A tip-in torque compensation method and device under low-speed working condition
Patent Information
- Application Number
- CN202610949834.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-06-29
- Publication Date
- 2026-08-21
AI Technical Summary
[0003]现有汽车在低速工况下，驾驶员进行Tip-in操作时，普遍存在动力响应迟滞或突然爆发的问题，这会导致车身顿挫，影响驾驶体验
[0017]本发明的有益效果是：本发明提供的低速工况下的Tip-in扭矩补偿方法及装置，首先获取目标车辆的油门踏板开度变化率和当前车速，然后进一步确定目标车辆的扭矩补偿时长和扭矩补偿值，根据目标车辆的扭矩补偿时长和扭矩补偿值，确定目标车辆的Tip-in扭矩补偿策略，在目标车辆的扭矩补偿时长内，先线性上升至目标车辆的扭矩补偿值，保持预设时长后再线性衰减，通过扭矩补偿，可以降低动力输出延迟，而采用先上升再保持最后衰减的扭矩补偿策略，可以避免加速顿挫，保证驾驶平顺性，进而提高驾驶体验，即本发明降低了低速工况下Tip-in的动力输出延迟，提高了驾驶平顺性，进而提高了驾驶体验。
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Abstract
Description
Technical Field
[0001] This invention relates to the field of vehicle power control technology, and in particular to a tip-in torque compensation method and device under low-speed conditions. Background Technology
[0002] Tip-in operation (quickly pressing the accelerator) is a vehicle operation used to achieve a fast and smooth power response. The power control strategy involved often requires the coordination of multiple devices, so the power output in response to tip-in operation is often delayed.
[0003] In existing vehicles, when the driver performs a tip-in operation at low speeds, there is a common problem of delayed or sudden power response, which can cause the vehicle to jerk and affect the driving experience.
[0004] Therefore, how to reduce the power output delay of Tip-in under low-speed conditions, improve driving smoothness, and thus enhance the driving experience has become an urgent technical problem to be solved. Summary of the Invention
[0005] In view of this, it is necessary to provide a tip-in torque compensation method and device under low-speed conditions to reduce the power output delay of tip-in under low-speed conditions, improve driving smoothness, and thus improve the driving experience.
[0006] To achieve the above objectives, in a first aspect, the present invention provides a tip-in torque compensation method under low-speed operating conditions, comprising: Obtain the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle; The Tip-in level of the target vehicle is determined based on the rate of change of the accelerator pedal opening, and the torque compensation duration of the target vehicle is determined based on the Tip-in level. Determine the torque compensation value for the target vehicle based on its Tip-in level and current speed. Based on the torque compensation duration and torque compensation value of the target vehicle, the Tip-in torque compensation strategy of the target vehicle is determined. The Tip-in torque compensation strategy of the target vehicle is to first linearly increase to the torque compensation value of the target vehicle within the torque compensation duration, maintain it for a preset duration, and then linearly decrease it.
[0007] In one possible implementation, determining the tip-in level of the target vehicle based on the rate of change of the accelerator pedal opening of the target vehicle includes: If the rate of change of the accelerator pedal opening of the target vehicle is less than the first rate of change threshold, the Tip-in level of the target vehicle is determined to be the first Tip-in level. If the rate of change of the accelerator pedal opening of the target vehicle is greater than or equal to the first rate of change threshold and less than or equal to the second rate of change threshold, the Tip-in level of the target vehicle is determined to be the second Tip-in level. If the rate of change of the accelerator pedal opening of the target vehicle is greater than the second rate of change threshold, the tip-in level of the target vehicle is determined to be the third tip-in level.
[0008] In one possible implementation, determining the torque compensation duration of the target vehicle based on its Tip-in level includes: When the target vehicle's Tip-in level is the first Tip-in level, the torque compensation duration of the target vehicle is determined to be the first duration. When the target vehicle's Tip-in level is the second Tip-in level, the torque compensation duration of the target vehicle is determined to be the second duration. If the target vehicle's Tip-in level is the third Tip-in level, then the torque compensation duration of the target vehicle is determined to be the third duration. The order of durations (first, second, and third) is as follows: first duration > second duration > third duration.
[0009] In one possible implementation, determining the torque compensation value of the target vehicle based on the target vehicle's Tip-in level and current vehicle speed includes: If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the first tip-in level, the torque compensation value of the target vehicle is determined to be the first torque compensation value. If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the second tip-in level, the torque compensation value of the target vehicle is determined to be the second torque compensation value. If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the third tip-in level, the torque compensation value of the target vehicle is determined to be the third torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the first tip-in level, the torque compensation value of the target vehicle is determined to be the fourth torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the second tip-in level, the torque compensation value of the target vehicle is determined to be the fifth torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the third tip-in level, the torque compensation value of the target vehicle is determined to be the sixth torque compensation value. Among them, the first torque compensation value < the second torque compensation value < the third torque compensation value, and the fourth torque compensation value < the fifth torque compensation value < the sixth torque compensation value.
[0010] In one possible implementation, determining the tip-in torque compensation strategy for the target vehicle based on the torque compensation duration and torque compensation value includes: Based on the torque compensation duration of the target vehicle, determine the torque rise duration, torque hold duration, and torque decay duration during the Tip-in torque compensation process of the target vehicle. Based on the torque rise time, torque hold time, and torque decay time during the tip-in torque compensation process of the target vehicle, and the torque compensation value of the target vehicle, the tip-in torque compensation strategy of the target vehicle is determined.
[0011] In one possible implementation, the tip-in torque compensation strategy for the target vehicle is determined based on the following formula:
[0012] in, This represents the torque compensation value of the target vehicle as a function of time within the torque compensation duration. This represents the torque compensation value for the target vehicle. For time, The duration of torque rise. It is the sum of the torque rise time and the torque hold time. The torque compensation duration for the target vehicle.
[0013] In one possible implementation, the method further includes: Torque compensation for the target vehicle will cease if the target vehicle's current speed exceeds the second speed threshold, or if the target vehicle is in reverse or neutral gear.
[0014] In one possible implementation, the method further includes: If the time interval between two consecutive Tip-in operations on the target vehicle is less than a preset duration, the Tip-in torque compensation strategy corresponding to the first Tip-in operation will be determined as the Tip-in torque compensation strategy corresponding to the second Tip-in operation.
[0015] On the other hand, the present invention also provides a tip-in torque compensation device for low-speed operating conditions, comprising: The acquisition module is used to acquire the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle; The first determining module is used to determine the Tip-in level of the target vehicle based on the rate of change of the accelerator pedal opening of the target vehicle, and to determine the torque compensation duration of the target vehicle based on the Tip-in level of the target vehicle. The second determining module is used to determine the torque compensation value of the target vehicle based on the target vehicle's Tip-in level and current vehicle speed. The compensation module is used to determine the Tip-in torque compensation strategy of the target vehicle based on the torque compensation duration and torque compensation value of the target vehicle. The Tip-in torque compensation strategy of the target vehicle is to first linearly increase to the torque compensation value of the target vehicle within the torque compensation duration, maintain it for a preset duration, and then linearly decrease it.
[0016] Secondly, the present invention also provides a torque compensation device, including a data acquisition unit, a memory, and a processor, wherein, The data acquisition device is communicatively connected to the processor and is used to acquire the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle. The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the Tip-in torque compensation method under low-speed conditions as described in any of the above implementations.
[0017] The beneficial effects of this invention are as follows: The Tip-in torque compensation method and device under low-speed conditions provided by this invention first obtains the accelerator pedal opening change rate and current vehicle speed of the target vehicle, and then further determines the torque compensation duration and torque compensation value of the target vehicle. Based on the torque compensation duration and torque compensation value of the target vehicle, the Tip-in torque compensation strategy of the target vehicle is determined. Within the torque compensation duration of the target vehicle, the torque first linearly increases to the torque compensation value of the target vehicle, maintains it for a preset duration, and then linearly decreases. Through torque compensation, the power output delay can be reduced. The torque compensation strategy of first increasing, then maintaining, and finally decreasing can avoid acceleration jerking, ensure driving smoothness, and thus improve the driving experience. In other words, this invention reduces the power output delay of Tip-in under low-speed conditions, improves driving smoothness, and thus improves the driving experience. Attached Figure Description
[0018] Figure 1 A schematic flowchart of an embodiment of the Tip-in torque compensation method under low-speed conditions provided by the present invention; Figure 2 This is a schematic flowchart of an embodiment of the Tip-in torque compensation process provided by the present invention; Figure 3 A schematic diagram of an embodiment of the Tip-in torque compensation device for low-speed operating conditions provided by the present invention; Figure 4 This is a schematic diagram of an embodiment of the torque compensation device provided by the present invention. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0020] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.
[0021] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.
[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0023] This invention provides a tip-in torque compensation method and device under low-speed operating conditions, which will be described below.
[0024] Figure 1 This is a schematic flowchart of an embodiment of the Tip-in torque compensation method under low-speed conditions provided by the present invention, as shown below. Figure 1 As shown, the tip-in torque compensation method under low-speed conditions includes: S101. Obtain the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle.
[0025] It should be noted that the Tip-in torque compensation method under low-speed conditions provided by this invention can be applied to vehicle torque compensation scenarios, especially Tip-in torque compensation scenarios under low-speed conditions (especially when the vehicle speed is below 25km / h).
[0026] During torque compensation, the torque compensation device (such as an onboard computer or portable computer) first acquires the accelerator pedal opening change rate and the current vehicle speed of the target vehicle, providing data for determining the subsequent torque compensation strategy. The accelerator pedal opening change rate reflects how quickly the driver presses the accelerator, and thus reflects the driver's power demand.
[0027] S102. Determine the Tip-in level of the target vehicle based on the rate of change of the accelerator pedal opening of the target vehicle, and determine the torque compensation duration of the target vehicle based on the Tip-in level of the target vehicle.
[0028] It should be noted that after obtaining the accelerator pedal opening change rate of the target vehicle, the Tip-in level of the target vehicle can be determined based on the accelerator pedal opening change rate, and the torque compensation duration of the target vehicle can be further determined based on the Tip-in level.
[0029] S103. Determine the torque compensation value of the target vehicle based on the target vehicle's Tip-in level and current vehicle speed.
[0030] It should be noted that after determining the Tip-in level of the target vehicle, the torque compensation value of the target vehicle can also be determined based on the Tip-in level and the current vehicle speed.
[0031] S104. Based on the torque compensation duration and torque compensation value of the target vehicle, determine the Tip-in torque compensation strategy of the target vehicle. The Tip-in torque compensation strategy of the target vehicle is to first linearly increase to the torque compensation value of the target vehicle within the torque compensation duration of the target vehicle, maintain it for a preset duration, and then linearly decrease it.
[0032] It's important to note that, finally, the tip-in torque compensation strategy for the target vehicle can be determined by analyzing its torque compensation duration and value. Within the target vehicle's torque compensation duration, the torque first linearly increases to the target vehicle's torque compensation value, holds for a preset duration, and then linearly decreases. Torque compensation reduces power output delay, and the strategy of first increasing, then holding, and finally decreasing avoids acceleration jerks, ensuring smooth driving and thus improving the driving experience.
[0033] In summary, the Tip-in torque compensation method for low-speed conditions provided by this invention first obtains the accelerator pedal opening change rate and current vehicle speed of the target vehicle. Then, it further determines the torque compensation duration and torque compensation value of the target vehicle. Based on the torque compensation duration and torque compensation value of the target vehicle, it determines the Tip-in torque compensation strategy for the target vehicle. Within the torque compensation duration of the target vehicle, the torque first linearly increases to the torque compensation value of the target vehicle, maintains it for a preset duration, and then linearly decreases. Through torque compensation, the power output delay can be reduced. Furthermore, by adopting the torque compensation strategy of first increasing, then maintaining, and finally decreasing, acceleration jerking can be avoided, driving smoothness can be ensured, and the driving experience can be improved. In other words, this invention reduces the power output delay of Tip-in under low-speed conditions, improves driving smoothness, and thus improves the driving experience.
[0034] In some embodiments of the present invention, determining the Tip-in level of the target vehicle based on the rate of change of the accelerator pedal opening of the target vehicle includes: If the rate of change of the accelerator pedal opening of the target vehicle is less than the first rate of change threshold, the Tip-in level of the target vehicle is determined to be the first Tip-in level. If the rate of change of the accelerator pedal opening of the target vehicle is greater than or equal to the first rate of change threshold and less than or equal to the second rate of change threshold, the Tip-in level of the target vehicle is determined to be the second Tip-in level. If the rate of change of the accelerator pedal opening of the target vehicle is greater than the second rate of change threshold, the tip-in level of the target vehicle is determined to be the third tip-in level.
[0035] It should be noted that when determining the Tip-in level of a target vehicle, the Tip-in level can be determined as the first Tip-in level, the second Tip-in level, or the third Tip-in level according to the above rules based on the preset first and second rate of change thresholds.
[0036] In some embodiments of the present invention, determining the torque compensation duration of the target vehicle based on the tip-in level of the target vehicle includes: When the target vehicle's Tip-in level is the first Tip-in level, the torque compensation duration of the target vehicle is determined to be the first duration. When the target vehicle's Tip-in level is the second Tip-in level, the torque compensation duration of the target vehicle is determined to be the second duration. If the target vehicle's Tip-in level is the third Tip-in level, then the torque compensation duration of the target vehicle is determined to be the third duration. The order of durations (first, second, and third) is as follows: first duration > second duration > third duration.
[0037] It should be noted that after determining the Tip-in level of the target vehicle, the torque compensation duration of the target vehicle can be further determined based on the Tip-in level. The higher the rate of change of accelerator pedal opening, the higher the driver's demand for power, and the shorter the compensation duration, thus ensuring the driving experience.
[0038] In some embodiments of the present invention, determining the torque compensation value of the target vehicle based on the target vehicle's Tip-in level and current vehicle speed includes: If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the first tip-in level, the torque compensation value of the target vehicle is determined to be the first torque compensation value. If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the second tip-in level, the torque compensation value of the target vehicle is determined to be the second torque compensation value. If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the third tip-in level, the torque compensation value of the target vehicle is determined to be the third torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the first tip-in level, the torque compensation value of the target vehicle is determined to be the fourth torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the second tip-in level, the torque compensation value of the target vehicle is determined to be the fifth torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the third tip-in level, the torque compensation value of the target vehicle is determined to be the sixth torque compensation value. Among them, the first torque compensation value < the second torque compensation value < the third torque compensation value, and the fourth torque compensation value < the fifth torque compensation value < the sixth torque compensation value.
[0039] It should be noted that the torque compensation value of the target vehicle is determined according to the speed range and tip-in level of the target vehicle, following the rules mentioned above.
[0040] In some embodiments of the present invention, determining the Tip-in torque compensation strategy for the target vehicle based on the torque compensation duration and torque compensation value includes: Based on the torque compensation duration of the target vehicle, determine the torque rise duration, torque hold duration, and torque decay duration during the Tip-in torque compensation process of the target vehicle. Based on the torque rise time, torque hold time, and torque decay time during the tip-in torque compensation process of the target vehicle, and the torque compensation value of the target vehicle, the tip-in torque compensation strategy of the target vehicle is determined.
[0041] It should be noted that when determining the Tip-in torque compensation strategy for a target vehicle based on its torque compensation duration and torque compensation value, the torque rise time, torque hold time, and torque decay time during the Tip-in torque compensation process can be determined first based on the torque compensation duration of the target vehicle. Then, the Tip-in torque compensation strategy can be further determined based on the torque rise time, torque hold time, and torque decay time during the Tip-in torque compensation process of the target vehicle, as well as the torque compensation value of the target vehicle.
[0042] In some embodiments of the present invention, the tip-in torque compensation strategy for the target vehicle is determined based on the following formula:
[0043] in, This represents the torque compensation value of the target vehicle as a function of time within the torque compensation duration. This represents the torque compensation value for the target vehicle. For time, The duration of torque rise. It is the sum of the torque rise time and the torque hold time. The torque compensation duration for the target vehicle.
[0044] It should be noted that the specific Tip-in torque compensation strategy for the target vehicle can be determined based on the formula above.
[0045] In some embodiments of the present invention, the method further includes: Torque compensation for the target vehicle will cease if the target vehicle's current speed exceeds the second speed threshold, or if the target vehicle is in reverse or neutral gear.
[0046] It should be noted that when the current speed of the target vehicle is greater than the second speed threshold (e.g., 25 km / h), or when the target vehicle is in reverse or neutral, it means that the vehicle no longer needs torque compensation, and torque compensation for the target vehicle can be stopped.
[0047] In some embodiments of the present invention, the method further includes: If the time interval between two consecutive Tip-in operations on the target vehicle is less than a preset duration, the Tip-in torque compensation strategy corresponding to the first Tip-in operation will be determined as the Tip-in torque compensation strategy corresponding to the second Tip-in operation.
[0048] It should be noted that when the time interval between two consecutive Tip-in operations of the target vehicle is less than the preset duration (e.g., 1 second), in order to avoid vehicle vibration caused by frequent adjustments and to ensure driving smoothness, the Tip-in torque compensation strategy corresponding to the first Tip-in operation can be determined as the Tip-in torque compensation strategy corresponding to the second Tip-in operation.
[0049] Combination Figure 2 As can be seen, this invention achieves tip-in torque compensation through data acquisition, hierarchical judgment, dynamic compensation, and operating condition switching. The specific steps are as follows: 1. Data Acquisition: The following core data are collected in real time through the Power Domain Controller (PDU) at a frequency of 10ms / time: accelerator pedal opening change rate (unit: % / ms, reflecting how fast the accelerator is pressed); current vehicle speed (unit: km / h); vehicle gear (P / R / N / D) and load status (such as whether it is fully loaded).
[0050] 2. Classification Judgment: Based on the pedal opening change rate, low-speed tip-in is divided into 3 levels, with adjustable thresholds set according to mainstream vehicle calibration: Light Tip-in: Change rate < 5% / ms (light accelerator pedal, routine following operation in family cars); Medium Tip-in: 5% / ms ≤ Change rate ≤ 15% / ms (normal accelerator pedal, daily acceleration); Sharp Tip-in: Change rate > 15% / ms (deep accelerator pedal for overtaking / hill start). The vehicle speed range is also determined: 0-10km / h is ultra-low speed, and 10-25km / h is low speed.
[0051] 3. Dynamic Torque Compensation Calculation: Combining the power characteristics of different vehicle models, compensation parameters are precisely set according to vehicle speed range, tip-in level, and load status. The VCU directly sends commands to the motor controller (MCU) to control the output torque of the drive motor, as detailed below: Ultra-low speed (0-10km / h): Slow Tip-in compensates 5-10 N·m of torque; Medium Tip-in compensates 10-15 N·m; Fast Tip-in compensates 15-20 N·m.
[0052] Low speed (10-25km / h): Slow Tip-in compensation 3-8N·m, medium Tip-in compensation 8-12N·m, fast Tip-in compensation 12-18N·m.
[0053] Compensation duration: The compensation duration is set in stages from 0.3 to 0.8 seconds, with slow tip-in at 0.6-0.8 seconds, medium tip-in at 0.4-0.6 seconds, and urgent tip-in at 0.3-0.4 seconds. The duration decreases according to the urgency of the tip-in, precisely matching the driver's acceleration needs. The specific compensation strategy is shown in Table 1. Table 1: Compensation Strategy Table
[0054] 4. Operating condition switching logic: When the vehicle speed exceeds the corresponding low speed limit (25km / h), or the gear is switched to R or N, torque compensation is immediately stopped and the conventional power control strategy is switched to. If the interval between two consecutive Tip-in operations is less than 1s, the previous compensation level parameters are used to avoid frequent adjustments that may cause vehicle vibration and ensure driving smoothness.
[0055] Final motor / engine output torque:
[0056] in: Actual output torque (the final torque delivered to the wheels, in N·m); The original torque required for the driver to press the accelerator (unit: N·m) is calculated using the following formula: ( This is the maximum torque of the electric motor / engine. This refers to the accelerator pedal opening. (This is the vehicle speed attenuation coefficient; the faster the speed, the smaller the coefficient). Dynamic compensation torque (varying over time, unit: N·m) is divided into three stages of control: rising stage, holding stage, and decay stage.
[0057] The compensation is divided into three stages:
[0058] This invention can significantly eliminate the jerking and lurching during low-speed tip-in starts and following vehicles. Through three-stage smooth torque compensation, it fills the torque vacuum caused by the response delay of the power system, changing the sudden torque jump to a smooth and gradual change. The impact acceleration of the vehicle body is greatly reduced, and the driving smoothness is significantly improved.
[0059] To better implement the Tip-in torque compensation method under low-speed conditions in the embodiments of the present invention, based on the Tip-in torque compensation method under low-speed conditions, correspondingly, as follows: Figure 3 As shown, this embodiment of the invention also provides a tip-in torque compensation device for low-speed operation. The tip-in torque compensation device 300 for low-speed operation includes: The acquisition module 301 is used to acquire the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle; The first determining module 302 is used to determine the Tip-in level of the target vehicle based on the rate of change of the accelerator pedal opening of the target vehicle, and to determine the torque compensation duration of the target vehicle based on the Tip-in level of the target vehicle. The second determining module 303 is used to determine the torque compensation value of the target vehicle based on the Tip-in level and the current vehicle speed of the target vehicle. The compensation module 304 is used to determine the Tip-in torque compensation strategy of the target vehicle based on the torque compensation duration and torque compensation value of the target vehicle. The Tip-in torque compensation strategy of the target vehicle is to first linearly increase to the torque compensation value of the target vehicle within the torque compensation duration of the target vehicle, maintain it for a preset duration, and then linearly decrease it.
[0060] The Tip-in torque compensation device 300 under low-speed conditions provided in the above embodiments can realize the technical solution described in the embodiments of the Tip-in torque compensation method under low-speed conditions. The specific implementation principle of each module or unit can be found in the corresponding content in the embodiments of the Tip-in torque compensation method under low-speed conditions, which will not be repeated here.
[0061] like Figure 4 As shown, the present invention also provides a torque compensation device 400. The torque compensation device 400 includes a processor 401, a memory 402, a display 403, and a data acquisition device 404. Figure 4 Only some components of the torque compensation device 400 are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.
[0062] In some embodiments, processor 401 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 402 or process data, such as the tip-in torque compensation method under low-speed conditions in this invention.
[0063] In some embodiments, processor 401 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 401 may be local or remote. In some embodiments, processor 401 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, etc., or any combination thereof.
[0064] In some embodiments, memory 402 may be an internal storage unit of torque compensation device 400, such as a hard disk or memory of torque compensation device 400. In other embodiments, memory 402 may also be an external storage device of torque compensation device 400, such as a pluggable hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on torque compensation device 400.
[0065] Furthermore, the memory 402 may include both internal storage units and external storage devices of the torque compensation device 400. The memory 402 is used to store the application software and various data of the torque compensation device 400.
[0066] In some embodiments, display 403 may be an LED display, a liquid crystal display, a touch-screen liquid crystal display, or an organic light-emitting diode (OLED) touchscreen. Display 403 is used to display information from the torque compensation device 400 and to display a visual user interface. Components 401-403 of the torque compensation device 400 communicate with each other via a system bus.
[0067] In some embodiments, the data acquisition device 404 may be a chip or integrated circuit with data transmission and reception functions.
[0068] In one embodiment, when the processor 401 executes the tip-in torque compensation program for low-speed operating conditions stored in the memory 402, the following steps can be implemented: Obtain the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle; The Tip-in level of the target vehicle is determined based on the rate of change of the accelerator pedal opening, and the torque compensation duration of the target vehicle is determined based on the Tip-in level. Determine the torque compensation value for the target vehicle based on its Tip-in level and current speed. Based on the torque compensation duration and torque compensation value of the target vehicle, the Tip-in torque compensation strategy of the target vehicle is determined. The Tip-in torque compensation strategy of the target vehicle is to first linearly increase to the torque compensation value of the target vehicle within the torque compensation duration, maintain it for a preset duration, and then linearly decrease it.
[0069] It should be understood that when the processor 401 executes the Tip-in torque compensation program for low-speed operation in the memory 402, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.
[0070] Furthermore, the embodiments of the present invention do not specifically limit the type of torque compensation device 400 mentioned, and the torque compensation device 400 can be an in-vehicle computer, a portable computer, etc.
[0071] The Tip-in torque compensation method and device under low-speed operating conditions provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.
Claims
1. A tip-in torque compensation method under low-speed operating conditions, characterized in that, include: Obtain the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle; The Tip-in level of the target vehicle is determined based on the rate of change of the accelerator pedal opening, and the torque compensation duration of the target vehicle is determined based on the Tip-in level. Determine the torque compensation value for the target vehicle based on its Tip-in level and current speed. Based on the torque compensation duration and torque compensation value of the target vehicle, the Tip-in torque compensation strategy of the target vehicle is determined. The Tip-in torque compensation strategy of the target vehicle is to first linearly increase to the torque compensation value of the target vehicle within the torque compensation duration, maintain it for a preset duration, and then linearly decrease it.
2. The Tip-in torque compensation method under low-speed operating conditions according to claim 1, characterized in that, The determination of the tip-in level of the target vehicle based on the rate of change of the accelerator pedal opening includes: If the rate of change of the accelerator pedal opening of the target vehicle is less than the first rate of change threshold, the Tip-in level of the target vehicle is determined to be the first Tip-in level. If the rate of change of the accelerator pedal opening of the target vehicle is greater than or equal to the first rate of change threshold and less than or equal to the second rate of change threshold, the Tip-in level of the target vehicle is determined to be the second Tip-in level. If the rate of change of the accelerator pedal opening of the target vehicle is greater than the second rate of change threshold, the tip-in level of the target vehicle is determined to be the third tip-in level.
3. The tip-in torque compensation method under low-speed operating conditions according to claim 2, characterized in that, The determination of the torque compensation duration for the target vehicle based on its Tip-in level includes: When the target vehicle's Tip-in level is the first Tip-in level, the torque compensation duration of the target vehicle is determined to be the first duration. When the target vehicle's Tip-in level is the second Tip-in level, the torque compensation duration of the target vehicle is determined to be the second duration. If the target vehicle's Tip-in level is the third Tip-in level, then the torque compensation duration of the target vehicle is determined to be the third duration. The order of durations (first, second, and third) is as follows: first duration > second duration > third duration.
4. The tip-in torque compensation method under low-speed operating conditions according to claim 2, characterized in that, The determination of the torque compensation value for the target vehicle based on its Tip-in level and current speed includes: If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the first tip-in level, the torque compensation value of the target vehicle is determined to be the first torque compensation value. If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the second tip-in level, the torque compensation value of the target vehicle is determined to be the second torque compensation value. If the current speed of the target vehicle is less than or equal to the first speed threshold and the tip-in level of the target vehicle is the third tip-in level, the torque compensation value of the target vehicle is determined to be the third torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the first tip-in level, the torque compensation value of the target vehicle is determined to be the fourth torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the second tip-in level, the torque compensation value of the target vehicle is determined to be the fifth torque compensation value. If the current speed of the target vehicle is greater than the first speed threshold and less than or equal to the second rate threshold, and the tip-in level of the target vehicle is the third tip-in level, the torque compensation value of the target vehicle is determined to be the sixth torque compensation value. Among them, the first torque compensation value < the second torque compensation value < the third torque compensation value, and the fourth torque compensation value < the fifth torque compensation value < the sixth torque compensation value.
5. The tip-in torque compensation method under low-speed operating conditions according to claim 3, characterized in that, The determination of the tip-in torque compensation strategy for the target vehicle based on the torque compensation duration and torque compensation value includes: Based on the torque compensation duration of the target vehicle, determine the torque rise duration, torque hold duration, and torque decay duration during the Tip-in torque compensation process of the target vehicle. Based on the torque rise time, torque hold time, and torque decay time during the tip-in torque compensation process of the target vehicle, and the torque compensation value of the target vehicle, the tip-in torque compensation strategy of the target vehicle is determined.
6. The tip-in torque compensation method under low-speed operating conditions according to claim 5, characterized in that, The tip-in torque compensation strategy for the target vehicle is determined based on the following formula: in, This represents the torque compensation value of the target vehicle as a function of time within the torque compensation duration. This represents the torque compensation value for the target vehicle. For time, The duration of torque rise. It is the sum of the torque rise time and the torque hold time. The torque compensation duration for the target vehicle.
7. The Tip-in torque compensation method under low-speed operating conditions according to claim 1, characterized in that, The method further includes: Torque compensation for the target vehicle will cease if the target vehicle's current speed exceeds the second speed threshold, or if the target vehicle is in reverse or neutral gear.
8. The tip-in torque compensation method under low-speed operating conditions according to claim 1, characterized in that, The method further includes: If the time interval between two consecutive Tip-in operations on the target vehicle is less than a preset duration, the Tip-in torque compensation strategy corresponding to the first Tip-in operation will be determined as the Tip-in torque compensation strategy corresponding to the second Tip-in operation.
9. A tip-in torque compensation device for low-speed operation, characterized in that, include: The acquisition module is used to acquire the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle; The first determining module is used to determine the Tip-in level of the target vehicle based on the rate of change of the accelerator pedal opening of the target vehicle, and to determine the torque compensation duration of the target vehicle based on the Tip-in level of the target vehicle. The second determining module is used to determine the torque compensation value of the target vehicle based on the target vehicle's Tip-in level and current vehicle speed. The compensation module is used to determine the Tip-in torque compensation strategy of the target vehicle based on the torque compensation duration and torque compensation value of the target vehicle. The Tip-in torque compensation strategy of the target vehicle is to first linearly increase to the torque compensation value of the target vehicle within the torque compensation duration, maintain it for a preset duration, and then linearly decrease it.
10. A torque compensation device, characterized in that, Includes a data acquisition unit, memory, and processor, among which, The data acquisition device is communicatively connected to the processor and is used to acquire the rate of change of the accelerator pedal opening and the current vehicle speed of the target vehicle. The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the Tip-in torque compensation method under low-speed conditions as described in any one of claims 1 to 7.