceleration is determined based on the vehicle's previous speed at the previous moment, the vehicle's current speed at the current moment, and the time difference between the current moment and the previous moment.

[0068] In an embodiment of the present invention, it is possible to determine the current operating mode of the vehicle and obtain the current speed, current load, current pedal opening, and current acceleration of the vehicle while the vehicle is running.

[0069] Step 220: After determining that the current operating mode is the economy mode, determine whether the current pedal opening satisfies the preset opening condition, determine whether the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and determine whether the current acceleration satisfies the preset acceleration condition.

[0070] Step 230: When it is determined that the current pedal opening satisfies the preset opening condition, the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and the current acceleration satisfies the preset acceleration condition, it is determined that the vehicle is operating in the economy mode and satisfies the preset conditions.

[0071] Among them, the preset opening condition, preset time condition and preset acceleration condition can all be set according to actual needs. For example, the preset opening condition can be greater than 90%, the preset time condition can be greater than 3s, and the preset acceleration condition can be an acceleration not greater than 2m / s.

[0072] Specifically, after determining that the current operating mode of the vehicle is the economy mode and determining the current pedal opening and current acceleration of the vehicle, it is possible to determine whether the current pedal opening satisfies a preset opening condition, that is, it is possible to determine whether the current pedal opening is greater than 90%. When it is determined that the current pedal opening is greater than 90%, it is possible to determine whether the duration of the current pedal opening satisfying the preset opening condition satisfies a preset time condition, that is, it is possible to determine whether the duration of the current pedal opening being greater than 90% is greater than 3s. It is also possible to determine whether the current acceleration satisfies a preset acceleration condition, that is, it is possible to determine whether the current acceleration is not greater than 2m / s.

[0073] When it is determined that the current pedal opening is greater than 90% for a duration greater than 3s and the current acceleration is not greater than 2m / s, it can be determined that the vehicle is operating in economy mode and meets the preset conditions, that is, it can be determined that the vehicle is climbing a slope based on the economy mode and has insufficient power, and further it can be determined that the vehicle is in a state requiring torque compensation.

[0074] Of course, if it is determined that the vehicle does not meet any one of the preset opening condition, the preset time condition and the preset acceleration condition, it can be determined that the vehicle is in a state where torque compensation is not required.

[0075] In the embodiment of the present invention, the vehicle running state is determined.

[0076] Step 240: Determine a target acceleration according to the current speed and current load of the vehicle.

[0077] In one implementation, step 240 may specifically include:

[0078] According to the current vehicle speed and the current load, a correspondence table of vehicle speed, load and acceleration is searched; in the relationship table, a speed range corresponding to the current vehicle speed is determined, and a load range corresponding to the current load is determined; and the acceleration corresponding to the speed range corresponding to the accelerated vehicle speed and the load range corresponding to the current load in the relationship table is determined as the target acceleration.

[0079] Specifically, it is determined that the vehicle is running in the economic mode and meets the preset conditions to determine that the vehicle is in a state where torque compensation is required. As mentioned above, in order to reduce the energy consumption of the vehicle, the vehicle can be torque compensated by adjusting the acceleration of the vehicle. Furthermore, it is necessary to determine the target acceleration that can support the vehicle to complete the climbing based on the economic mode. Specifically, the corresponding relationship table of vehicle speed, load and acceleration can be searched based on the current vehicle speed and the current load, and the speed intervals in the corresponding relationship table of vehicle speed, load and acceleration can be compared with the current vehicle speed. The speed interval with a lower speed limit less than the current vehicle speed and an upper speed limit greater than the current vehicle speed is determined as the speed interval corresponding to the current vehicle speed, and the load intervals in the corresponding relationship table of the current load and vehicle speed, load and acceleration are compared. The load interval with a lower load limit less than the current load and an upper load limit greater than the current load is determined as the load interval corresponding to the current load, and then, the acceleration corresponding to the speed interval corresponding to the current vehicle speed and the load interval corresponding to the current load is determined in the corresponding relationship table of vehicle speed, load and acceleration, and the acceleration is determined as the target acceleration.

[0080] In an embodiment of the present invention, a target acceleration required for a vehicle running in an economic mode and at a current speed based on the current load to complete a climb is determined based on the current vehicle speed and current load when the vehicle is running in an economic mode and cannot complete a climb.

[0081] Step 250: Adjust the current acceleration of the vehicle to the target acceleration to perform torque compensation on the vehicle.

[0082] In one implementation, adjusting the current acceleration of the vehicle to the target acceleration includes:

[0083] The current acceleration is used as a feedback value, and the target acceleration is used as a target value; the motor speed is adjusted based on a PID algorithm until the current acceleration reaches the target acceleration.

[0084] Further, adjusting the motor speed based on the PID algorithm until the current acceleration reaches the target acceleration includes:

[0085] Calculate the acceleration difference between the target acceleration and the current acceleration; determine the proportional control amount, the integral control amount and the differential control amount according to the acceleration difference, and determine the control amount according to the proportional control amount, the integral control amount and the differential control amount; after adjusting the motor speed based on the control amount, return to execute the calculation of the acceleration difference between the target acceleration and the current acceleration until the current acceleration reaches the target acceleration.

[0086] Specifically, the current acceleration is used as the feedback value of the PID algorithm, the target acceleration is used as the target value of the PID algorithm, and the difference between the target value and the feedback value is determined, that is, the acceleration difference between the target acceleration and the current acceleration can be determined. The proportional control amount is determined according to the acceleration difference and the proportional coefficient, the integral control amount is determined according to the acceleration difference and the integral coefficient, the differential control amount is determined according to the acceleration difference and the differential coefficient, and the control amount is determined by summing the proportional control amount, the integral control amount, and the differential control amount. After adjusting the motor speed based on the control amount, the current acceleration will also be randomly adjusted, and the adjusted acceleration will be used as the latest acceleration, and the acceleration difference between the target acceleration and the current acceleration will be returned to execute the calculation until the acceleration difference is zero, that is, until the current acceleration reaches the target acceleration.

[0087] In the embodiment of the present invention, the current acceleration is adjusted to the target acceleration based on the PID algorithm.

[0088] Step 260: After determining that the current pedal opening of the vehicle does not meet the preset opening condition, stop torque compensation.

[0089] Specifically, when it is determined that the current pedal opening does not meet the preset opening condition, that is, when it is determined that the current pedal opening is not greater than 90%, it can be determined that the driver has released the pedal, and then it can be determined that the climbing is over and no torque compensation is required. At this time, torque compensation can be stopped.

[0090] In the embodiment of the present invention, the torque compensation for the vehicle is stopped in time to ensure the smoothness of the vehicle's running.

[0091] A torque compensation method for a vehicle provided in an embodiment of the present invention includes: determining a current operating mode of the vehicle and acquiring current operating data of the vehicle; after determining that the current operating mode is an economic mode, determining whether the current pedal opening satisfies the preset opening condition, determining whether the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and determining whether the current acceleration satisfies the preset acceleration condition; when it is determined that the current pedal opening satisfies the preset opening condition, the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and the current acceleration satisfies the preset acceleration condition, determining that the vehicle is operating in the economic mode and satisfies the preset condition; after determining that the vehicle is operating in the economic mode and satisfies the preset condition, determining a target acceleration according to the current vehicle speed and current load of the vehicle; performing torque compensation on the vehicle by adjusting the current acceleration of the vehicle to the target acceleration; and stopping torque compensation after determining that the current pedal opening of the vehicle does not satisfy the preset opening condition. The above technical scheme determines the current operating mode of the vehicle, obtains the current speed, current load, current pedal opening, and current acceleration of the vehicle when the vehicle is running. When it is determined that the current operating mode is the economic mode and the current pedal opening satisfies the preset opening condition, the duration of the current pedal opening satisfying the preset opening condition satisfies the preset time condition, and the current acceleration satisfies the preset acceleration condition, it is determined that the vehicle is running in the economic mode and satisfies the preset conditions, that is, the vehicle is running in the economic mode and cannot complete the climbing. At this time, the target acceleration required for the vehicle running in the economic mode and running at the current speed based on the current load to complete the climbing can be determined according to the current speed and current load of the vehicle. Then, the current acceleration of the vehicle can be adjusted to the target acceleration based on the PID algorithm. When the vehicle cannot climb the slope based on the economic mode, torque compensation for the vehicle is achieved by adjusting the acceleration, so that the vehicle can complete the climbing based on the economic mode and complete the climbing without increasing energy consumption, thereby reducing the energy consumption of the vehicle. Moreover, after it is determined that the current pedal opening of the vehicle does not meet the preset opening condition, torque compensation is stopped, so that torque compensation for the vehicle is stopped in time to ensure the smoothness of the vehicle's driving.

[0092] Figure 3 The present invention provides a schematic diagram of the structure of a torque compensation device for a vehicle, which can be applied to situations where the energy consumption of the vehicle needs to be reduced. The device can be implemented by software and / or hardware and is generally integrated in the vehicle.

[0093] like Figure 3 As shown, the device comprises:

[0094] A determination module 310 is used to determine a target acceleration according to a current speed and a current load of the vehicle after determining that the vehicle is running in an economic mode and a preset condition is met;

[0095] The adjustment module 320 is configured to perform torque compensation on the vehicle by adjusting the current acceleration of the vehicle to the target acceleration.

[0096] The torque compensation device of the vehicle provided in this embodiment determines the target acceleration according to the current speed and current load of the vehicle after determining that the vehicle is running in the economic mode and meets the preset conditions; and performs torque compensation on the vehicle by adjusting the current acceleration of the vehicle to the target acceleration. The above technical solution can determine that the vehicle is running in the economic mode and cannot climb the slope by monitoring the vehicle and determining that the vehicle is running in the economic mode and meets the preset conditions. At this time, the target acceleration required for the vehicle running in the economic mode and running at the current speed based on the current load to climb the slope can be determined according to the current speed and current load of the vehicle, and then the current acceleration of the vehicle can be adjusted to the target acceleration. When the vehicle cannot climb the slope based on the economic mode, the torque compensation of the vehicle is achieved by adjusting the acceleration, so that the vehicle can climb the slope based on the economic mode, and complete the climbing without increasing energy consumption, thereby reducing the energy consumption of the vehicle.

[0097] In one embodiment, the preset conditions include: the current pedal opening of the vehicle satisfies a preset opening condition, the duration for which the current pedal opening satisfies the preset opening condition satisfies a preset time condition, and the current acceleration satisfies a preset acceleration condition.

[0098] Based on the above embodiment, the device further includes:

[0099] A judgment module is used to determine the current operating mode of the vehicle and obtain the current operating data of the vehicle, wherein the current operating data includes the current vehicle speed, the current load, the current pedal opening and the current acceleration; after determining that the current operating mode is the economy mode, determine whether the current pedal opening satisfies the preset opening condition, determine whether the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and determine whether the current acceleration satisfies the preset acceleration condition; when it is determined that the current pedal opening satisfies the preset opening condition, the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and the current acceleration satisfies the preset acceleration condition, it is determined that the vehicle is operating in the economy mode and satisfies the preset conditions.

[0100] Based on the above embodiment, the determination module 310 is specifically used for:

[0101] After determining that the vehicle is operating in economy mode and meets preset conditions, a correspondence table among vehicle speed, load and acceleration is searched according to the current vehicle speed and the current load; a speed range corresponding to the current vehicle speed is determined in the relationship table, and a load range corresponding to the current load is determined; and the acceleration corresponding to the speed range corresponding to the acceleration speed and the load range corresponding to the current load in the relationship table is determined as the target acceleration.

[0102] Based on the above embodiment, the adjustment module 320 is specifically used for:

[0103] After determining that the vehicle is running in the economy mode and meets the preset conditions, the current acceleration is used as a feedback value and the target acceleration is used as a target value; the motor speed is adjusted based on the PID algorithm until the current acceleration reaches the target acceleration.

[0104] In one implementation, adjusting the motor speed based on a PID algorithm until the current acceleration reaches the target acceleration includes:

[0105] Calculating the acceleration difference between the target acceleration and the current acceleration;

[0106] Determine a proportional control amount, an integral control amount and a differential control amount according to the acceleration difference, and determine the control amount according to the proportional control amount, the integral control amount and the differential control amount;

[0107] After adjusting the motor speed based on the control amount, returning to the step of calculating the acceleration difference between the target acceleration and the current acceleration until the current acceleration reaches the target acceleration.

[0108] Based on the above embodiment, the device further includes:

[0109] The execution module is used to stop torque compensation after determining that the current pedal opening of the vehicle does not meet the preset opening condition.

[0110] The vehicle torque compensation device provided in the embodiment of the present invention can execute the vehicle torque compensation method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the vehicle torque compensation method.

[0111] It is worth noting that in the embodiment of the torque compensation device of the above-mentioned vehicle, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0112] Figure 4A schematic structural diagram of a vehicle provided in an embodiment of the present invention. Figure 4 A block diagram of an exemplary vehicle 4 suitable for implementing embodiments of the present invention is shown. Figure 4 The vehicle 4 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0113] like Figure 4 As shown, vehicle 4 is represented in the form of a general purpose computing vehicle. Components of vehicle 4 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting various system components (including system memory 28 and processing unit 16).

[0114] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0115] The vehicle 4 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the vehicle 4, including volatile and non-volatile media, removable and non-removable media.

[0116] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The vehicle 4 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0117] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0118] The vehicle 4 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the vehicle 4, and / or any device that enables the vehicle 4 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the vehicle 4 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. Figure 4 As shown, the network adapter 20 communicates with other modules of the vehicle 4 via the bus 18. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with the vehicle 4, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0119] The processing unit 16 executes various functional applications and page displays by running the program stored in the system memory 28, for example, implementing the torque compensation method for a vehicle provided in an embodiment of the present invention, the method comprising:

[0120] After determining that the vehicle is running in the economic mode and meets the preset conditions, determining the target acceleration according to the current speed and current load of the vehicle;

[0121] By adjusting the current acceleration of the vehicle to the target acceleration, torque compensation is performed on the vehicle.

[0122] Of course, those skilled in the art will appreciate that the processor may also implement the technical solution of the vehicle torque compensation method provided in any embodiment of the present invention.

[0123] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a torque compensation method for a vehicle provided by an embodiment of the present invention is implemented. The method includes:

[0124] After determining that the vehicle is running in the economic mode and meets the preset conditions, determining the target acceleration according to the current speed and current load of the vehicle;

[0125] By adjusting the current acceleration of the vehicle to the target acceleration, torque compensation is performed on the vehicle.

[0126] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0127] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0128] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0129] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0130] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0131] In addition, the acquisition, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations.

[0132] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A torque compensation method for a vehicle, characterized in that: include: After determining that the vehicle is running in the economic mode and meets the preset conditions, determining the target acceleration according to the current speed and current load of the vehicle; The current acceleration of the vehicle is adjusted to the target acceleration to perform torque compensation on the vehicle.

2. The vehicle torque compensation method according to claim 1, characterized in that: The preset conditions include: the current pedal opening of the vehicle meets the preset opening condition, the duration for which the current pedal opening meets the preset opening condition meets the preset time condition, and the current acceleration meets the preset acceleration condition.

3. The vehicle torque compensation method according to claim 2, characterized in that: Also includes: Determine the current operation mode of the vehicle, and obtain current operation data of the vehicle, wherein the current operation data includes the current vehicle speed, the current load, the current pedal opening, and the current acceleration; After determining that the current operating mode is the economy mode, determining whether the current pedal opening satisfies the preset opening condition, determining whether the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and determining whether the current acceleration satisfies the preset acceleration condition; When it is determined that the current pedal opening satisfies the preset opening condition, the duration for which the current pedal opening satisfies the preset opening condition satisfies the preset time condition, and the current acceleration satisfies the preset acceleration condition, it is determined that the vehicle is operating in the economy mode and satisfies the preset conditions.

4. The vehicle torque compensation method according to claim 1, characterized in that: Determining a target acceleration according to a current speed and a current load of the vehicle includes: Searching a corresponding relationship table of vehicle speed, load and acceleration according to the current vehicle speed and the current load; Determine in the relationship table the speed interval corresponding to the current vehicle speed, and determine the load interval corresponding to the current load; The acceleration corresponding to the speed interval corresponding to the current vehicle speed and the load interval corresponding to the current load in the relationship table is determined as the target acceleration.

5. The vehicle torque compensation method according to claim 1, characterized in that: Adjusting the current acceleration of the vehicle to the target acceleration includes: Using the current acceleration as a feedback value and the target acceleration as a target value; The motor speed is adjusted based on a proportional-integral-derivative (PID) algorithm until the current acceleration reaches the target acceleration.

6. The vehicle torque compensation method according to claim 5, characterized in that: Adjusting the motor speed based on a proportional-integral-differential (PID) algorithm until the current acceleration reaches the target acceleration includes: Calculating the acceleration difference between the target acceleration and the current acceleration; Determine a proportional control amount, an integral control amount and a differential control amount according to the acceleration difference, and determine the control amount according to the proportional control amount, the integral control amount and the differential control amount; After adjusting the motor speed based on the control amount, returning to the step of calculating the acceleration difference between the target acceleration and the current acceleration until the current acceleration reaches the target acceleration.

7. The vehicle torque compensation method according to claim 2, characterized in that: Also includes: After determining that the current pedal opening of the vehicle does not meet the preset opening condition, stopping the torque compensation.

8. A torque compensation device for a vehicle, characterized in that: include: A determination module, configured to determine a target acceleration according to a current speed and a current load of the vehicle after determining that the vehicle is running in an economic mode and a preset condition is met; The adjustment module is used to adjust the current acceleration of the vehicle to the target acceleration so as to perform torque compensation on the vehicle.

9. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the torque compensation method for a vehicle as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to perform the torque compensation method for a vehicle as claimed in any one of claims 1 to 7 when executed by a computer processor.

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