Vehicle driving control method and related device

Abstract

The embodiment of the invention discloses a vehicle running control method which comprises the steps that according to the accelerator opening degree, the preset vehicle speed corresponding to the accelerator opening degree is determined on the basis of the first corresponding relation between the multiple accelerator opening degrees and the multiple preset vehicle speeds; determining a target vehicle speed of vehicle driving according to the preset vehicle speed; calculating the transmission conversion speed of the vehicle according to the transmission output shaft rotating speed and the transmission speed ratio of the vehicle; calculating the vehicle speed error of the vehicle according to the target vehicle speed and the transmission conversion vehicle speed; a clutch control torque of the vehicle is calculated according to the vehicle speed error through a first preset control algorithm; and controlling a clutch of the vehicle to operate according to the clutch control torque. Therefore, the target vehicle speed of the vehicle and the clutch control torque are controlled based on the accelerator opening degree of the vehicle in a closed-loop control mode, a fixed corresponding relation is established for the torque output to the wheel end of the vehicle and the accelerator opening degree, the vehicle is more easily controlled by a driver, pause and noise of a clutch are reduced, and the driving experience of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle driving control method and related devices. Background Art

[0002] With the development of vehicle technology, automatic transmission (AT) is increasingly used in vehicles. Due to its advantages such as fast gear shift response, high transmission efficiency, small power loss and good fuel economy, vehicles equipped with AT are becoming more and more popular in the market.

[0003] Due to the idle characteristics of the engine, vehicles equipped with AT require special control of the clutch. Taking the Automatic Mechanical Transmission (AMT) or Dual Clutch Transmission (DCT) as an example, due to the idle characteristics of the engine, when the calculated result of the vehicle speed reversely converted to the engine end is lower than the engine idle speed, the clutch needs to be opened to prevent stalling, and when the calculated result of the vehicle speed reversely converted to the engine end is higher than a certain value of the engine idle speed, the clutch needs to be fully engaged to reduce clutch slippage.

[0004] To achieve the above control objectives, related technologies mostly control vehicle speed through slight changes in oil temperature. When the vehicle speed is near the vehicle idle speed, the clutch will dynamically engage or disengage as the vehicle speed fluctuates around the vehicle idle speed, alternating between the two control states, which is prone to cause setbacks and noise, reducing the driving experience. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a vehicle driving control method and related devices, which reduce the frustration and noise caused by frequent engagement or opening of the clutch by resetting the control method between the throttle, target vehicle speed and clutch control torque.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] In a first aspect, an embodiment of the present application discloses a vehicle driving control method, the method comprising:

[0008] Obtain the vehicle's throttle opening and transmission output shaft speed;

[0009] According to the throttle opening, based on a first correspondence between a plurality of throttle openings and a plurality of preset vehicle speeds, determining a preset vehicle speed corresponding to the throttle opening;

[0010] Determining a target speed for the vehicle according to the preset vehicle speed;

[0011] Calculating a transmission-converted vehicle speed of the vehicle according to the transmission output shaft speed and the transmission speed ratio of the vehicle;

[0012] Calculating a vehicle speed error of the vehicle according to the target vehicle speed and the transmission-converted vehicle speed;

[0013] Calculating the clutch control torque of the vehicle according to the vehicle speed error by a first preset control algorithm;

[0014] A clutch of the vehicle is controlled to operate according to the clutch control torque.

[0015] Optionally, determining a target vehicle speed for the vehicle according to the preset vehicle speed includes:

[0016] In response to determining that the throttle opening of the vehicle is greater than a preset throttle opening and the engine control torque is greater than a preset control torque, determining a frozen vehicle speed of the vehicle;

[0017] The sum of the preset vehicle speed and the frozen vehicle speed is determined as the target vehicle speed.

[0018] Optionally, the method further includes:

[0019] In response to determining that the throttle opening of the vehicle is less than the preset throttle opening, determining a first preset engine speed and a second preset engine speed of the vehicle; the first preset engine speed is calculated based on the target speed, the transmission speed ratio and a preset slip correction parameter; the second preset engine speed is determined based on the throttle opening and a second corresponding relationship between multiple throttle openings and multiple second preset engine speeds;

[0020] The maximum value of the first preset engine speed and the second preset engine speed is determined as the engine speed of the vehicle.

[0021] Optionally, the method further includes:

[0022] obtaining a clutch temperature of the vehicle;

[0023] The preset slip correction parameter is determined according to the clutch temperature based on a third corresponding relationship between a plurality of clutch temperatures and a plurality of preset slip correction parameters.

[0024] Optionally, the method further includes:

[0025] Obtaining an actual engine speed of the vehicle;

[0026] Calculating an engine speed difference of the vehicle according to the engine speed and the actual engine speed;

[0027] The clutch closed-loop control torque of the vehicle is calculated according to the engine speed difference through a second preset control algorithm.

[0028] Optionally, the method further includes:

[0029] In response to determining that the throttle opening of the vehicle is greater than the preset throttle opening, determining the clutch closed-loop control torque as the clutch torque of the vehicle;

[0030] In response to determining that the accelerator opening of the vehicle is less than the preset accelerator opening, the clutch control torque is determined as a clutch torque of the vehicle.

[0031] Optionally, the method further includes:

[0032] Calculating a preset engine control torque of the vehicle according to the throttle opening and a preset engine accessory loss correction parameter;

[0033] A maximum value between the clutch control torque and the engine control torque is determined as the engine control torque of the vehicle.

[0034] In a second aspect, an embodiment of the present application discloses a vehicle driving control device, the device comprising:

[0035] A first acquisition unit, used to acquire the throttle opening of the vehicle and the transmission output shaft speed;

[0036] a first determining unit, configured to determine, according to the throttle opening, a preset vehicle speed corresponding to the throttle opening based on a first correspondence between a plurality of throttle openings and a plurality of preset vehicle speeds;

[0037] A second determining unit, configured to determine a target vehicle speed for the vehicle according to the preset vehicle speed;

[0038] a first calculation unit, configured to calculate a transmission-converted vehicle speed of the vehicle according to a transmission output shaft speed and a transmission speed ratio of the vehicle;

[0039] a second calculation unit, configured to calculate a vehicle speed error of the vehicle according to the target vehicle speed and the transmission-converted vehicle speed;

[0040] a third calculation unit, configured to calculate a clutch control torque of the vehicle according to the vehicle speed error by using a first preset control algorithm;

[0041] A clutch control unit is used to control the clutch of the vehicle to operate according to the clutch control torque.

[0042] Optionally, the second determining unit is further configured to:

[0043] In response to determining that the throttle opening of the vehicle is greater than a preset throttle opening and the engine control torque is greater than a preset control torque, determining a frozen vehicle speed of the vehicle;

[0044] The sum of the preset vehicle speed and the frozen vehicle speed is determined as the target vehicle speed.

[0045] Optionally, the device further comprises:

[0046] a third determining unit, configured to determine a first preset engine speed and a second preset engine speed of the vehicle in response to determining that the throttle opening of the vehicle is less than the preset throttle opening; the first preset engine speed is calculated based on the target speed, the transmission speed ratio and a preset slip correction parameter; the second preset engine speed is determined based on the throttle opening and a second corresponding relationship between a plurality of throttle openings and a plurality of second preset engine speeds;

[0047] The maximum value of the first preset engine speed and the second preset engine speed is determined as the engine speed of the vehicle.

[0048] Optionally, the device further comprises:

[0049] A second acquisition unit, configured to acquire a clutch temperature of the vehicle;

[0050] The preset slip correction parameter is determined according to the clutch temperature based on a third corresponding relationship between a plurality of clutch temperatures and a plurality of preset slip correction parameters.

[0051] Optionally, the device further comprises:

[0052] A third acquisition unit, used to acquire an actual engine speed of the vehicle;

[0053] a fourth calculation unit, configured to calculate an engine speed difference of the vehicle according to the engine speed and the actual engine speed;

[0054] A fifth calculation unit is used to calculate the clutch closed-loop control torque of the vehicle according to the engine speed difference through a second preset control algorithm.

[0055] Optionally, the device further comprises:

[0056] a fourth determining unit, configured to determine the clutch closed-loop control torque as a clutch torque of the vehicle in response to determining that the throttle opening of the vehicle is greater than the preset throttle opening;

[0057] A fifth determining unit is configured to determine the clutch control torque as a clutch torque of the vehicle in response to determining that the throttle opening of the vehicle is less than the preset throttle opening.

[0058] Optionally, the method further includes:

[0059] a sixth calculation unit, configured to calculate a preset engine control torque of the vehicle according to the throttle opening and a preset engine accessory loss correction parameter;

[0060] A sixth determining unit is configured to determine a maximum value between the clutch control torque and the engine control torque as the engine control torque of the vehicle.

[0061] In a third aspect, an embodiment of the present application discloses a computer device, wherein the computer device includes a processor and a memory:

[0062] The memory is used to store program code and transmit the program code to the processor;

[0063] The processor is used to execute the vehicle driving control method as described in the first aspect and any optional option of the first aspect according to the instructions in the program code.

[0064] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, it is used to execute the vehicle driving control method as described in the first aspect and any optional option of the first aspect.

[0065] It can be seen from the above technical scheme that by obtaining the throttle opening and the transmission output shaft speed of the vehicle; according to the throttle opening, based on the first correspondence between multiple throttle openings and multiple preset speeds, determine the preset speed corresponding to the throttle opening; according to the preset speed, determine the target speed of the vehicle; according to the transmission output shaft speed and the transmission speed ratio of the vehicle, calculate the transmission conversion speed of the vehicle; according to the target speed and the transmission conversion speed, calculate the vehicle speed error; through the first preset control algorithm, calculate the clutch control torque of the vehicle according to the speed error; control the clutch of the vehicle to operate according to the clutch control torque. Thus, the target speed and clutch control torque of the vehicle are controlled based on the throttle opening of the vehicle in a closed-loop control manner, and a fixed correspondence is established between the torque output to the wheel end of the vehicle and the throttle opening, so that the vehicle is easier to be controlled by the driver, the clutch setback and noise are reduced, and the driving experience of the vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0067] Figure 1 A flow chart of a vehicle driving control method provided in an embodiment of the present application;

[0068] Figure 2 A control logic diagram of a vehicle driving control method provided in an embodiment of the present application;

[0069] Figure 3 A structural block diagram of a vehicle driving control device provided in an embodiment of the present application;

[0070] Figure 4 A structural block diagram of a computer device for vehicle driving control provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0072] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances. This is just a way of distinguishing objects with the same attributes when describing the embodiments of this application.

[0073] With the development of vehicle technology, automatic transmission (AT) is increasingly used in vehicles. Due to its advantages such as fast gear shift response, high transmission efficiency, small power loss and good fuel economy, vehicles equipped with AT are becoming more and more popular in the market.

[0074] Due to the idle characteristics of the engine, vehicles equipped with AT require special control of the clutch. Taking the Automatic Mechanical Transmission (AMT) or Dual Clutch Transmission (DCT) as an example, due to the idle characteristics of the engine, when the calculated result of the vehicle speed reversely converted to the engine end is lower than the engine idle speed, the clutch needs to be opened to prevent stalling, and when the calculated result of the vehicle speed reversely converted to the engine end is higher than a certain value of the engine idle speed, the clutch needs to be fully engaged to reduce clutch slippage.

[0075] To achieve the above control objectives, related technologies mostly control vehicle speed through slight changes in oil temperature. When the vehicle speed is near the vehicle idle speed, the clutch will dynamically engage or disengage as the vehicle speed fluctuates around the vehicle idle speed, alternating between the two control states, which is prone to cause setbacks and noise, reducing the driving experience.

[0076] In addition, due to the inconsistency of friction resistance between the cold and hot engine transmission systems of the vehicle, or the difference in engine torque accuracy, the torque transmitted to the wheel end by the same throttle may be inconsistent, resulting in that even if the road resistance is the same when the vehicle is driving, under the current control method, the driver can only adjust different throttle openings based on experience to control the vehicle speed. In other words, there is no fixed relationship between the throttle pedal opening and the torque output to the wheel end, making the vehicle difficult to control, and it is difficult to eliminate setbacks and noise, affecting the driver's driving experience.

[0077] In order to solve the above technical problems, the embodiment of the present application provides a vehicle driving control method and related devices. Next, the method will be introduced in conjunction with the accompanying drawings. Among them, the control method can be directly applied to the electronic control unit (Electronic Control Unit, ECU) or electronic controller of the vehicle. Figure 1 Please refer to Figure 2 , Figure 2 A control logic diagram of a vehicle driving control method provided in an embodiment of the present application is combined with Figure 2 The control logic diagram shown introduces the method.

[0078] See also Figure 1 , Figure 1 This is a flow chart of a vehicle driving control method provided in an embodiment of the present application. The method includes S101-S107:

[0079] S101: Obtain the throttle opening of the vehicle and the transmission output shaft speed.

[0080] The vehicle may be a fuel-driven internal combustion engine vehicle or a hybrid vehicle in which an electric motor and an internal combustion engine coexist, such as an extended-range hybrid vehicle, a gasoline-electric hybrid vehicle, or a plug-in hybrid vehicle. The transmission output shaft speed of the vehicle may be obtained by a speed sensor, such as a magnetic sensor, a laser sensor, or a magnetoelectric sensor. The throttle opening of the vehicle may be obtained by a throttle opening sensor.

[0081] S102: Determine a preset vehicle speed corresponding to the throttle opening according to the throttle opening and based on a first correspondence between a plurality of throttle openings and a plurality of preset vehicle speeds.

[0082] In some possible implementations, the first corresponding relationship may be as shown in Table 1.

[0083] 0 1 2 3 5 10 15 0 5 5 5 5 5 5 5 5 1 1 1.5 2 2.5 3 4 8 1 1 1.5 2 2.5 3 4 10 1 1 1.5 2 2.5 3 3.5 15 1 1 1.5 2 2 2.5 3.5 20 1 1 1.5 2 2 2.5 3.5

[0084] Table 1

[0085] In Table 1, the first row is the throttle opening in percentage, the first column is the current vehicle speed frozen at the moment the vehicle's throttle is triggered, and the other values ​​are the preset vehicle speeds corresponding to the throttle opening and current vehicle speed in the same row and column.

[0086] S103: Determine a target vehicle speed according to a preset vehicle speed.

[0087] In some possible implementations, determining a target vehicle speed according to a preset vehicle speed includes:

[0088] In response to determining that the throttle opening of the vehicle is greater than a preset throttle opening and the engine control torque is greater than a preset control torque, determining a frozen vehicle speed of the vehicle;

[0089] The sum of the preset vehicle speed and the frozen vehicle speed is determined as the target vehicle speed.

[0090] At this time, the target speed of the vehicle can be determined according to the following formula:

[0091] V Target =V Frz +V Pedal

[0092] Where V Target represents the target speed of the vehicle, V Frz Indicates the vehicle speed at which the throttle opening of the vehicle is greater than the preset throttle opening and the engine control torque is greater than the preset control torque. V Pedal It represents the preset vehicle speed, which is the value obtained by looking up the table 1 above.

[0093] The preset throttle opening and the preset control torque may be determined by pre-calibration. For example, the preset throttle opening may be calibrated to 0.5%, and the preset control torque may be calibrated to 5 N·m.

[0094] S104: Calculate the transmission-converted vehicle speed of the vehicle according to the transmission output shaft speed and the transmission speed ratio of the vehicle.

[0095] Among them, since the vehicle is in a certain gear, the transmission speed ratio and other information have been determined. At this time, the transmission output shaft speed can be converted to the wheel end according to the transmission output shaft speed through the transmission speed ratio in the current gear, and then the vehicle's transmission converted speed can be obtained.

[0096] S105: Calculate the vehicle speed error according to the target vehicle speed and the transmission-converted vehicle speed.

[0097] The vehicle speed error can be obtained by directly subtracting the target vehicle speed from the transmission-converted vehicle speed of the vehicle.

[0098] At this time, the vehicle speed error can be calculated by the following formula:

[0099] V Error =V Target -V Actual

[0100] Where V Error is the vehicle speed error, V Actual Convert vehicle speed for transmission.

[0101] S106: Calculate the clutch control torque of the vehicle according to the vehicle speed error through a first preset control algorithm.

[0102] Among them, the first preset control algorithm in the embodiment of the present application can be a fuzzy control algorithm, a proportional-integral-differential algorithm (Proportion-Integral-Differential coefficient, PID), a neural network algorithm or a synovial control algorithm and other available control algorithms.

[0103] In some possible implementations, the control torque of the vehicle may be calculated by a control algorithm as shown in the following formula:

[0104] T VehSpdCL =P VehSpd *V Error +∫I VehSpd V Error +D VehSpd dV Error

[0105] Where, T VehSpdCLrepresents the control torque calculated by the vehicle in the first preset control algorithm, V Error Represents the vehicle speed error, P VehSpd represents the P-phase coefficient in the first preset control algorithm, I VehSpd represents the I phase coefficient in the first preset control algorithm, D VehSpd represents the D-phase coefficient in the first preset control algorithm.

[0106] S107: Control the clutch of the vehicle to operate according to the clutch control torque.

[0107] Among them, the above acquisition method can be performed by corresponding sensors in various actuator components of the vehicle, and then the signals obtained from each actuator component are converted into electrical signals through the corresponding sensors, and the electrical signals are transmitted to the vehicle's ECU.

[0108] After obtaining each signal, the vehicle ECU performs the above-mentioned calculation processes according to the information contained in each signal, and finally obtains the vehicle's control torque. It then sends this signal to the controller that directly controls the vehicle's drive system and transmission system through a communication protocol bus such as the Controller Area Network (CAN), and then controls the vehicle operation through the corresponding controller.

[0109] In order to further reduce the frustration of vehicle driving and improve driving comfort, based on the above embodiment, the method further includes:

[0110] In response to determining that the throttle opening of the vehicle is less than a preset throttle opening, determining a first preset engine speed and a second preset engine speed of the vehicle; the first preset engine speed is calculated based on a target speed, a transmission ratio and a preset slip correction parameter; the second preset engine speed is determined based on the throttle opening and a second corresponding relationship between a plurality of throttle openings and a plurality of second preset engine speeds;

[0111] The maximum value of the first preset engine speed and the second preset engine speed is determined as the engine speed of the vehicle.

[0112] Since the engine speed control target for starting with the accelerator pedal is composed of two parts, one is the basic target speed based on the accelerator pedal, and the other is the target speed based on the closed-loop control of the vehicle speed, therefore, within the allowable range of the clutch's thermal capacity, small throttle driving control adopts sliding friction control.

[0113] In some possible implementations, the engine speed of the vehicle may be calculated according to the following formula:

[0114] N TgtEngSpd =Max(V Target *i Trans+Offset,N PedalBase )

[0115] Where N TgtEngSpd is the engine speed, i Trans is the speed ratio of the gearbox, and Offset is the preset sliding friction correction coefficient.

[0116] Among them, N PedalBase is the basic target speed based on the throttle. In some possible implementations, the speed is obtained by querying the following Table 2 according to the throttle opening.

[0117] It is understandable that the target speed can be determined based on a bench characteristic test of the vehicle engine, that is, the lowest speed corresponding to the peak torque that can be achieved at the current throttle opening.

[0118] Throttle opening (%) 0 10 20 30 50 75 100 Engine speed 1000 1100 1200 1300 1500 1750 2000

[0119] Table 2

[0120] In some possible implementations, in order to dynamically adjust the preset slip correction coefficient in combination with the actual working condition of the clutch, based on the above embodiment, the method further includes:

[0121] Get the vehicle's clutch temperature;

[0122] The preset slip correction parameter is determined according to the clutch temperature and based on a third correspondence between a plurality of clutch temperatures and a plurality of preset slip correction parameters.

[0123] Among them, similar to the first and second corresponding relationships, the third corresponding relationship can also be pre-stored in the vehicle's ECU in the form of a table. When the clutch temperature changes, the ECU receives the clutch temperature signal detected by the temperature sensor, and queries the preset slip correction coefficient corresponding to the current clutch temperature according to the following Table 3 and makes dynamic adjustments.

[0124] Clutch temperature(℃) -30 0 20 90 200 250 300 Preset friction correction factor 400 200 150 150 100 50 0

[0125] Table 3

[0126] To further control the clutch, based on the above embodiment, the method further includes:

[0127] Get the actual engine speed of the vehicle;

[0128] Calculate the engine speed difference of the vehicle according to the engine speed and the actual engine speed;

[0129] The clutch closed-loop control torque of the vehicle is calculated according to the engine speed difference through a second preset control algorithm.

[0130] Similar to the first preset control algorithm, the second preset control algorithm may also be an available control algorithm such as a fuzzy control algorithm, a PID algorithm, a neural network algorithm or a synovial membrane control algorithm.

[0131] In some possible implementations, the closed-loop control torque of the clutch of the vehicle may be calculated by a control algorithm as shown in the following formula:

[0132] T EngSpdCL =P EngSpd *N Error +∫I EngSpd N Error +D EngSpd dN Error +T Eng

[0133] Where, T EngSpdCL is the clutch closed-loop control torque, P EngSpd is the P-phase coefficient in the second preset control algorithm, I EngSpd is the I phase coefficient in the second preset control algorithm, D EngSpd is the D phase coefficient in the second preset control algorithm, T Eng Indicates the torque sent from the engine to the clutch end, N Error Indicates the target engine speed N TgtEngSpd The difference between the actual engine speed and the

[0134] In some possible implementations, based on the above embodiment, the method further includes:

[0135] In response to determining that the throttle opening of the vehicle is greater than a preset throttle opening, determining the clutch closed-loop control torque as a clutch torque of the vehicle;

[0136] In response to determining that the throttle opening of the vehicle is less than a preset throttle opening, the clutch control torque is determined as a clutch torque of the vehicle.

[0137] At this time, the clutch torque can be determined according to the following formula:

[0138] T ClchTorq =Max(T VehSpdCL , T EngSpdCL )

[0139] Where, T ClchTorq Indicates clutch torque. When the throttle opening is less than the preset throttle opening, that is, the throttle is considered small, the output T VehSpdCL As the clutch torque for vehicle driving control; when the throttle opening is greater than the preset throttle opening, that is, the throttle is considered to be large, the output T EngSpdCL Clutch torque for vehicle ride control.

[0140] In order to better coordinate and control the engine and the gearbox, based on the above embodiment, the method further includes:

[0141] Calculating a preset engine control torque of the vehicle according to the throttle opening and a preset engine accessory loss correction parameter;

[0142] The maximum value of the clutch control torque and the engine control torque is determined as the engine control torque of the vehicle.

[0143] In some possible implementations, the transmission communicates with the engine, that is, the control target speed of the clutch is sent to the engine as the speed target of the engine control.

[0144] At this time, the inventor found that the engine torque T VehSpdCL The speed closed-loop load torque sent to the engine as the gearbox, that is, the torque controlled by the engine cannot be less than T VehSpdCL , otherwise the noise control may be unstable.

[0145] Based on the above findings, the vehicle's engine control torque can be obtained by the following formula:

[0146] T EngTorq =Max(T VehSpdCL , T EngTorqPedalBase )

[0147] Where, T EngTorqPedalBase The engine control torque calculated based on the throttle opening is corrected for engine combined accessory losses.

[0148] exist Figure 2 In the control logic diagram, on the vehicle speed control side, the target vehicle speed is calculated by the throttle opening, and then the speed error is calculated according to the vehicle speed and the target speed. The clutch control torque calculated at the vehicle speed end is obtained through the first preset control algorithm based on the calculated speed error.

[0149] While controlling the torque, the clutch control torque of the vehicle is calculated by the throttle opening and the second preset control algorithm.

[0150] Finally, the larger value of the clutch control torques calculated at both ends is determined as the clutch control torque of the vehicle.

[0151] See also Figure 3 , Figure 3 This is a structural block diagram of a vehicle driving control device provided in an embodiment of the present application. The device includes:

[0152] The first acquisition unit 310 is used to acquire the throttle opening of the vehicle and the transmission output shaft speed;

[0153] A first determining unit 320, configured to determine, according to the throttle opening, a preset vehicle speed corresponding to the throttle opening based on a first correspondence between a plurality of throttle openings and a plurality of preset vehicle speeds;

[0154] A second determining unit 330 is used to determine a target vehicle speed for the vehicle according to the preset vehicle speed;

[0155] A first calculation unit 340, configured to calculate a transmission-converted vehicle speed of the vehicle according to a transmission output shaft speed and a transmission speed ratio of the vehicle;

[0156] A second calculation unit 350 is used to calculate a vehicle speed error of the vehicle according to the target vehicle speed and the transmission-converted vehicle speed;

[0157] A third calculation unit 360 is used to calculate the clutch control torque of the vehicle according to the vehicle speed error by using a first preset control algorithm;

[0158] The clutch control unit 370 is used to control the clutch of the vehicle to operate according to the clutch control torque.

[0159] Optionally, the second determining unit is further configured to:

[0160] In response to determining that the throttle opening of the vehicle is greater than a preset throttle opening and the engine control torque is greater than a preset control torque, determining a frozen vehicle speed of the vehicle;

[0161] The sum of the preset vehicle speed and the frozen vehicle speed is determined as the target vehicle speed.

[0162] Optionally, the device further comprises:

[0163] a third determining unit, configured to determine a first preset engine speed and a second preset engine speed of the vehicle in response to determining that the throttle opening of the vehicle is less than the preset throttle opening; the first preset engine speed is calculated based on the target speed, the transmission speed ratio and a preset slip correction parameter; the second preset engine speed is determined based on the throttle opening and a second corresponding relationship between a plurality of throttle openings and a plurality of second preset engine speeds;

[0164] The maximum value of the first preset engine speed and the second preset engine speed is determined as the engine speed of the vehicle.

[0165] Optionally, the device further comprises:

[0166] A second acquisition unit, configured to acquire a clutch temperature of the vehicle;

[0167] The preset slip correction parameter is determined according to the clutch temperature based on a third corresponding relationship between a plurality of clutch temperatures and a plurality of preset slip correction parameters.

[0168] Optionally, the device further comprises:

[0169] A third acquisition unit, used to acquire an actual engine speed of the vehicle;

[0170] a fourth calculation unit, configured to calculate an engine speed difference of the vehicle according to the engine speed and the actual engine speed;

[0171] A fifth calculation unit is used to calculate the clutch closed-loop control torque of the vehicle according to the engine speed difference through a second preset control algorithm.

[0172] Optionally, the device further comprises:

[0173] a fourth determining unit, configured to determine the clutch closed-loop control torque as a clutch torque of the vehicle in response to determining that the throttle opening of the vehicle is greater than the preset throttle opening;

[0174] A fifth determining unit is configured to determine the clutch control torque as a clutch torque of the vehicle in response to determining that the throttle opening of the vehicle is less than the preset throttle opening.

[0175] Optionally, the method further includes:

[0176] a sixth calculation unit, configured to calculate a preset engine control torque of the vehicle according to the throttle opening and a preset engine accessory loss correction parameter;

[0177] A sixth determining unit is configured to determine a maximum value between the clutch control torque and the engine control torque as the engine control torque of the vehicle.

[0178] It can be seen from the above technical scheme that by obtaining the throttle opening and the transmission output shaft speed of the vehicle; according to the throttle opening, based on the first correspondence between multiple throttle openings and multiple preset speeds, determine the preset speed corresponding to the throttle opening; according to the preset speed, determine the target speed of the vehicle; according to the transmission output shaft speed and the transmission speed ratio of the vehicle, calculate the transmission conversion speed of the vehicle; according to the target speed and the transmission conversion speed, calculate the vehicle speed error; through the first preset control algorithm, calculate the clutch control torque of the vehicle according to the speed error; control the clutch of the vehicle to operate according to the clutch control torque. Thus, the target speed and clutch control torque of the vehicle are controlled based on the throttle opening of the vehicle in a closed-loop control manner, and a fixed correspondence is established between the torque output to the wheel end of the vehicle and the throttle opening, so that the vehicle is easier to be controlled by the driver, the clutch setback and noise are reduced, and the driving experience of the vehicle is improved.

[0179] See also Figure 4 , Figure 4 This is a block diagram of a computer device for vehicle driving control provided in an embodiment of the present application. The computer device includes a processor 410 and a memory 420:

[0180] The memory 420 is used to store program codes and transmit the program codes to the processor 410;

[0181] The processor 410 is used to execute the vehicle driving control method described in any one of the above embodiments according to the instructions in the program code.

[0182] An embodiment of the present application further discloses a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, it is used to execute the vehicle driving control method described in any one of the above embodiments.

[0183] It is understandable that the method can be applied to a processing device, which is a processing device capable of performing motion control, for example, a terminal device or a server with a motion control function. The method can be executed independently by a terminal device or a server, or can be applied to a network scenario in which a terminal device and a server communicate, and is executed by the cooperation of the terminal device and the server. Among them, the terminal device can be a computer, a mobile phone and other devices. The server can be understood as an application server or a Web server. In actual deployment, the server can be an independent server or a cluster server.

[0184] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the above-mentioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the above-mentioned storage medium can be at least one of the following media: read-only memory (English: read-only memory, abbreviated: ROM), RAM, magnetic disk or optical disk, etc. Various media that can store program codes.

[0185] It should be noted that each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments. The device and system embodiments described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0186] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle driving control method, It is characterized in that The method comprises: Obtain the vehicle's throttle opening and transmission output shaft speed; According to the throttle opening, based on a first correspondence between a plurality of throttle openings and a plurality of preset vehicle speeds, determining a preset vehicle speed corresponding to the throttle opening; Determining a target speed for the vehicle according to the preset vehicle speed; Calculating a transmission-converted vehicle speed of the vehicle according to the transmission output shaft speed and the transmission speed ratio of the vehicle; Calculating a vehicle speed error of the vehicle according to the target vehicle speed and the transmission-converted vehicle speed; Calculating the clutch control torque of the vehicle according to the vehicle speed error by a first preset control algorithm; A clutch of the vehicle is controlled to operate according to the clutch control torque.

2. The method according to claim 1, It is characterized in that Determining the target vehicle speed of the vehicle according to the preset vehicle speed includes: In response to determining that the throttle opening of the vehicle is greater than a preset throttle opening and the engine control torque is greater than a preset control torque, determining a frozen vehicle speed of the vehicle; The sum of the preset vehicle speed and the frozen vehicle speed is determined as the target vehicle speed.

3. The method according to claim 1, It is characterized in that The method further comprises: In response to determining that the throttle opening of the vehicle is less than the preset throttle opening, determining a first preset engine speed and a second preset engine speed of the vehicle; the first preset engine speed is calculated based on the target speed, the transmission speed ratio and a preset slip correction parameter; the second preset engine speed is determined based on the throttle opening and a second corresponding relationship between multiple throttle openings and multiple second preset engine speeds; The maximum value of the first preset engine speed and the second preset engine speed is determined as the engine speed of the vehicle.

4. The method according to claim 3, It is characterized in that The method further comprises: obtaining a clutch temperature of the vehicle; The preset slip correction parameter is determined according to the clutch temperature based on a third corresponding relationship between a plurality of clutch temperatures and a plurality of preset slip correction parameters.

5. The method according to claim 1, It is characterized in that The method further comprises: Obtaining an actual engine speed of the vehicle; Calculating an engine speed difference of the vehicle according to the engine speed and the actual engine speed; The clutch closed-loop control torque of the vehicle is calculated according to the engine speed difference through a second preset control algorithm.

6. The method according to claim 5, It is characterized in that The method further comprises: In response to determining that the throttle opening of the vehicle is greater than the preset throttle opening, determining the clutch closed-loop control torque as the clutch torque of the vehicle; In response to determining that the accelerator opening of the vehicle is less than the preset accelerator opening, the clutch control torque is determined as a clutch torque of the vehicle.

7. The method according to claim 1, It is characterized in that The method further comprises: Calculating a preset engine control torque of the vehicle according to the throttle opening and a preset engine accessory loss correction parameter; A maximum value between the clutch control torque and the engine control torque is determined as the engine control torque of the vehicle.

8. A vehicle driving control device, It is characterized in that The device comprises: A first acquisition unit, used to acquire the throttle opening of the vehicle and the transmission output shaft speed; a first determining unit, configured to determine, according to the throttle opening, a preset vehicle speed corresponding to the throttle opening based on a first correspondence between a plurality of throttle openings and a plurality of preset vehicle speeds; A second determining unit, configured to determine a target vehicle speed for the vehicle according to the preset vehicle speed; a first calculation unit, configured to calculate a transmission-converted vehicle speed of the vehicle according to a transmission output shaft speed and a transmission speed ratio of the vehicle; a second calculation unit, configured to calculate a vehicle speed error of the vehicle according to the target vehicle speed and the transmission-converted vehicle speed; a third calculation unit, configured to calculate a clutch control torque of the vehicle according to the vehicle speed error by using a first preset control algorithm; A clutch control unit is used to control the clutch of the vehicle to operate according to the clutch control torque.

9. A computer device, It is characterized in that The computer device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the vehicle driving control method described in any one of claims 1-7 according to the instructions in the program code.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium is used to store a computer program, and the computer program, when executed by a processor, is used to execute the vehicle driving control method described in any one of claims 1 to 7.

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