Method, device, medium and electronic equipment for suppressing kick-down of electric vehicle

Abstract

The application provides a method, device, medium and electronic equipment for inhibiting kick-down of an electric vehicle. When the vehicle is in a crawling state in R gear, during switching from R gear to N gear, a target correction rate of the demand torque is determined based on at least the minimum time length of a predicted switching time length and a preset first calibration time length, a starting demand torque value at the start of switching, and a preset demand torque peak value; and the input demand torque value is adjusted by the target correction rate. The adjusted demand torque value can reach the preset demand torque peak value, so as to trigger a torque trend of a request torque value in response to the demand torque value, and the motor controller drives the vehicle to travel based on the positive torque value of the request torque value, thereby inhibiting the kick-down phenomenon.

Description

Technical Field

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

[0002] Currently, 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 within a short period of time, due to a logical problem between the driver's torque demand and torque request, the vehicle will continue to run with negative torque, causing the vehicle to rush backward, which is very likely to 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 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 in electric vehicles, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0005] According to a specific embodiment 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 shift duration based on the gear shift rate and a preset shift distance, wherein the preset shift distance refers to a distance from the R gear to the N gear;

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

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

[0010] Optionally, determining the target correction change rate of the required torque based on at least the minimum duration between the predicted switching duration and the preset first calibration duration, the starting required torque value, and a preset required torque peak value comprises 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, detecting the gear switching rate and the start required torque value to start the switching signal further includes:

[0014] Detect the actual required torque change rate;

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

[0016] Obtaining a to-be-determined correction change rate based on the minimum duration between 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 good condition 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 shift rate and a starting required torque value when a start shift signal for shifting from the R gear to the N gear is detected while the vehicle is in a creeping state in the R gear;

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

[0022] a determining unit, configured to determine a target correction change rate of the required torque based on at least 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] An adjusting unit is configured to adjust an inputted required torque value based on the target correction change rate.

[0024] Optionally, determining the target correction change rate of the required torque based on at least the minimum duration between the predicted switching duration and the preset first calibration duration, the starting required torque value, and a preset required torque peak value comprises 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, detecting the gear switching rate and the start required torque value to start the switching signal further includes:

[0028] Detect the actual required torque change rate;

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

[0030] Obtaining a to-be-determined correction change rate based on the minimum duration between 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 good condition 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, which, when executed by a processor, implements the method for suppressing backlash during gear shifting of an electric vehicle as described in any one of the above items.

[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, wherein 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 one 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 minimum time of the predicted switching time and the preset first calibration time, the starting demand torque value at the start of the switching and the preset demand torque peak; and 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, 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 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] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

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

[0041] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects 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 the determination" 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 terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0045] It should be noted in particular 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 this application is an embodiment of a method for suppressing backlash during gear shifting of an electric vehicle.

[0048] The following combination 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, a gear switching rate and a start required torque value are detected.

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

[0051] In some specific embodiments, the creeping state includes: the vehicle is in a good state and in a high-voltage 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 can 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 position signal to the torque reversal module. The torque reversal module evaluates the required torque value and the gear position signal and outputs the requested torque value. The requested torque value is processed by the vehicle controller's torque and filtering module and then output to the motor controller system. The motor controller then outputs the actual motor torque value, which drives the vehicle. The requested torque value is positively correlated with the actual motor torque and the requested torque value.

[0055] When the vehicle shifts from R to D, it passes through N. During this shift, due to a logic issue between the demanded and requested torque values, the demanded torque value is output as a positive value. The strategy logic calculates and inverts the demanded torque value (DRtorqrqst) based on the gear position signal, resulting in a negative requested torque value (TMtorqrqst): DRtorqrqst = TMtorqrqst x acA, where acA = -1. If, after shifting from R to N, the requested torque value in N does not respond to the torque trend of the requested torque value within a calibrated time (e.g., 100ms), the motor controller will continue to drive the vehicle based on the negative torque value of the requested torque value, resulting in 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 shift duration based on the gear shift rate and a preset shift stroke.

[0058] The preset switching distance refers to the distance between the R gear and 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 Indicates the predicted switching time, L indicates the preset switching distance, v q Indicates the gear shift rate.

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

[0061] The preset first calibration duration is an empirical value obtained through testing. Its purpose is to adjust the demand torque value within the preset first calibration duration to ensure that the adjusted demand torque value reaches the preset demand torque peak value, thereby triggering the requested torque value to respond to the torque trend of the requested torque value. This allows the motor controller to drive the vehicle based on the positive torque of the requested torque value, thereby suppressing backlash.

[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 process of 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 process of switching from R gear to N gear.

[0064] In some specific embodiments, determining the target correction change rate of the required torque based on at least the minimum duration between the predicted switching duration and the preset first calibration duration, the starting required torque value, and the preset required torque peak value comprises 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 during the minimum duration, thereby avoiding excessive growth of the required torque and causing a poor 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 this embodiment of the present application, when a vehicle is in a creeping state in R gear, during a shift from R gear to N gear, a target correction rate of change of the demand torque is determined based on at least the minimum of the predicted shift duration and the preset first calibration duration, the initial demand torque value at the start of the shift, and the preset peak demand torque value. The input demand torque value is adjusted using the target correction rate of change. This ensures that the adjusted demand torque value reaches the preset peak demand torque value, thereby triggering a torque trend in which the requested torque value responds to the requested torque value, causing the motor controller to drive the vehicle based on the positive torque of the requested torque value, thereby suppressing backlash.

[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 start required torque value start switching signal are detected, and the actual required torque change rate is also detected.

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

[0072] Step S103 - 1 , obtaining a pending correction change rate based on the minimum duration between the predicted switching duration and 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 rate of change is greater than the actual required torque rate of change, the pending correction rate of change is determined as the target correction rate of change to ensure that the adjusted required torque value reaches the preset required torque peak value during the shift from R gear to N gear.

[0075] If the undetermined correction rate of change is less than the actual required torque rate of change, the actual required torque rate of change is determined as the target correction rate of change. This ensures that the adjusted required torque value reaches the preset required torque peak value during the shift from R to N, while also ensuring that actual operation is consistent with user experience.

[0076] The present application also provides an apparatus embodiment that is based on the above embodiment, and is used to implement the method steps described in the above embodiment. The interpretation based on the same name meaning is the same as that of the above embodiment, and has the same technical effect as the above embodiment, and 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 configured to detect a gear shift rate and a starting required torque value when a start shift signal for shifting from the R gear to the N gear is detected when the vehicle is in a creeping state in the R gear;

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

[0080] a determining unit 203 for determining a target correction change rate of the required torque based on at least 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;

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

[0082] Optionally, determining the target correction change rate of the required torque based on at least the minimum duration between the predicted switching duration and the preset first calibration duration, the starting required torque value, and a preset required torque peak value comprises 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, detecting the gear switching rate and the start required torque value to start the switching signal further includes:

[0086] Detect the actual required torque change rate;

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

[0088] Obtaining a to-be-determined correction change rate based on the minimum duration between 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 good condition 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 this embodiment of the present application, when a vehicle is in a creeping state in R gear, during a shift from R gear to N gear, a target correction rate of change of the demand torque is determined based on at least the minimum of the predicted shift duration and the preset first calibration duration, the initial demand torque value at the start of the shift, and the preset peak demand torque value. The input demand torque value is adjusted using the target correction rate of change. This ensures that the adjusted demand torque value reaches the preset peak demand torque value, thereby triggering a torque trend in which the requested torque value responds to the requested torque value, causing the motor controller to drive the vehicle based on the positive torque of the requested torque value, thereby suppressing backlash.

[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 to enable the at least one processor to perform 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, which stores computer-executable instructions. 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, with each embodiment focusing on its differences from other embodiments. References to the common and similar parts between the various embodiments will be sufficient. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, their descriptions are relatively simple; for relevant details, refer to the descriptions of the methods.

[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 shift duration based on the gear shift rate and a preset shift distance, wherein the preset shift distance refers to a distance from the R gear to the N gear; determining a target correction change rate of the required torque based on at least a minimum of the predicted switching duration and a preset first calibration duration, the starting required torque value, and a preset required torque peak value; The input 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 between 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 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 to start the switching signal, further comprising: Detect the actual required torque change rate; Accordingly, the determining of the target correction change rate of the required torque based on at least the minimum duration between the predicted switching duration and the preset first calibration duration, the starting required torque value, and the preset required torque peak value includes: Obtaining a to-be-determined correction change rate based on the minimum duration between 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, wherein 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.

5. A device for suppressing backlash during gear shifting of an electric vehicle, characterized in that: include: a detection unit, configured to detect a gear shift rate and a starting required torque value when a start shift signal for shifting from the R gear to the N gear is detected while the vehicle is in a creeping state in the R gear; a prediction unit, configured to obtain a predicted shift duration based on the gear shift rate and a preset shift stroke, wherein the preset shift stroke refers to a stroke for shifting from gear R to gear N; a determining unit, configured to determine a target correction change rate of the required torque based on at least 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; An adjusting unit is configured to adjust an inputted 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 between 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 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 to start the switching signal, further comprising: Detect the actual required torque change rate; Accordingly, the determining of the target correction change rate of the required torque based on at least the minimum duration between the predicted switching duration and the preset first calibration duration, the starting required torque value, and the preset required torque peak value includes: Obtaining a to-be-determined correction change rate based on the minimum duration between 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 -100 RMP, and the vehicle speed value is less than 4 km / 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 according to any one of claims 1 to 4.

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