Vehicle traveling control method, vehicle controller, and vehicle

Abstract

Provided in the embodiments of the present application are a vehicle traveling control method, a vehicle controller, and a vehicle. The method comprises: acquiring an actual rotational speed of an electric motor of a vehicle and a slope change value per unit time of a road surface on which the vehicle is traveling, wherein the slope change value per unit time is used for indicating the degree of impact of road surface roughness on the rotational speed of the electric motor; if the actual rotational speed of the electric motor is greater than a first preset rotational speed, and the slope change value per unit time is greater than a slope change threshold value per unit time, determining whether a driving parameter of the vehicle is within a preset condition, so as to obtain a first determination result; and if the first determination result indicates that the driving parameter of the vehicle is within the preset condition, controlling the vehicle by means of rotational speed control.

Description

Vehicle walking control method, vehicle controller and vehicle

[0001] The present application claims priority to the Chinese patent application No. 202410875830.2, filed on July 01, 2024, and entitled "Vehicle walking control method, vehicle controller and vehicle", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of electric engineering vehicles, in particular to a vehicle walking control method, a vehicle controller and a vehicle. BACKGROUND

[0003] At present, torque control is generally used for walking control of electric engineering machinery vehicles. Through dynamic torque control technology, the motor output torque can be adjusted in real time according to load changes to realize efficient energy saving and precise control.

[0004] The loader is a heavy machinery used for loading, transporting and short-distance transporting bulk materials. When the loader runs at high speed in first gear, the vehicle body is prone to shaking when encountering bumpy road surface. At this time, the stability of the vehicle controlled by torque control is poor.

[0005] Therefore, there is an urgent need for a vehicle walking control method to control the vehicle by using speed control when the vehicle body shakes, thereby improving the stability of vehicle walking.

[0006] SUMMARY

[0007] The embodiments of the present application provide a vehicle walking control method, a vehicle controller and a vehicle to improve the stability of the vehicle during walking.

[0008] According to a first aspect of the embodiments of the present application, a vehicle walking control method is provided, the method comprising:

[0009] obtaining an actual motor speed of the vehicle and a slope change value per unit time of a road surface on which the vehicle is located; the slope change value per unit time is set to represent the influence degree of road bumping on the motor speed;

[0010] determining that the actual motor speed is greater than a first preset speed, and the slope change value per unit time is greater than a slope change threshold value per unit time,

[0011] determining whether the driving parameter of the vehicle is within a preset condition to obtain a first determination result;

[0012] determining that the first determination result indicates that the driving parameter of the vehicle is within the preset condition, and controlling the vehicle by using a speed control mode.

[0013] In one embodiment, the driving parameter comprises an accelerator pedal opening, the judging whether the driving parameter of the vehicle is within the preset condition comprises:

[0014] judging whether the accelerator pedal opening of the vehicle is greater than a first preset opening threshold, to obtain a second judgment result;

[0015] determining that the second judgment result indicates that the accelerator pedal opening is greater than the first preset opening threshold, and that the driving parameter is within the preset condition.

[0016] In one embodiment, the driving parameter comprises a battery state of charge (SOC), the judging whether the driving parameter of the vehicle is within the preset condition comprises:

[0017] judging whether the SOC of the vehicle is within a first preset battery state of charge interval, to obtain a third judgment result;

[0018] determining that the third judgment result indicates that the SOC of the vehicle is within the first preset battery state of charge interval, and that the driving parameter is within the preset condition.

[0019] In one embodiment, the driving parameter comprises a slope value of a road on which the vehicle is located, the judging whether the driving parameter of the vehicle is within the preset condition comprises:

[0020] judging whether the slope value is within a preset slope interval, to obtain a fourth judgment result;

[0021] determining that the fourth judgment result indicates that the slope value is within the preset slope interval, and that the driving parameter is within the preset condition.

[0022] In one embodiment, the vehicle is controlled in a speed control mode, comprising:

[0023] sending a speed control signal and a target speed to a microcontroller unit (MCU).

[0024] In one embodiment, the driving parameter comprises an accelerator pedal opening and a battery state of charge (SOC), and the method further comprises: if the actual speed of the motor is less than a second preset speed, judging whether the accelerator pedal opening is less than a second preset opening threshold, to obtain a fifth judgment result; and judging whether the SOC is less than a second preset battery state of charge value, to obtain a sixth judgment result.

[0025] determining that the fourth judgment result indicates no, or that the fifth judgment result or the sixth judgment result indicates yes, and controlling the vehicle in a torque control mode.

[0026] In one embodiment, the vehicle is controlled in a torque control mode, comprising:

[0027] sending a torque control signal and a required speed to the MCU.

[0028] According to a second aspect of the embodiments of the present application, a vehicle controller is provided, the vehicle controller comprising a memory and a processor;

[0029] The memory is connected with the processor and is configured to store a program;

[0030] The processor is configured to realize the vehicle walking control method according to the first aspect or any one of the embodiments of the first aspect by running the program in the memory.

[0031] According to a third aspect of the embodiments of the present application, a vehicle is provided, the vehicle comprising the vehicle controller according to the second aspect.

[0032] The vehicle walking control method provided by the embodiments of the present application can obtain the actual motor speed of the vehicle and the slope change value per unit time of the road on which the vehicle is located, and if the actual motor speed of the vehicle is greater than the first preset speed and the slope change value per unit time is greater than the slope change threshold value per unit time, determine whether the driving parameter of the vehicle is within the preset condition to obtain a first determination result, and control the vehicle in the speed control mode when the first determination result indicates that the driving parameter of the vehicle is within the preset condition. The vehicle walking control method in the embodiments of the present application can control the speed when the speed of the vehicle is high and the road condition is poor, avoid the fluctuation caused by the change of the speed of the vehicle, and improve the stability of the vehicle walking. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor.

[0034] Fig. 1 is a schematic diagram of an implementation scenario of the vehicle walking control provided by the embodiments of the present application;

[0035] Fig. 2 is a flowchart of the vehicle walking control method provided by the embodiments of the present application;

[0036] Fig. 3 is a schematic diagram of the hardware structure of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0038] At present, the torque control is generally used for the walking control of the electric engineering machinery vehicle, and the dynamic torque control technology can adjust the motor output torque in real time according to the load change, so as to realize the high efficiency and energy saving and the accurate control.

[0039] The loader is a heavy machinery used for shoveling, carrying and short-distance transporting bulk materials, and when the loader runs at a high speed in a gear, the vehicle body is prone to shaking when encountering a bumpy road, and the stability of the vehicle controlled by the torque control is poor.

[0040] The embodiment of the application provides a vehicle walking control method, a vehicle controller and a vehicle. Based on the actual motor speed of the vehicle and the slope change value per unit time, when the vehicle speed is high and the road condition is poor, the speed control is used, the speed fluctuation caused by the load change of the vehicle can be avoided, and the stability of the vehicle walking is improved.

[0041] Example implementation environment

[0042] Please refer to FIG. 1, which is a schematic diagram of an example implementation environment according to the application.

[0043] The vehicle can be an electric engineering vehicle, for example, a loader. During the driving process of the vehicle, the vehicle can send relevant information in the driving process to the server, such as the speed information of the vehicle, the road information of the vehicle driving, etc. The server calculates whether the vehicle meets the conditions of the speed control based on the information sent by the vehicle, and starts the speed control when the conditions are met. The vehicle can improve the stability of walking under the speed control.

[0044] Example method

[0045] The method provided in the embodiment of the application is executed by a device with a data processing function, such as a computer, a server, etc. It can also be a cloud platform composed of a computer, a server, etc.

[0046] FIG. 2 is a flowchart of the vehicle walking control method provided in the embodiment of the application. Please refer to FIG. 2, in an example embodiment, a vehicle walking control method is provided, and the method comprises:

[0047] S210: Obtain the actual motor speed of the vehicle and the slope change value per unit time of the road where the vehicle is located.

[0048] The actual motor speed can be the speed of the motor under the current state of the vehicle. The slope change value per unit time can be used to represent the influence degree of the road bump on the speed of the vehicle. The slope change value per unit time is positively correlated with the speed of the vehicle. The smaller the slope change value per unit time, the smaller the influence on the speed of the vehicle. The greater the slope change value per unit time, the greater the influence on the speed of the vehicle. In actual application, the slope change value per unit time can be determined according to the bump degree of the road, for example, the slope change value per unit time can be a natural number between 0 and 1.

[0049] In S230, if the actual motor speed is greater than the first preset speed, and the slope change value per unit time is greater than the slope change threshold value per unit time, it is determined whether the driving parameter of the vehicle is within the preset condition to obtain a first determination result.

[0050] The first preset speed can be close to the maximum speed of the current gear of the vehicle. For example, when the vehicle is in gear one, the maximum speed is 3500 revolutions per minute, and the first preset speed can be 3400 revolutions per minute. The slope change threshold value per unit time can be set according to actual experience. For example, the slope change threshold value per unit time can be set to 0.8. When the slope change value per unit time is 0.8, the vehicle shakes violently when torque control is used. At this time, the slope change value per unit time can be used as the slope change value threshold per unit time.

[0051] In S250, when the first determination result indicates that the driving parameter of the vehicle is within the preset condition, the speed control mode is used to control the vehicle.

[0052] When the actual speed of the vehicle approaches the target speed, the vehicle will bring speed fluctuation when torque control is used. The speed control mode can be used to control the vehicle when the driving parameter of the vehicle meets the preset condition.

[0053] The vehicle walking control method in the embodiment can use speed control when the speed of the vehicle is high and the vehicle is driving on a poor road surface, thereby avoiding speed fluctuation caused by speed change of the vehicle and improving the stability of vehicle walking.

[0054] In one embodiment, the driving parameter can include an accelerator pedal opening degree. Determining whether the driving parameter of the vehicle is within the preset condition to obtain a first determination result can include:

[0055] Determining whether the accelerator pedal opening degree of the vehicle is greater than a first preset opening threshold to obtain a second determination result.

[0056] When the second determination result indicates that the accelerator pedal opening degree is greater than the first preset opening threshold, the driving parameter is within the preset condition.

[0057] The greater the accelerator pedal opening degree is, the stronger the acceleration requested by the driver is, and the vehicle electronic control unit (ECU) will accordingly increase the current output of the motor, so that the vehicle accelerates faster. The application scenario of the embodiment of the application is that the vehicle speed is close to the target speed, that is, the vehicle is running at high speed, and therefore, the first preset opening degree threshold can be 90%.

[0058] In one embodiment, the driving parameter includes a battery state of charge (SOC), and determining whether the driving parameter of the vehicle is within the preset condition to obtain a first determination result, including:

[0059] determining whether the SOC of the vehicle is within a first preset battery state of charge interval to obtain a third determination result;

[0060] When the third determination result indicates that the SOC of the vehicle is within the first preset battery state of charge interval, the driving parameter is within the preset condition.

[0061] The SOC represents a percentage value of the current remaining capacity of the battery, and the first preset battery state of charge interval can be [20%, 90%]. It should be noted that the allowable charge and discharge current meets the limit torque adjustment control under the maximum speed condition.

[0062] In one embodiment, the driving parameter includes a slope value of a road on which the vehicle is located, and determining whether the driving parameter of the vehicle is within the preset condition to obtain a first determination result, including:

[0063] determining whether the slope value is within a preset slope interval to obtain a fourth determination result;

[0064] When the fourth determination result indicates that the slope value is within the preset slope interval, the driving parameter is within the preset condition.

[0065] The preset slope value can be set to [-7°, 7°].

[0066] In one embodiment, the vehicle is controlled in a speed control mode, which can include:

[0067] sending the speed control signal and the required speed to a microcontroller unit (MCU).

[0068] When the control mode of the vehicle is switched to the speed control mode, the actual required speed of the vehicle is sent to the MCU, and the MCU controls the vehicle according to the required speed after obtaining the speed control signal, thereby avoiding fluctuations in the vehicle speed and improving the stability of the vehicle walking.

[0069] In one embodiment, the vehicle walking control method provided by the embodiments of the present application can further include: the driving parameters include an accelerator pedal opening degree and a battery state of charge (SOC), and if the actual motor speed is less than a second preset speed, determining whether the accelerator pedal opening degree is less than a second preset accelerator pedal opening threshold to obtain a fifth determination result; and determining whether the SOC is less than a second preset battery state of charge value to obtain a sixth determination result.

[0070] When the fourth determination result is no, or the fifth determination result or the sixth determination result is yes, the vehicle is controlled in the torque control mode.

[0071] In the embodiment, the second preset speed can be a speed lower than the first preset speed, for example, the maximum speed of the current gear is 3500 revolutions per minute, the first preset speed can be 3400 revolutions per minute, and the second preset speed can be 3300 revolutions per minute.

[0072] When the fourth determination result is no, or the fifth determination result is yes, or the sixth determination result is yes, that is, when the slope value is not in the preset range, or the accelerator pedal opening degree is less than the second preset threshold, or the SOC is less than the second preset battery state of charge value, the vehicle exits the speed control mode and switches to the torque control mode to control the vehicle when any of the above conditions occurs.

[0073] The second preset opening threshold can be 80%, and the second preset battery state of charge value can be 20%.

[0074] In one embodiment, the vehicle is controlled in the torque control mode, including:

[0075] The torque control signal and the target torque are sent to the MCU.

[0076] When the control mode of the vehicle is switched to the torque control mode, the current motor actual torque is slowly transitioned to the requested torque calculated by the accelerator pedal and the brake pedal, to prevent switching jitter caused by the jump of the requested torque.

[0077] Exemplary electronic device

[0078] Another embodiment of the present application also provides a vehicle controller, as shown in FIG. 3, the device includes:

[0079] The memory 300 and the processor 310;

[0080] The memory 300 is connected with the processor 310, and is used to store programs;

[0081] The processor 310 is used to realize the vehicle walking control method disclosed in any of the above embodiments by running the programs stored in the memory 300.

[0082] Specifically, the vehicle walking control method can further include a bus, the communication interface 320, the input device 330, and the output device 340.

[0083] The processor 310, the memory 300, the communication interface 320, the input device 330, and the output device 340 are connected to each other through a bus.

[0084] The bus can include a path for transmitting information between the components of the computer system.

[0085] The processor 310 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or can be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a ready-to-use programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0086] The processor 310 can include a main processor and can further include a baseband chip, a modem, and the like.

[0087] The memory 300 stores programs for executing the technical solutions of the present application, and can also store operating systems and other key services. Specifically, the program can include program code, and the program code includes computer operation instructions. More specifically, the memory 300 can include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash, and the like.

[0088] The input device 330 can include a device that receives data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor, and the like.

[0089] The output device 340 can include a device that allows information to be output to a user, such as a display screen, a printer, a speaker, and the like.

[0090] The communication interface 320 can include a device using any transceiver to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), and the like.

[0091] The processor 310 executes the programs stored in the memory 300 and invokes other devices, which can be used to implement each step of any vehicle walking control method provided by the embodiments of the present application.

[0092] Exemplary computer program product and storage medium

[0093] In addition to the above method and device, the embodiments of the present application can also be a computer program product, which includes computer program instructions, when the computer program instructions are run by a processor, the processor executes the steps of the vehicle walking control method according to various embodiments of the present application described in any embodiment of the present application.

[0094] The computer program product can be written in any combination of one or more programming languages to perform the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on a user computing device, partially on a user device, as an independent software package, partially on a user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0095] In addition, the embodiments of the present application can also be a storage medium, which stores a computer program, and the computer program is executed by a processor to perform the steps of the vehicle walking control method according to various embodiments of the present application described in any embodiment of the present application. The specific steps can include the following steps:

[0096] S210: obtaining the actual motor speed of the vehicle and the slope change value per unit time of the road on which the vehicle is located;

[0097] S230: if the actual motor speed is greater than the first preset speed, and the slope change value per unit time is greater than the slope change threshold per unit time, it is determined whether the driving parameter of the vehicle is within the preset condition, and a first determination result is obtained;

[0098] S250: when the first determination result indicates that the driving parameter of the vehicle is within the preset condition, the vehicle is controlled by using the speed control mode.

[0099] For each method embodiment described above, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0100] It should be noted that each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between embodiments can be mutually referred to.

[0101] The steps in the method of each embodiment of the application can be adjusted, combined and deleted according to actual needs. The technical features described in each embodiment can be replaced or combined.

[0102] The modules and sub-modules in the device and terminal of each embodiment of the application can be combined, divided and deleted according to actual needs.

[0103] In several embodiments provided by the application, it should be understood that the disclosed terminal, device and method can be implemented by other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or sub-modules is only a logical function division, and other division manners can be adopted in actual implementation, for example, a plurality of sub-modules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed mutual elements can be indirect coupling or communication connection through some interfaces, devices or modules, and can be electrical, mechanical or other forms.

[0104] The modules or sub-modules described as separate components can or can not be physically separated, and the components of the modules or sub-modules can or can not be physical modules or sub-modules, that is, they can be located in one place or distributed on a plurality of network modules or sub-modules. Part or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0105] In addition, each functional module or sub-module in each embodiment of the application can be integrated in one processing module, or each module or sub-module can exist physically, or two or more modules or sub-modules can be integrated in one module. The integrated module or sub-module can be realized in the form of hardware or in the form of software functional module or sub-module.

[0106] Those skilled in the art will further appreciate that the units and algorithms described in connection with the examples disclosed herein can be embodied directly in hardware, in software, or in a combination of the two. For ease of understanding, the illustrative examples are described in general terms and in connection with individual steps of examples. Whether such functionality is implemented in hardware or software depends on the particular application and design constraints imposed on the overall system. Skilled persons can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted to cause a departure from the scope of the present application.

[0107] The steps of a method or algorithm described in connection with the examples disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in random access memory (RAM), non-volatile memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0108] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to distinguish one element from another, and are more especially used for the purpose of identification in claims. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0109] The above description of disclosed examples allows one of ordinary skill in the art to make and use the application. Modifications of structures, as well as alternative methods of practicing the application, will be apparent to one skilled in the art from consideration of the specification and practice of the application disclosed herein. Various modifications can be made to these examples without departing from the spirit or scope of the application as defined by the appended claims. Therefore, the application should not be limited to the examples described herein, but should be given the full scope of the appended claims.

Claims

1. A vehicle travel control method in which, The method comprises: acquiring an actual motor speed of a vehicle and a slope change value per unit time of a road on which the vehicle is located; the slope change value per unit time is set to represent a degree of influence of road bumping on the motor speed; determining that the actual motor speed is greater than a first preset motor speed and the slope change value per unit time is greater than a slope change threshold value per unit time, judging whether a driving parameter of the vehicle is within a preset condition to obtain a first judgment result; determining that the first judgment result indicates that the driving parameter of the vehicle is within the preset condition, and controlling the vehicle in a motor speed control mode.

2. The vehicle travel control method according to claim 1, wherein The driving parameter comprises an accelerator pedal opening degree, and the judging whether the driving parameter of the vehicle is within the preset condition to obtain the first judgment result comprises: judging whether the accelerator pedal opening degree of the vehicle is greater than a first preset opening degree threshold value to obtain a second judgment result; determining that the second judgment result indicates that the accelerator pedal opening degree is greater than the first preset opening degree threshold value, and the driving parameter is within the preset condition.

3. The vehicle travel control method according to claim 1, wherein The driving parameter comprises a state of charge (SOC) of a battery, The judging whether the driving parameter of the vehicle is within the preset condition to obtain the first judgment result comprises: judging whether the SOC of the vehicle is within a first preset battery SOC interval to obtain a third judgment result; determining that the third judgment result indicates that the SOC of the vehicle is within the first preset battery SOC interval, and the driving parameter is within the preset condition.

4. The vehicle walking control method according to claim 1, wherein The driving parameter comprises a slope value of the road on which the vehicle is located, The judging whether the driving parameter of the vehicle is within the preset condition to obtain the first judgment result comprises: judging whether the slope value is within a preset slope interval to obtain a fourth judgment result; determining that the fourth judgment result indicates that the slope value is within the preset slope interval, and the driving parameter is within the preset condition.

5. The vehicle travel control method according to any one of claims 1 to 4, wherein The controlling the vehicle in the motor speed control mode comprises: sending a motor speed control signal and a required motor speed to a microcontroller unit (MCU).

6. The vehicle travel control method according to claim 4, wherein The driving parameter comprises an accelerator pedal opening degree and an SOC of a battery, and the method further comprises: if the actual motor speed is less than a second preset motor speed, judging whether the accelerator pedal opening degree is less than a second preset opening degree threshold value to obtain a fifth judgment result; judging whether the SOC is less than a second preset battery SOC value to obtain a sixth judgment result; determining that the fourth judgment result indicates no, or the fifth judgment result indicates yes, or the sixth judgment result indicates yes, and controlling the vehicle in a torque control mode.

7. The vehicle travel control method according to claim 6, wherein The controlling the vehicle in the torque control mode comprises: sending a torque control signal and a target torque to the MCU.

8. A vehicle controller, wherein, comprise a memory and a processor; The memory is connected with the processor and is configured to store a program; The processor is configured to realize the vehicle walking control method according to any one of claims 1 to 7 by running the program in the memory.

9. A vehicle, wherein, The vehicle comprises the vehicle controller according to claim 8.

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