Hybrid vehicle filtering control method and system

Abstract

The invention provides a hybrid vehicle filtering control method and system.The method comprises the steps that when it is detected that a driver steps on an accelerator pedal in real time, the pedal opening degree corresponding to the accelerator pedal is detected in real time; correspondingly detecting an initial demand torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule, and filtering the initial demand torque through a preset filtering module so as to output an actual demand torque matched with a wheel end in real time; analyzing the actual demand torque, and dividing a plurality of torque intervals according to the analyzed torque; and carrying out torque gradient filtering processing on the wheel end actual demand torque according to the plurality of torque intervals, wherein the torque gradient processing is realized through a comprehensive low-pass filtering algorithm and a variable slope gradient look-up table algorithm. The torque control of the wheel end can be smoothly completed, and the use experience of a user is correspondingly improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a hybrid vehicle filtering control method and system. Background Art

[0002] With the advancement of science and technology and the rapid development of productivity, cars have become popular in people's daily lives and have become one of the indispensable means of transportation for people's daily travel, greatly facilitating people's lives.

[0003] Among them, existing hybrid models need to undergo corresponding tests on the engine, drive motor and hybrid vehicle controller inside the vehicle before leaving the factory to ensure the drivability of the entire vehicle.

[0004] Furthermore, when the prior art tests the conditions of a vehicle stepping on the accelerator or releasing the accelerator, when the wheel-end demand torque changes quickly, it will directly cause the vehicle to jerk, the motor to shake, and other phenomena. Correspondingly, when the wheel-end demand torque changes slowly, the vehicle will have weak power when the accelerator is stepped on, and the vehicle will self-accelerate when the accelerator is released, thereby correspondingly reducing the user experience. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a hybrid vehicle filtering control method and system to solve the problem in the prior art that when the wheel-end demand torque changes rapidly, it will directly cause vehicle jerking, motor shaking and other phenomena. Correspondingly, when the wheel-end demand torque changes slowly, it will cause the vehicle to have weak power when the accelerator is stepped on, and the vehicle will self-accelerate when the accelerator is released, thereby reducing the user experience.

[0006] The first aspect of the embodiment of the present invention proposes:

[0007] A hybrid vehicle filtering control method, wherein the method comprises:

[0008] When it is detected in real time that the driver steps on the accelerator pedal, the pedal opening corresponding to the accelerator pedal is detected in real time;

[0009] Based on a preset rule, an initial required torque corresponding to the accelerator pedal is detected in real time according to the pedal opening, and the initial required torque is filtered by a preset filtering module to output an actual required torque adapted to the wheel end in real time;

[0010] Analyzing the actual required torque, and dividing a plurality of torque intervals according to the analyzed torque, each of the torque intervals being unique;

[0011] Different filtering algorithms are set for the torque intervals, and the wheel end required torque is transmitted to the wheel end through the filtering algorithm.

[0012] The beneficial effects of the present invention are:

[0013] 1. Divide different torque filtering areas according to the filtered wheel-end demand torque (the initial wheel-end demand torque is the torque after the filtering algorithm);

[0014] 2. Divide the torque filter area into four areas: negative, zero-crossing, uniform speed, and acceleration;

[0015] 3. Low-pass filter principle Y(k) = (1-a)Y(k-1) + aX(k); a = dt / T; where dt is the software execution time step, T is the time constant parameter, and torque filter calibration is performed through T. The calibration principle of T is based on the current execution vehicle speed;

[0016] 4. The variable slope control scheme uses the X-axis throttle, the Y-axis vehicle speed, and the Z-axis as the filtered torque filter coefficient, and performs a filter coefficient table lookup to achieve torque gradient changes;

[0017] 5. In the negative and zero-crossing intervals, the throttle speed is used to check the torque change slope, and in the uniform speed and acceleration areas, the vehicle speed is used to check the low-pass filter coefficient;

[0018] 6. The initial required torque of the wheel end is calculated by performing different torque filtering algorithms according to different torque filtering areas and calculating the output torque after filtering;

[0019] 7. The filtered output torque is then passed through a low-coefficient low-pass filter module to connect the torque changes caused by the filter algorithm or filter coefficient during the area switching process of the wheel-end torque. The above method can accurately and effectively control the torque transmitted to the wheel end, thereby effectively avoiding problems at the wheel end and correspondingly improving the user's driving experience.

[0020] Furthermore, the step of detecting the initial required torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule includes:

[0021] When the pedal opening is detected in real time, the real-time wheel end required torque is matched according to the data in the accelerator pedal analytical calibration data;

[0022] Based on different throttle openings and different vehicle speeds, the initial required torque of the corresponding wheel end is detected.

[0023] Furthermore, the method further comprises:

[0024] The initial required torque is detected in real time, and the corresponding torque filter interval is calculated, and the torque filter interval is divided into four intervals: negative, zero-crossing, uniform speed, and acceleration;

[0025] Different filtering algorithms are planned according to each of the torque filtering intervals, and low-pass filtering parameters and variable slope lookup table data are designed.

[0026] The method further comprises:

[0027] When the initial required torque is acquired in real time, the corresponding filter parameters are detected in real time according to the low-pass filter parameters and the variable slope lookup table data, and the driver's required torque after filtering is detected and output.

[0028] Furthermore, the accelerator pedal calibration data is a two-dimensional lookup table, in which the X-axis corresponds to the accelerator, the Y-axis corresponds to the vehicle speed, and the Z-axis corresponds to the initial required torque of the wheel end.

[0029] The second aspect of the embodiment of the present invention proposes:

[0030] A hybrid vehicle filtering control system, wherein the system comprises:

[0031] A detection module, for detecting in real time the pedal opening corresponding to the accelerator pedal when it is detected in real time that the driver steps on the accelerator pedal;

[0032] A first processing module is used to detect the initial required torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule, and filter the initial required torque through a preset filtering module to output the actual required torque adapted to the wheel end in real time;

[0033] A second processing module is used to analyze the actual required torque and divide it into a plurality of torque intervals according to the analyzed torque, each of which is unique;

[0034] The output module is used to set different filtering algorithms for the torque intervals, and the wheel end required torque is transmitted to the wheel end through the filtering algorithm.

[0035] Furthermore, the method further comprises:

[0036] The initial required torque is detected in real time, and the corresponding torque filter interval is calculated, and the torque filter interval is divided into four intervals: negative, zero-crossing, uniform speed, and acceleration;

[0037] Different filtering algorithms are planned according to each of the torque filtering intervals, and low-pass filtering parameters and variable slope lookup table data are designed.

[0038] Furthermore, the method further comprises:

[0039] When the initial required torque is acquired in real time, the corresponding filter parameters are detected in real time according to the low-pass filter parameters and the variable slope lookup table data, and the driver's required torque after filtering is detected and output.

[0040] Furthermore, the accelerator pedal calibration data is a two-dimensional lookup table, in which the X-axis corresponds to the accelerator, the Y-axis corresponds to the vehicle speed, and the Z-axis corresponds to the initial required torque of the wheel end.

[0041] The third aspect of the embodiment of the present invention proposes:

[0042] A computer comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the hybrid vehicle filtering control method as described above when executing the computer program.

[0043] The fourth aspect of the embodiments of the present invention proposes:

[0044] A readable storage medium stores a computer program, wherein when the program is executed by a processor, the hybrid vehicle filtering control method as described above is implemented.

[0045] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A flow chart of a hybrid vehicle filtering control method provided by a first embodiment of the present invention;

[0047] Figure 2 A software execution timing diagram of a hybrid vehicle filtering control method provided by a second embodiment of the present invention;

[0048] Figure 3 A filtering schematic diagram of a hybrid vehicle filtering control method provided in a second embodiment of the present invention before and after software modification;

[0049] Figure 4 A schematic diagram of the filtered torque of a hybrid vehicle filtering control method provided by the second embodiment of the present invention;

[0050] Figure 5 This is a structural block diagram of a hybrid vehicle filtering control system provided by the third embodiment of the present invention.

[0051] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0052] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0053] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0055] See also Figure 1 , shown is a hybrid vehicle filtering control method provided by the first embodiment of the present invention. The hybrid vehicle filtering control method provided by this embodiment can accurately and effectively control the torque transmitted to the wheel end, thereby eliminating the phenomenon of vehicle shaking, and correspondingly improving the user experience.

[0056] Specifically, this embodiment provides:

[0057] A hybrid vehicle filtering control method specifically comprises the following steps:

[0058] Step S10, when it is detected in real time that the driver steps on the accelerator pedal, the pedal opening corresponding to the accelerator pedal is detected in real time;

[0059] Step S20, detecting the initial required torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule, and filtering the initial required torque through a preset filtering module to output the actual required torque adapted to the wheel end in real time;

[0060] Step S30, analyzing the actual required torque, and dividing a plurality of torque intervals according to the analyzed torque, each of the torque intervals being unique;

[0061] Step S40, setting different filtering algorithms for the torque intervals, and transmitting the wheel end required torque to the wheel end through the filtering algorithm.

[0062] Specifically, in this embodiment, it should be noted that, in order to quickly and effectively control the torque transmitted to the wheel end, it is necessary to filter the torque output by the engine and the drive motor inside the vehicle in real time, and further output the actual output torque adapted to the wheel end. It should be noted that the hybrid vehicle filtering control method will be pre-set in the vehicle controller inside the vehicle. Specifically, in the actual application process, when the vehicle controller detects that the vehicle is started in real time, the hybrid vehicle filtering method will be immediately started accordingly, and it can detect in real time whether the driver steps on the accelerator pedal while the driver is driving the vehicle in real time.

[0063] Furthermore, after the driver's stepping on the accelerator pedal is detected in real time, the pedal opening corresponding to the current accelerator pedal will be further detected in real time. Preferably, the present invention will further detect the initial required torque corresponding to the current accelerator pedal in real time according to the current pedal opening according to the pre-set rules. At the same time, the current initial required torque will be immediately filtered by the filter module pre-set inside the current vehicle, and the actual required torque adapted to the wheel end of the current vehicle can be further output. Based on this, in order to further smoothly control the torque transmitted to the wheel end to prevent jitter, preferably, the present invention will further split the current actual required torque into several torque intervals. At the same time, each current torque interval will be input to the wheel end of the current vehicle in turn according to the size of each current torque interval, so as to further smoothly drive the vehicle forward, thereby greatly improving the user experience.

[0064] Second embodiment

[0065] Furthermore, the step of detecting the initial required torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule includes:

[0066] When the pedal opening is detected in real time, the real-time wheel end required torque is matched according to the data in the accelerator pedal analytical calibration data;

[0067] Based on different throttle openings and different vehicle speeds, the initial required torque of the corresponding wheel end is detected.

[0068] Furthermore, the step of detecting the initial required torque of the corresponding wheel end based on different throttle openings and different vehicle speeds includes:

[0069] Real-time detection of the opening value corresponding to the accelerator pedal, and real-time conversion of the opening value into a corresponding opening coefficient;

[0070] Real-time detection of a number of opening intervals corresponding to the opening column, each of which is unique;

[0071] The initial required torque is detected according to the torque column and the plurality of opening intervals.

[0072] In addition, in this embodiment, it is also necessary to explain that Figures 2 to 4 , the overall idea of ​​the present invention is:

[0073] 1. Divide different torque filter areas by filtered wheel end torque;

[0074] 2. Divide the torque filter area into four areas: negative, zero-crossing, uniform speed, and acceleration;

[0075] 3. In the negative and zero-crossing intervals, the throttle speed is used to check the torque change slope, and in the uniform speed and acceleration areas, the vehicle speed is used to check the low-pass filter coefficient;

[0076] 4. Low-pass filtering principle Y(k) = (1-a)Y(k-1) + aX(k); a = dt / T, where dt is the software execution time step, T is the time constant parameter, and torque filter calibration is performed through T;

[0077] 5. After the wheel-end torque undergoes torque filtering in different areas, it passes through a low-coefficient low-pass filter module to ensure torque connection when switching wheel-end torque areas.

[0078] Furthermore, the steps to implement the vehicle strategy are:

[0079] 1. After the driver steps on the accelerator pedal, the accelerator pedal analysis module looks up the table to obtain the driver's required torque. The torque passes through the filtering module to obtain the final driver's required torque and acts on the motor or engine and other actuators.

[0080] 2. According to the final driver demand torque value, it is divided into negative, zero-crossing, positive uniform speed, and positive acceleration intervals. When the driver steps on the accelerator pedal, the target torque is output according to the filtered torque optimization curve in the attached figure. In the negative and zero-crossing intervals, the filtered torque rises to the target torque according to a fixed torque gradient. In the uniform speed interval and driving interval, the filtered torque is processed according to the principle that the closer to the target value, the slower the change of the filtered torque slope. In addition, it should be noted that the driver's demand torque after filtering is then subjected to a low-coefficient low-pass filter module to achieve the torque connection problem between torque crossing different torque areas.

[0081] 3. The filtering principle of the acceleration and uniform speed interval is based on the principle that the closer to the target value, the slower the change of the torque slope after filtering. This can achieve Tipout immediately after Tipin, without self-acceleration of the vehicle and without causing problems such as vehicle setbacks. The fixed slope Ramp is used in the zero-crossing stage, which is easy to control the zero-crossing interval time and increase the calibrability of the motor zero-crossing interval.

[0082] 4. Calibration principle: Zero-crossing interval calibration principle. The higher the vehicle speed, the faster the torque gradient changes; the larger the throttle opening, the faster the torque gradient changes.

[0083] The negative calibration interval principle is that the higher the vehicle speed, the faster the torque gradient changes, and the larger the throttle opening, the faster the torque gradient changes.

[0084] The acceleration and uniform speed interval principle and the low-pass filter calibration data principle mean that the lower the vehicle speed, the smaller the low-pass filter coefficient.

[0085] Torque connection low-pass filter parameters: use a smaller filter coefficient.

[0086] The calibration parameters of driving performance filtering include the following aspects:

[0087] Zero-crossing calibration data

[0088]

[0089]

[0090] Negative calibration data

[0091]

[0092]

[0093] Acceleration and uniform speed interval pt1 calibration data

[0094] Speed 0 10 20 30 40 50 60 70 80 90 100 110 120 Filter coefficient 0.2 0.2 0.2 0.2 0.2 0.3 0.3 0.3 0.3 0.3 0.4 0.4 0.4

[0095] Torque connection pt1 calibration data

[0096] Speed 0 10 20 30 40 50 60 70 80 90 100 110 120 Filter coefficient 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03 0.03

[0097] See also Figure 5 , the third embodiment of the present invention provides:

[0098] A hybrid vehicle filtering control system, wherein the system comprises:

[0099] A detection module, for detecting in real time the pedal opening corresponding to the accelerator pedal when it is detected in real time that the driver steps on the accelerator pedal;

[0100] A first processing module is used to detect the initial required torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule, and filter the initial required torque through a preset filtering module to output the actual required torque adapted to the wheel end in real time;

[0101] A second processing module is used to analyze the actual required torque and divide it into a plurality of torque intervals according to the analyzed torque, each of which is unique;

[0102] The output module is used to set different filtering algorithms for the torque intervals, and the wheel end required torque is transmitted to the wheel end through the filtering algorithm.

[0103] Furthermore, the second processing module is specifically used for:

[0104] When the pedal opening is detected in real time, the real-time wheel end required torque is matched according to the data in the accelerator pedal analytical calibration data;

[0105] Based on different throttle openings and different vehicle speeds, the initial required torque of the corresponding wheel end is detected.

[0106] Furthermore, the second processing module is specifically used for:

[0107] Real-time detection of the opening value corresponding to the accelerator pedal, and real-time conversion of the opening value into a corresponding opening coefficient;

[0108] Real-time detection of a number of opening intervals corresponding to the opening column, each of which is unique;

[0109] The initial required torque is detected according to the torque column and the plurality of opening intervals.

[0110] A fourth embodiment of the present invention provides a computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the hybrid vehicle filtering control method as described above when executing the computer program.

[0111] A fifth embodiment of the present invention provides a readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the hybrid vehicle filtering control method as described above.

[0112] In summary, the hybrid vehicle filtering control method and system provided by the above embodiments of the present invention can smoothly control the torque transmitted to the wheel end, thereby eliminating the vibration phenomenon and improving the user experience.

[0113] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0114] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0115] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0116] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0117] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0118] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A hybrid vehicle filtering control method, characterized in that: The method comprises: When it is detected in real time that the driver steps on the accelerator pedal, the pedal opening corresponding to the accelerator pedal is detected in real time; Based on a preset rule, an initial required torque corresponding to the accelerator pedal is detected in real time according to the pedal opening, and the initial required torque is filtered by a preset filtering module to output an actual required torque adapted to the wheel end in real time; Analyzing the actual required torque, and dividing a plurality of torque intervals according to the analyzed torque, each of the torque intervals being unique; Different filtering algorithms are set for the torque intervals, and the wheel end required torque is transmitted to the wheel end through the filtering algorithm.

2. The hybrid vehicle filtering control method according to claim 1, characterized in that: The step of detecting the initial required torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule comprises: When the pedal opening is detected in real time, the real-time wheel end required torque is matched according to the data in the accelerator pedal analytical calibration data; Based on different throttle openings and different vehicle speeds, the initial required torque of the corresponding wheel end is detected.

3. The hybrid vehicle filtering control method according to claim 2, characterized in that: The method further comprises: The initial required torque is detected in real time, and the corresponding torque filter interval is calculated, and the torque filter interval is divided into four intervals: negative, zero-crossing, uniform speed, and acceleration; Different filtering algorithms are planned according to each of the torque filtering intervals, and low-pass filtering parameters and variable slope lookup table data are designed.

4. The hybrid vehicle filtering control method according to claim 3, characterized in that: The method further comprises: When the initial required torque is acquired in real time, the corresponding filter parameters are detected in real time according to the low-pass filter parameters and the variable slope lookup table data, and the driver's required torque after filtering is detected and output.

5. The hybrid vehicle filtering control method according to claim 2, characterized in that: The accelerator pedal calibration data is a two-dimensional lookup table, in which the X-axis corresponds to the accelerator, the Y-axis corresponds to the vehicle speed, and the Z-axis corresponds to the initial required torque of the wheel end.

6. A hybrid vehicle filter control system, characterized in that: The system comprises: A detection module, for detecting in real time the pedal opening corresponding to the accelerator pedal when it is detected in real time that the driver steps on the accelerator pedal; A first processing module is used to detect the initial required torque corresponding to the accelerator pedal in real time according to the pedal opening based on a preset rule, and filter the initial required torque through a preset filtering module to output the actual required torque adapted to the wheel end in real time; A second processing module is used to analyze the actual required torque and divide it into a plurality of torque intervals according to the analyzed torque, each of which is unique; The output module is used to set different filtering algorithms for the torque intervals, and the wheel end required torque is transmitted to the wheel end through the filtering algorithm.

7. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the hybrid vehicle filtering control method according to any one of claims 1 to 7 is implemented.

8. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the hybrid vehicle filtering control method according to any one of claims 1 to 7 is implemented.

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