Method and device for inhibiting gear shifting backlash of electric vehicle, medium and electronic equipment

Abstract

The invention provides a method and device for restraining gear shifting backshoot of an electric vehicle, a medium and electronic equipment. When a vehicle is in a creep state of an R gear, in the process of switching the R gear to an N gear, the target correction change rate of the demand torque is determined at least based on the minimum time length of a predicted switching time length and a preset first calibration time length, a starting demand torque value at the beginning of switching and a preset demand torque peak value; and adjusting an input demand torque value through the target correction change rate. And it is guaranteed that the adjusted demand torque value can reach the preset demand torque peak value, so that the request torque value is triggered to respond to the torque trend of the demand torque value, the motor controller drives the vehicle to run on the basis of the positive torque value of the request torque value, and therefore the backlash phenomenon is restrained.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicle gear shifting, and in particular to a method, device, medium and electronic device for suppressing backlash during gear shifting of an electric vehicle. Background Art

[0002] At present, when a vehicle changes gears at low speed to change the forward / reverse driving direction, if it switches from R gear to N gear and then quickly switches to D gear in a short time, due to the logic problem between the driver's torque demand and torque request, the vehicle will continue to run with negative torque, causing the vehicle to rush back, which can easily cause safety problems.

[0003] Therefore, the present application provides a method for suppressing backlash during gear shifting of an electric vehicle to solve the above-mentioned technical problems. Summary of the invention

[0004] The purpose of this application is to provide a method, device, medium and electronic device for suppressing backlash during gear shifting of an electric vehicle, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0005] According to a specific implementation of the present application, in a first aspect, the present application provides a method for suppressing backlash during gear shifting of an electric vehicle, comprising:

[0006] When the vehicle is in a creeping state in the R gear, when a start switching signal for switching from the R gear to the N gear is detected, a gear switching rate and a start required torque value are detected;

[0007] Obtaining a predicted switching duration based on the gear switching rate and a preset switching stroke, wherein the preset switching stroke refers to a stroke from the R gear to the N gear;

[0008] Determining the target correction change rate of the required torque based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value;

[0009] The inputted demand torque value is adjusted based on the target correction change rate.

[0010] Optionally, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including the following formula:

[0011] Δn=(Na-N0) / Δt;

[0012] Wherein, Δn represents the target correction change rate of the required torque, Na represents the preset required torque peak value, N0 represents the starting required torque value, and Δt represents the minimum duration.

[0013] Optionally, when the vehicle is in the creeping state of the R gear, when a start switching signal for switching from the R gear to the N gear is detected, the gear switching rate and the start required torque value are detected to start the switching signal, and further includes:

[0014] Detect the actual required torque change rate;

[0015] Accordingly, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including:

[0016] Obtaining a pending correction change rate based on the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value;

[0017] The target correction change rate of the required torque is determined based on a maximum change rate of the to-be-determined correction change rate and the actual required torque change rate.

[0018] Optionally, the creeping state includes: the vehicle is in a good state and in a high-pressure state, the motor speed is less than -100RMP, and the vehicle speed value is less than 4Km / h.

[0019] According to a specific embodiment of the present application, in a second aspect, the present application provides a device for suppressing backlash during gear shifting of an electric vehicle, comprising:

[0020] a detection unit, configured to detect a gear switching rate and a starting required torque value when a start switching signal for switching from the R gear to the N gear is detected when the vehicle is in a creeping state in the R gear;

[0021] A prediction unit, configured to obtain a predicted switching duration based on the gear switching rate and a preset switching stroke, wherein the preset switching stroke refers to a stroke from the R gear to the N gear;

[0022] a determination unit, configured to determine a target correction change rate of the required torque based at least on a minimum duration between the predicted switching duration and a preset first calibration duration, the starting required torque value, and a preset required torque peak value;

[0023] The adjusting unit is used to adjust the input required torque value based on the target correction change rate.

[0024] Optionally, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including the following formula:

[0025] Δn=(Na-N0) / Δt;

[0026] Wherein, Δn represents the target correction change rate of the required torque, Na represents the preset required torque peak value, N0 represents the starting required torque value, and Δt represents the minimum duration.

[0027] Optionally, when the vehicle is in the creeping state of the R gear, when a start switching signal for switching from the R gear to the N gear is detected, the gear switching rate and the start required torque value are detected to start the switching signal, and further includes:

[0028] Detect the actual required torque change rate;

[0029] Accordingly, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including:

[0030] Obtaining a pending correction change rate based on the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value;

[0031] The target correction change rate of the required torque is determined based on a maximum change rate of the to-be-determined correction change rate and the actual required torque change rate.

[0032] Optionally, the creeping state includes: the vehicle is in a good state and in a high-pressure state, the motor speed is less than -100RMP, and the vehicle speed value is less than 4Km / h.

[0033] According to the specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method for suppressing the backlash during gear shifting of an electric vehicle as described in any of the above items is implemented.

[0034] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method for suppressing the backlash during gear shifting of an electric vehicle as described in any of the above items.

[0035] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0036] The present application provides a method, device, medium and electronic device for suppressing backlash during gear shifting of an electric vehicle. In the present application, when the vehicle is in a creeping state in the R gear, during the process of switching from the R gear to the N gear, the target correction change rate of the demand torque is determined based on at least the predicted switching duration and the minimum duration in the preset first calibration duration, the starting demand torque value at the beginning of the switching and the preset demand torque peak value; the input demand torque value is adjusted by the target correction change rate. It is ensured that the adjusted demand torque value can reach the preset demand torque peak value, so as to trigger the torque trend of the request torque value in response to the demand torque value, so that the motor controller drives the vehicle based on the positive torque value of the request torque value, thereby suppressing the backlash phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flow chart showing a method for suppressing backlash during gear shifting of an electric vehicle according to an embodiment of the present application is shown;

[0038] Figure 2 A unit block diagram of a device for suppressing backlash during gear shifting of an electric vehicle according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0040] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0041] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0042] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0043] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0044] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0045] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0046] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0047] The embodiment provided in the present application is an embodiment of a method for suppressing backlash during gear shifting of an electric vehicle.

[0048] Combine the following Figure 1 The embodiments of the present application are described in detail.

[0049] Step S101, when the vehicle is in a creeping state in the R gear, when a start switching signal for switching from the R gear to the N gear is detected, the gear switching rate and the start required torque value are detected.

[0050] The creeping state refers to the state in which the vehicle is running at a low speed in the driving gear state. The driving gear includes the R gear and the D gear.

[0051] In some specific embodiments, the creeping state includes: the vehicle is in a good state and in a high-pressure state, the motor speed is less than -100 RMP, and the vehicle speed value is less than 4 km / h.

[0052] The required torque value refers to the maximum torque value among the accelerator pedal torque value, the creep torque value and the torque values ​​required by other controllers.

[0053] The accelerator pedal torque value may be understood as the torque value desired by the driver by stepping on the accelerator pedal. The torque value reflects the driver's subjective acceleration demand, that is, the driver hopes to accelerate the vehicle by stepping on the accelerator pedal.

[0054] The gear controller outputs the gear signal to the torque reversal module. The torque reversal module judges the required torque value and the gear signal and outputs the requested torque value. The requested torque value is processed by the vehicle controller torque and filter module and then output to the motor controller system. The motor controller outputs the actual torque value of the motor, and the vehicle is driven by the actual torque value of the motor. The requested torque value is positively correlated with the actual torque request torque value of the motor.

[0055] When the vehicle switches from R gear to D gear, it will pass through N gear. In this process, due to the logic problem between the required torque value and the requested torque value, the required torque value output is a positive value. After the strategy logic calculates and reverses the required torque value (i.e., DRtorqrqst) according to the gear signal, the requested torque value (i.e., TMtorqrqst) is presented as a negative value, i.e., DRtorqrqst = TMtorqrqst x acA, where acA = -1. If after switching from R gear to N gear, the requested torque value does not respond to the torque trend of the required torque value within the calibrated time (e.g., 100ms) in N gear, the motor controller will continue to drive the vehicle based on the negative torque value of the requested torque value, thereby generating backlash.

[0056] The start demand torque value is the demand torque value obtained when the start switching signal is detected.

[0057] Step S102, obtaining a predicted shifting duration based on the gear shifting rate and the preset shifting stroke.

[0058] The preset switching distance refers to the distance from the R gear to the N gear, that is, the distance from the R gear to the N gear.

[0059] The predicted switching time is the predicted time it takes to switch from R gear to N gear. q =L / v q ; where Δt q represents the predicted switching duration, L represents the preset switching trip, and v q Indicates the gear shift rate.

[0060] Step S103 , determining the target correction change rate of the required torque based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value.

[0061] The preset first calibration duration is an empirical value obtained through experiments. The purpose is to adjust the required torque value within the limited duration with the preset first calibration duration as the limited duration, to ensure that the adjusted required torque value can reach the preset required torque peak value, so as to trigger the torque trend of the requested torque value to respond to the required torque value, so that the motor controller drives the vehicle based on the positive torque of the requested torque value, thereby suppressing the backlash phenomenon.

[0062] If the predicted switching time is less than the preset first calibration time, the predicted switching time will be used as the limited time to ensure that the adjusted required torque value can reach the preset required torque peak value during the switching from R gear to N gear.

[0063] If the predicted switching duration is greater than the preset first calibration duration, the preset first calibration duration will be used as the limited duration to ensure that the adjusted required torque value can reach the preset required torque peak value during the switching from R gear to N gear.

[0064] In some specific embodiments, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including the following formula:

[0065] Δn=(Na-N0) / Δt;

[0066] Wherein, Δn represents the target correction change rate of the required torque, Na represents the preset required torque peak value, N0 represents the starting required torque value, and Δt represents the minimum duration.

[0067] This specific embodiment makes full use of the minimum duration to make the required torque reach the preset required torque peak value during the minimum duration, thereby avoiding too fast growth of the required torque and causing a bad user experience. Of course, the present application is not limited to this, and the limited duration can be less than the minimum duration to increase the target correction change rate.

[0068] Step S104: adjusting the inputted required torque value based on the target correction change rate.

[0069] In the embodiment of the present application, when the vehicle is in the creeping state of the R gear, during the process of switching from the R gear to the N gear, the target correction change rate of the demand torque is determined based on at least the predicted switching duration and the minimum duration of the preset first calibration duration, the starting demand torque value at the beginning of the switching, and the preset demand torque peak value; the input demand torque value is adjusted by the target correction change rate. It is ensured that the adjusted demand torque value can reach the preset demand torque peak value, so as to trigger the torque trend of the request torque value in response to the demand torque value, so that the motor controller drives the vehicle based on the positive torque value of the request torque value, thereby suppressing the backlash phenomenon.

[0070] In some specific embodiments, when the vehicle is in the creeping state of the R gear, when the start switching signal of switching from the R gear to the N gear is detected, the gear switching rate and the starting required torque value are detected to start the switching signal, and it also includes: detecting the actual required torque change rate.

[0071] Accordingly, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including:

[0072] Step S103 - 1 , obtaining a pending correction change rate based on the predicted switching duration and the minimum duration of the preset first calibration duration, the starting required torque value and the preset required torque peak value.

[0073] Step S103 - 2 , determining the target correction change rate of the required torque based on the maximum change rate of the to-be-determined correction change rate and the actual required torque change rate.

[0074] If the pending correction change rate is greater than the actual required torque change rate, the pending correction change rate is determined as the target correction change rate to ensure that the adjusted required torque value can reach the preset required torque peak value during the process of switching from R gear to N gear.

[0075] If the to-be-determined correction change rate is less than the actual required torque change rate, the actual required torque change rate is determined as the target correction change rate to ensure that the adjusted required torque value can reach the preset required torque peak value during the process of switching from R gear to N gear, and at the same time, the actual operation is consistent with the user experience.

[0076] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0077] like Figure 2 As shown, the present application provides a device 200 for suppressing backlash during gear shifting of an electric vehicle, comprising:

[0078] The detection unit 201 is used for detecting the gear switching rate and the starting required torque value when the vehicle is in the creeping state of the R gear and a start switching signal of switching from the R gear to the N gear is detected;

[0079] A prediction unit 202, configured to obtain a predicted switching duration based on the gear switching rate and a preset switching stroke, wherein the preset switching stroke refers to a stroke from the R gear to the N gear;

[0080] A determination unit 203, configured to determine a target correction change rate of the required torque based at least on the predicted switching duration and the minimum duration of the preset first calibration duration, the starting required torque value and a preset required torque peak value;

[0081] The adjustment unit 204 is configured to adjust the input required torque value based on the target correction change rate.

[0082] Optionally, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including the following formula:

[0083] Δn=(Na-N0) / Δt;

[0084] Wherein, Δn represents the target correction change rate of the required torque, Na represents the preset required torque peak value, N0 represents the starting required torque value, and Δt represents the minimum duration.

[0085] Optionally, when the vehicle is in the creeping state of the R gear, when a start switching signal for switching from the R gear to the N gear is detected, the gear switching rate and the start required torque value are detected to start the switching signal, and further includes:

[0086] Detect the actual required torque change rate;

[0087] Accordingly, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including:

[0088] Obtaining a pending correction change rate based on the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value;

[0089] The target correction change rate of the required torque is determined based on a maximum change rate of the to-be-determined correction change rate and the actual required torque change rate.

[0090] Optionally, the creeping state includes: the vehicle is in a good state and in a high-pressure state, the motor speed is less than -100RMP, and the vehicle speed value is less than 4Km / h.

[0091] In the embodiment of the present application, when the vehicle is in the creeping state of the R gear, during the process of switching from the R gear to the N gear, the target correction change rate of the demand torque is determined based on at least the predicted switching duration and the minimum duration of the preset first calibration duration, the starting demand torque value at the beginning of the switching, and the preset demand torque peak value; the input demand torque value is adjusted by the target correction change rate. It is ensured that the adjusted demand torque value can reach the preset demand torque peak value, so as to trigger the torque trend of the request torque value in response to the demand torque value, so that the motor controller drives the vehicle based on the positive torque value of the request torque value, thereby suppressing the backlash phenomenon.

[0092] Example 3

[0093] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0094] Example 4

[0095] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0096] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0097] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for suppressing backlash during gear shifting of an electric vehicle, characterized in that: include: When the vehicle is in a creeping state in the R gear, when a start switching signal for switching from the R gear to the N gear is detected, a gear switching rate and a start required torque value are detected; Obtaining a predicted switching duration based on the gear switching rate and a preset switching stroke, wherein the preset switching stroke refers to a stroke from the R gear to the N gear; Determining the target correction change rate of the required torque based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value; The inputted demand torque value is adjusted based on the target correction change rate.

2. The method according to claim 1, characterized in that The target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including the following formula: Δn=(Na-N0) / Δt; Wherein, Δn represents the target correction change rate of the required torque, Na represents the preset required torque peak value, N0 represents the starting required torque value, and Δt represents the minimum duration.

3. The method according to claim 1, characterized in that When the vehicle is in the creeping state of the R gear, when the start switching signal of the R gear to the N gear is detected, the gear switching rate and the start required torque value are detected to start the switching signal, and the method further includes: Detect the actual required torque change rate; Accordingly, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including: Obtaining a pending correction change rate based on the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value; The target correction change rate of the required torque is determined based on a maximum change rate of the to-be-determined correction change rate and the actual required torque change rate.

4. The method according to claim 1, characterized in that: The creeping state includes: the vehicle is in a good state and in a high-pressure state, the motor speed is less than -100RMP, and the vehicle speed value is less than 4Km / h.

5. A device for suppressing backlash during gear shifting of an electric vehicle, characterized in that: include: a detection unit, for detecting a gear switching rate and a starting required torque value when a start switching signal for switching from the R gear to the N gear is detected when the vehicle is in a creeping state in the R gear; A prediction unit, configured to obtain a predicted switching duration based on the gear switching rate and a preset switching stroke, wherein the preset switching stroke refers to a stroke from the R gear to the N gear; a determination unit, configured to determine a target correction change rate of the required torque based at least on a minimum duration between the predicted switching duration and a preset first calibration duration, the starting required torque value, and a preset required torque peak value; The adjusting unit is used to adjust the input required torque value based on the target correction change rate.

6. The device according to claim 5, characterized in that The target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including the following formula: Δn=(Na-N0) / Δt; Wherein, Δn represents the target correction change rate of the required torque, Na represents the preset required torque peak value, N0 represents the starting required torque value, and Δt represents the minimum duration.

7. The device according to claim 5, characterized in that When the vehicle is in the creeping state of the R gear, when the start switching signal of the R gear to the N gear is detected, the gear switching rate and the start required torque value are detected to start the switching signal, and the method further includes: Detect the actual required torque change rate; Accordingly, the target correction change rate of the required torque is determined based on at least the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value, including: Obtaining a pending correction change rate based on the minimum duration of the predicted switching duration and the preset first calibration duration, the starting required torque value and the preset required torque peak value; The target correction change rate of the required torque is determined based on a maximum change rate of the to-be-determined correction change rate and the actual required torque change rate.

8. The device according to claim 5, characterized in that The creeping state includes: the vehicle is in a good state and in a high-pressure state, the motor speed is less than -100RMP, and the vehicle speed value is less than 4Km / h.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 4.

Images